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Include initial state manager for BipedalWalker #1305

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Include initial state manager for BipedalWalker #1305

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cce6986
Add BipedalWalker initial state manager
arthur-ventura-astro Feb 10, 2025
d4e43a6
Add BipedalWalker interface for retrieving terrain metadata
arthur-ventura-astro Feb 10, 2025
93884de
Add designed environment mapping
arthur-ventura-astro Mar 11, 2025
821eb0d
Add terrain metadata documentation
arthur-ventura-astro Mar 11, 2025
b6f6c3f
Add grass variation logic for grass length
arthur-ventura-astro Mar 14, 2025
34bbd2e
Splitted grass variations on x/y
arthur-ventura-astro Mar 24, 2025
d95581d
Removing TerrainMetadata class - Refactored terrain metadata generation
arthur-ventura-astro Apr 11, 2025
b48a77f
Reset state of terrain metadata for every reset method call
arthur-ventura-astro Apr 16, 2025
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2 changes: 2 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -45,3 +45,5 @@ vizdoom.ini

# Data generated from pytest
save_videos*/
scripts/
.vscode
118 changes: 101 additions & 17 deletions gymnasium/envs/box2d/bipedal_walker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -174,9 +174,15 @@ class BipedalWalker(gym.Env, EzPickle):
"render_fps": FPS,
}

def __init__(self, render_mode: Optional[str] = None, hardcore: bool = False):
def __init__(
self,
render_mode: Optional[str] = None,
hardcore: bool = False,
fall_down_penalty: bool = True,
):
EzPickle.__init__(self, render_mode, hardcore)
self.isopen = True
self.fall_down_penaly = fall_down_penalty

self.world = Box2D.b2World()
self.terrain: List[Box2D.b2Body] = []
Expand Down Expand Up @@ -266,6 +272,7 @@ def __init__(self, render_mode: Optional[str] = None, hardcore: bool = False):
self.render_mode = render_mode
self.screen: Optional[pygame.Surface] = None
self.clock = None
self._terrain_metadata = {}

def _destroy(self):
if not self.terrain:
Expand All @@ -281,7 +288,80 @@ def _destroy(self):
self.legs = []
self.joints = []

def _process_terrain_metadata(self):
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Could you add a docstring to explain what the function does

STATES = (1, 2, 3)
STUMP, STAIRS, PIT = STATES

# Defines if the terrain should be saved or copied
self._predefined_terrain = bool(self._terrain_metadata)
# Defines if the length of the grass between obstacles should be randomly distributed
self._terrain_grass_x_variation = self._terrain_metadata.get(
"x_variation", False
)
# Defines if the grass height should randomly vary
self._terrain_grass_y_variation = self._terrain_metadata.get(
"y_variation", False
)

if self._predefined_terrain:
states = self._terrain_metadata.get("states", [])

obstacles_length = []
for state_object in states:
state, metadata = state_object.values()
if state in STATES:
if state == STUMP:
obstacle_length = metadata # Stump metadata is the stump size
elif state == STAIRS:
_, stair_width, stair_steps = metadata
obstacle_length = (
stair_width * stair_steps
) # Stairs total length
elif state == PIT:
obstacle_length = 4 # Default pit x size
obstacles_length.append(obstacle_length)

# Total grass portion of the terrain
self.terrain_grass = (TERRAIN_LENGTH - sum(obstacles_length)) // len(
obstacles_length
)
else:
self.terrain_grass = TERRAIN_GRASS
self._terrain_metadata = dict(states=[])

def _generate_terrain_state(self, state: int) -> any:
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Add docstring

GRASS, STUMP, STAIRS, PIT, _STATES_ = range(5)

if self._predefined_terrain:
if state == GRASS:
next_state = self._terrain_metadata["states"][0]
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Why for GRASS do we only get the first while for the next state we pop the first?

return next_state["state"]
else:
next_state = self._terrain_metadata["states"].pop(0)
state_metadata = next_state["metadata"]

else:
if state == GRASS:
next_state = self.np_random.integers(1, _STATES_)
return next_state
elif state == STUMP:
state_metadata = self.np_random.integers(1, 3)
elif state == STAIRS:
stair_height = +1 if self.np_random.random() > 0.5 else -1
stair_width = self.np_random.integers(4, 5)
stair_steps = self.np_random.integers(3, 5)
state_metadata = (stair_height, stair_width, stair_steps)
elif state == PIT:
state_metadata = self.np_random.integers(3, 5)

state_object = dict(state=state, metadata=state_metadata)
self._terrain_metadata["states"].append(state_object)

return state_metadata

def _generate_terrain(self, hardcore):
self._process_terrain_metadata()

GRASS, STUMP, STAIRS, PIT, _STATES_ = range(5)
state = GRASS
velocity = 0.0
Expand All @@ -300,12 +380,12 @@ def _generate_terrain(self, hardcore):

if state == GRASS and not oneshot:
velocity = 0.8 * velocity + 0.01 * np.sign(TERRAIN_HEIGHT - y)
if i > TERRAIN_STARTPAD:
if self._terrain_grass_y_variation and i > TERRAIN_STARTPAD:
velocity += self.np_random.uniform(-1, 1) / SCALE # 1
y += velocity

elif state == PIT and oneshot:
counter = self.np_random.integers(3, 5)
counter = self._generate_terrain_state(state)
poly = [
(x, y),
(x + TERRAIN_STEP, y),
Expand All @@ -332,7 +412,7 @@ def _generate_terrain(self, hardcore):
y -= 4 * TERRAIN_STEP

elif state == STUMP and oneshot:
counter = self.np_random.integers(1, 3)
counter = self._generate_terrain_state(state)
poly = [
(x, y),
(x + counter * TERRAIN_STEP, y),
Expand All @@ -345,9 +425,10 @@ def _generate_terrain(self, hardcore):
self.terrain.append(t)

elif state == STAIRS and oneshot:
stair_height = +1 if self.np_random.random() > 0.5 else -1
stair_width = self.np_random.integers(4, 5)
stair_steps = self.np_random.integers(3, 5)
stair_height, stair_width, stair_steps = self._generate_terrain_state(
state
)

original_y = y
for s in range(stair_steps):
poly = [
Expand Down Expand Up @@ -383,9 +464,15 @@ def _generate_terrain(self, hardcore):
self.terrain_y.append(y)
counter -= 1
if counter == 0:
counter = self.np_random.integers(TERRAIN_GRASS / 2, TERRAIN_GRASS)
if self._terrain_grass_x_variation:
counter = self.np_random.integers(
self.terrain_grass / 2, self.terrain_grass
)
else:
counter = self.terrain_grass

if state == GRASS and hardcore:
state = self.np_random.integers(1, _STATES_)
state = self._generate_terrain_state(state)
oneshot = True
else:
state = GRASS
Expand Down Expand Up @@ -429,12 +516,7 @@ def _generate_clouds(self):
x2 = max(p[0] for p in poly)
self.cloud_poly.append((poly, x1, x2))

def reset(
self,
*,
seed: Optional[int] = None,
options: Optional[dict] = None,
):
def reset(self, *, seed: Optional[int] = None, options: Optional[dict] = None):
super().reset(seed=seed)
self._destroy()
self.world.contactListener_bug_workaround = ContactDetector(self)
Expand All @@ -444,6 +526,7 @@ def reset(
self.scroll = 0.0
self.lidar_render = 0

self._terrain_metadata = options.get("metadata", {}) if options else {}
self._generate_terrain(self.hardcore)
self._generate_clouds()

Expand Down Expand Up @@ -603,9 +686,10 @@ def step(self, action: np.ndarray):

terminated = False
if self.game_over or pos[0] < 0:
reward = -100
if self.fall_down_penaly:
reward = -100
terminated = True
if pos[0] > (TERRAIN_LENGTH - TERRAIN_GRASS) * TERRAIN_STEP:
if pos[0] > (TERRAIN_LENGTH - self.terrain_grass) * TERRAIN_STEP:
terminated = True

if self.render_mode == "human":
Expand Down