remove previous gotoball ssl envs v0

jgocm · Apr 30, 2021 · 66be861 · 66be861
1 parent 611e49f
commit 66be861
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Showing 3 changed files with 5 additions and 25 deletions.
diff --git a/rc_gym/__init__.py b/rc_gym/__init__.py
@@ -26,24 +26,12 @@
          )
 
 register(id='SSLGoToBall-v0',
-         entry_point='rc_gym.ssl.ssl_go_to_ball:SSLGoToBallEnv',
-         kwargs={'field_type': 2, 'n_robots_yellow': 0},
-         max_episode_steps=1200
-         )
-
-register(id='SSLGoToBall-v1',
          entry_point='rc_gym.ssl.ssl_go_to_ball:SSLGoToBallEnv',
          kwargs={'field_type': 2, 'n_robots_yellow': 6},
          max_episode_steps=1200
          )
 
 register(id='SSLGoToBallIR-v0',
-         entry_point='rc_gym.ssl.ssl_go_to_ball:SSLGoToBallIREnv',
-         kwargs={'field_type': 2, 'n_robots_yellow': 0},
-         max_episode_steps=1200
-         )
-
-register(id='SSLGoToBallIR-v1',
          entry_point='rc_gym.ssl.ssl_go_to_ball:SSLGoToBallIREnv',
          kwargs={'field_type': 2, 'n_robots_yellow': 6},
          max_episode_steps=1200
@@ -69,7 +57,6 @@
 
 register(id='SSLContestedPossession-v0',
          entry_point='rc_gym.ssl.ssl_hw_challenge.contested_possession:SSLContestedPossessionEnv',
-         kwargs={'random_init': True},
          max_episode_steps=1200
          )
 

diff --git a/rc_gym/ssl/ssl_hw_challenge/contested_possession.py b/rc_gym/ssl/ssl_hw_challenge/contested_possession.py
@@ -39,10 +39,9 @@ class SSLContestedPossessionEnv(SSLBaseEnv):
         Episode Termination:
             Goal, 30 seconds (1200 steps), or rule infraction
     """
-    def __init__(self, random_init=False):
+    def __init__(self):
         super().__init__(field_type=2, n_robots_blue=1, 
                          n_robots_yellow=1, time_step=0.025)
-        self.random_init = random_init
         self.action_space = gym.spaces.Box(low=-1, high=1,
                                            shape=(5, ), dtype=np.float32)
 
@@ -218,15 +217,9 @@ def _get_initial_positions_frame(self):
         def x(): return random.uniform(pen_len, half_len - pen_len)
         def y(): return random.uniform(-half_pen_wid, half_pen_wid)
 
-        if self.random_init:
-            pos_frame.robots_blue[0] = Robot(x=x()-pen_len, y=y(), theta=0.)
-            enemy_x = x()
-            enemy_y = y()
-        else:
-            pos_frame.robots_blue[0] = Robot(x=0, y=0, theta=0.)
-            enemy_x = x()
-            enemy_y = y()
-
+        pos_frame.robots_blue[0] = Robot(x=0, y=0, theta=0.)
+        enemy_x = x()
+        enemy_y = y()
 
         pos_frame.ball = Ball(x=enemy_x-0.1, y=enemy_y)
         pos_frame.robots_yellow[0] = Robot(x=enemy_x, y=enemy_y, theta=180.)

diff --git a/rc_gym/ssl/ssl_hw_challenge/static_defenders.py b/rc_gym/ssl/ssl_hw_challenge/static_defenders.py
@@ -60,7 +60,7 @@ def __init__(self, field_type=2):
 
         # scale max energy rw to 1 Considering that max possible energy if max robot wheel speed sent every step
         wheel_max_rad_s = 160
-        max_steps = 1200
+        max_steps = 1000
         self.energy_scale = ((wheel_max_rad_s * 4) * max_steps)
 
         # Limit robot speeds