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Update scratch for plotting

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This commit is contained in:
Johannes Fischer
2022-03-01 09:57:36 +01:00
parent fa0e20998d
commit 2965dc9982
1 changed files with 20 additions and 18 deletions
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12
scratch/johannes/intersimple/idm.py
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@@ -3,13 +3,14 @@ import torch
from src.baselines.rule_policies import IDMRulePolicy from src.baselines.rule_policies import IDMRulePolicy
from tqdm import tqdm from tqdm import tqdm
from intersim.envs import NRasterizedIncrementingAgent, NRasterizedRandomAgent, NRasterized from intersim.envs import NRasterizedIncrementingAgent, NRasterizedRandomAgent, NRasterized,IntersimpleLidarFlat
from intersim.envs.intersimple import speed_reward from intersim.envs.intersimple import speed_reward
import functools import functools
env = NRasterizedIncrementingAgent( env = IntersimpleLidarFlat(
# agent = 4, agent = 51,
n_rays=5,
reward=functools.partial( reward=functools.partial(
speed_reward, speed_reward,
collision_penalty=1000 collision_penalty=1000
@@ -20,7 +21,8 @@ policy = IDMRulePolicy(env)
colliding_agents = [] colliding_agents = []
for agent in range(151): # for agent in range(151):
agent = env._agent
print("Start agent", agent) print("Start agent", agent)
obs = env.reset() obs = env.reset()
env.render(mode='post') env.render(mode='post')
@@ -35,7 +37,7 @@ for agent in range(151):
colliding_agents.append(agent) colliding_agents.append(agent)
print(" Collision") print(" Collision")
break break
env.close(filestr='idm/agent_{}'.format(agent)) env.close(filestr='idm3/agent_{}'.format(agent))
print(len(colliding_agents), "colliding_agents") print(len(colliding_agents), "colliding_agents")
print(colliding_agents) print(colliding_agents)