enlarge goal naive and fix bug in ltl violation reset

bark-simulator · Dec 6, 2023 · 4423a3d · 4423a3d
1 parent 97729a3
commit 4423a3d
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Showing 3 changed files with 4 additions and 9 deletions.
diff --git a/bark_ml/environments/blueprints/single_lane/single_lane.py b/bark_ml/environments/blueprints/single_lane/single_lane.py
@@ -166,7 +166,7 @@ def __init__(self,
                                                                 **kwargs)
   def goal(self, world):
         lane_corr = self._road_corridor.lane_corridors[0]
-        goal_polygon = Polygon2d([0, 0, 0], [Point2d(-1, -1), Point2d(-1, 1), Point2d(1, 1), Point2d(1, -1)])
+        goal_polygon = Polygon2d([0, 0, 0], [Point2d(-20, -2.5), Point2d(-20, 2.5), Point2d(5, 2.5), Point2d(5, -2.5)])
         goal_polygon = goal_polygon.Translate(Point2d(lane_corr.center_line.ToArray()[-1, 0], lane_corr.center_line.ToArray()[-1, 1]))
         return GoalDefinitionPolygon(goal_polygon)
 

diff --git a/bark_ml/evaluators/evaluator_configs.py b/bark_ml/evaluators/evaluator_configs.py
@@ -196,8 +196,3 @@ def __init__(self, params):
       eval_fns[functor_n_] = eval("{}(rule_config)".format("TrafficRuleLTLFunctor"))
 
     super().__init__(params=self._params, bark_eval_fns=bark_evals, bark_ml_eval_fns=eval_fns)
-
-
-
-  def addKeyFunctorPair(self,functor_name,key_name):
-    self._fn_key_map[functor_name] = key_name
diff --git a/bark_ml/evaluators/general_evaluator.py b/bark_ml/evaluators/general_evaluator.py
@@ -401,19 +401,19 @@ def __init__(self, params):
 
   def __call__(self, observed_world, action, eval_results):
     self.traffic_rule_violation_post = eval_results[self._params["RuleName"]]
-    print("Result from evaluatorLTL:", self.traffic_rule_violation_post)
+    # print("Result from evaluatorLTL:", self.traffic_rule_violation_post)
     max_vio_num = self._params["ViolationTolerance","",15]
     if self.traffic_rule_violation_post < self.traffic_rule_violation_pre:
         self.traffic_rule_violation_pre = self.traffic_rule_violation_post
     current_traffic_rule_violations = self.traffic_rule_violation_post - self.traffic_rule_violation_pre
     self.traffic_rule_violations = self.traffic_rule_violations + current_traffic_rule_violations
     self.traffic_rule_violation_pre = self.traffic_rule_violation_post
-    print("current traffic rule violations:", self.traffic_rule_violations)
+    # print("current traffic rule violations:", self.traffic_rule_violations)
     if self.traffic_rule_violations > max_vio_num:
       return True, 0, {}
     return False, self.WeightedReward(current_traffic_rule_violations/max_vio_num), {}
   def Reset(self):
-    self.traffic_rule_violation_pre = 0
+    # self.traffic_rule_violation_pre = 0
     self.traffic_rule_violation_post = 0
     self.traffic_rule_violations = 0
     super().Reset()