Unify MARL Env into New Framework (#524)

* top-down renderer to base * verify env deterministic * clean Environment * remove PGDriveEnv V2 * format * clean baseEnv * move save policy to outside * move some func from pgdrive to base env * WIP * finish * basic marl finish * all in spawn manager * move udpate dest to spawn mgr * almost finish * format * fix test * move env * fix fix bug * unify env * -length * fix bugs * format * fix test * not assert reward * not assert reward * fix bugs * format * vis multi agent * fix bug * fix copy issue * format * format * discrete action * format Co-authored-by: PENG Zhenghao <[email protected]>
decisionforce · Aug 22, 2021 · ad1d3ec · ad1d3ec
1 parent 9e50bde
commit ad1d3ec
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Showing 85 changed files with 1,000 additions and 1,933 deletions.
diff --git a/pgdrive/__init__.py b/pgdrive/__init__.py
@@ -1,3  1,2 @@
 import pgdrive.register
-from pgdrive.envs import PGDriveEnv, TopDownPGDriveEnv, TopDownSingleFramePGDriveEnv, \
-    PGDriveEnvV2, TopDownPGDriveEnvV2
 from pgdrive.envs import PGDriveEnv, TopDownPGDriveEnv, TopDownSingleFramePGDriveEnv, TopDownPGDriveEnvV2
diff --git a/pgdrive/base_class/base_runnable.py b/pgdrive/base_class/base_runnable.py
@@ -1,3  1,4 @@
 import copy
 from typing import Dict
 
 from pgdrive.base_class.configurable import Configurable
@@ -25,7  26,7 @@ def __init__(self, name=None, random_seed=None, config=None):
         ), "Using PGSpace to define parameter spaces of "   self.class_name
         self.sample_parameters()
         # use external config update to overwrite sampled parameters, except None
-        self.update_config(config, allow_add_new_key=True)
         self.update_config(copy.copy(config), allow_add_new_key=True)
 
     def get_state(self) -> Dict:
         """

diff --git a/pgdrive/component/vehicle/base_vehicle.py b/pgdrive/component/vehicle/base_vehicle.py
@@ -1,4  1,5 @@
 import math
 import copy
 from pgdrive.utils.space import VehicleParameterSpace, ParameterSpace
 from collections import deque
 from typing import Union, Optional
@@ -182,7  183,7 @@ def __init__(
         # others
         self._add_modules_for_vehicle()
         self.takeover = False
-        self._expert_takeover = False
         self.expert_takeover = False
         self.energy_consumption = 0
         self.action_space = self.get_action_space_before_init(extra_action_dim=self.config["extra_action_dim"])
         self.break_down = False
@@ -228,9  229,6 @@ def _preprocess_action(self, action):
             assert self.action_space.contains(action), "Input {} is not compatible with action space {}!".format(
                 action, self.action_space
             )
-
-        # protect agent from nan error
-        action = safe_clip_for_small_array(action, min_val=self.action_space.low[0], max_val=self.action_space.high[0])
         return action, {'raw_action': (action[0], action[1])}
 
     def before_step(self, action):
@@ -632,7  630,7 @@ def _state_check(self):
         res = rect_region_detection(
             self.engine, self.position, np.rad2deg(self.heading_theta), self.LENGTH, self.WIDTH, CollisionGroup.Sidewalk
         )
-        if res.hasHit():
         if res.hasHit() and res.getNode().getName() == BodyName.Sidewalk:
             self.crash_sidewalk = True
             contacts.add(BodyName.Sidewalk)
         self.contact_results = contacts
@@ -712,8  710,13 @@ def get_overtake_num(self):
         return len(self.front_vehicles.intersection(self.back_vehicles))
 
     @classmethod
-    def get_action_space_before_init(cls, extra_action_dim: int = 0):
-        return gym.spaces.Box(-1.0, 1.0, shape=(2   extra_action_dim, ), dtype=np.float32)
     def get_action_space_before_init(
         cls, extra_action_dim: int = 0, discrete_action=False, steering_dim=5, throttle_dim=5
     ):
         if not discrete_action:
             return gym.spaces.Box(-1.0, 1.0, shape=(2   extra_action_dim, ), dtype=np.float32)
         else:
             return gym.spaces.MultiDiscrete([steering_dim, throttle_dim])
 
     def __del__(self):
         super(BaseVehicle, self).__del__()

diff --git a/pgdrive/component/vehicle_module/lidar.py b/pgdrive/component/vehicle_module/lidar.py
@@ -36,17  36,20 @@ def __init__(self, num_lasers: int = 240, distance: float = 50, enable_show=Fals
         self.enable_mask = True if not engine.global_config["_disable_detector_mask"] else False
 
     def perceive(self, base_vehicle, detector_mask=True):
-        lidar_mask = self._get_lidar_mask(base_vehicle)[0] if detector_mask and self.enable_mask else None
-        return super(Lidar, self).perceive(base_vehicle, base_vehicle.engine.physics_world.dynamic_world, lidar_mask)
         res = self._get_lidar_mask(base_vehicle)
         lidar_mask = res[0] if detector_mask and self.enable_mask else None
         detected_objects = res[1]
         return super(Lidar, self).perceive(base_vehicle, base_vehicle.engine.physics_world.dynamic_world,
                                            lidar_mask)[0], detected_objects
 
     @staticmethod
     def get_surrounding_vehicles(detected_objects) -> Set:
-        # TODO this will be removed in the future and use the broad phase detection results
         from pgdrive.component.vehicle.base_vehicle import BaseVehicle
         vehicles = set()
         objs = detected_objects
         for ret in objs:
-            if ret.getNode().hasPythonTag(BodyName.Vehicle):
-                vehicles.add(get_object_from_node(ret.getNode()))
             if isinstance(ret, BaseVehicle):
                 vehicles.add(ret)
         return vehicles
 
     def get_surrounding_vehicles_info(self, ego_vehicle, detected_objects, num_others: int = 4):

diff --git a/pgdrive/engine/engine_utils.py b/pgdrive/engine/engine_utils.py
@@ -35,7  35,7 @@ def close_engine():
 
 def get_global_config():
     engine = get_engine()
-    return copy.copy(engine.global_config)
     return engine.global_config.copy()
 
 
 def set_global_random_seed(random_seed: Optional[int]):

diff --git a/pgdrive/envs/__init__.py b/pgdrive/envs/__init__.py
@@ -1,4  1,3 @@
 from pgdrive.envs.marl_envs.multi_agent_pgdrive import MultiAgentPGDrive
 from pgdrive.envs.pgdrive_env import PGDriveEnv
-from pgdrive.envs.pgdrive_env_v2 import PGDriveEnvV2
 from pgdrive.envs.top_down_env import TopDownSingleFramePGDriveEnv, TopDownPGDriveEnv, TopDownPGDriveEnvV2