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project4_environment.py
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"""
This file contains the LunarLander environment.
IMPORTANT NOTE: DO NOT CHANGE THIS FILE.
Fully understanding the environment creation is not necessary to solve the project task.
"""
import sys, math
import numpy as np
import Box2D
from Box2D.b2 import (
edgeShape,
circleShape,
fixtureDef,
polygonShape,
revoluteJointDef,
contactListener,
)
import gym
from gym import spaces
from gym.utils import seeding
FPS = 30
SCALE = 30.0 # affects how fast-paced the game is, forces should be adjusted as well
MAIN_ENGINE_POWER = 13*3
SIDE_ENGINE_POWER = 0.6*3
INITIAL_RANDOM = 300.0 # Set 1500 to make game harder
LANDER_POLY = [(-14, +17), (-17, 0), (-17, -10), (+17, -10), (+17, 0), (+14, +17)]
LEG_AWAY = 20
LEG_DOWN = 18
LEG_W, LEG_H = 4, 16
LEG_SPRING_TORQUE = 40
SIDE_ENGINE_HEIGHT = 14.0
SIDE_ENGINE_AWAY = 12.0
VIEWPORT_W = 600
VIEWPORT_H = 400
class ContactDetector(contactListener):
def __init__(self, env):
contactListener.__init__(self)
self.env = env
def BeginContact(self, contact):
if (
self.env.lander == contact.fixtureA.body
or self.env.lander == contact.fixtureB.body
):
self.env.game_over = True
for i in range(2):
if self.env.legs[i] in [contact.fixtureA.body, contact.fixtureB.body]:
self.env.legs[i].ground_contact = True
def EndContact(self, contact):
for i in range(2):
if self.env.legs[i] in [contact.fixtureA.body, contact.fixtureB.body]:
self.env.legs[i].ground_contact = False
class LunarLander():
metadata = {"render.modes": ["human", "rgb_array"], "video.frames_per_second": FPS}
def __init__(self):
self.seed()
self.viewer = None
self.world = Box2D.b2World()
self.moon = None
self.lander = None
self.particles = []
self.prev_reward = None
self.obs_shape = [8]
self.act_shape = [4]
self.reset()
def seed(self, seed=None):
self.np_random, seed = seeding.np_random(seed)
return [seed]
def _destroy(self):
if not self.moon:
return
self.world.contactListener = None
self._clean_particles(True)
self.world.DestroyBody(self.moon)
self.moon = None
self.world.DestroyBody(self.lander)
self.lander = None
self.world.DestroyBody(self.legs[0])
self.world.DestroyBody(self.legs[1])
def reset(self):
self._destroy()
self.world.contactListener_keepref = ContactDetector(self)
self.world.contactListener = self.world.contactListener_keepref
self.game_over = False
self.prev_shaping = None
W = VIEWPORT_W / SCALE
H = VIEWPORT_H / SCALE
# terrain
CHUNKS = 11
height = self.np_random.uniform(0, H / 2, size=(CHUNKS + 1,))
chunk_x = [W / (CHUNKS - 1) * i for i in range(CHUNKS)]
self.helipad_x1 = chunk_x[CHUNKS // 2 - 1]
self.helipad_x2 = chunk_x[CHUNKS // 2 + 1]
self.helipad_y = H / 4
height[CHUNKS // 2 - 2] = self.helipad_y
height[CHUNKS // 2 - 1] = self.helipad_y
height[CHUNKS // 2 + 0] = self.helipad_y
height[CHUNKS // 2 + 1] = self.helipad_y
height[CHUNKS // 2 + 2] = self.helipad_y
smooth_y = [
0.33 * (height[i - 1] + height[i + 0] + height[i + 1])
for i in range(CHUNKS)
]
self.moon = self.world.CreateStaticBody(
shapes=edgeShape(vertices=[(0, 0), (W, 0)])
)
self.sky_polys = []
for i in range(CHUNKS - 1):
p1 = (chunk_x[i], smooth_y[i])
p2 = (chunk_x[i + 1], smooth_y[i + 1])
self.moon.CreateEdgeFixture(vertices=[p1, p2], density=0, friction=0.1)
self.sky_polys.append([p1, p2, (p2[0], H), (p1[0], H)])
self.moon.color1 = (0.0, 0.0, 0.0)
self.moon.color2 = (0.0, 0.0, 0.0)
initial_y = VIEWPORT_H / SCALE - 4
self.lander = self.world.CreateDynamicBody(
position=(VIEWPORT_W / SCALE / 2, initial_y),
angle=0.0,
fixtures=fixtureDef(
shape=polygonShape(
vertices=[(x / SCALE, y / SCALE) for x, y in LANDER_POLY]
),
density=5.0,
friction=0.1,
categoryBits=0x0010,
maskBits=0x001, # collide only with ground
restitution=0.0,
), # 0.99 bouncy
)
self.lander.color1 = (0.5, 0.4, 0.9)
self.lander.color2 = (0.3, 0.3, 0.5)
self.lander.ApplyForceToCenter(
(
self.np_random.uniform(-INITIAL_RANDOM, INITIAL_RANDOM),
self.np_random.uniform(-INITIAL_RANDOM, INITIAL_RANDOM),
),
True,
)
self.legs = []
for i in [-1, +1]:
leg = self.world.CreateDynamicBody(
position=(VIEWPORT_W / SCALE / 2 - i * LEG_AWAY / SCALE, initial_y),
angle=(i * 0.05),
fixtures=fixtureDef(
shape=polygonShape(box=(LEG_W / SCALE, LEG_H / SCALE)),
density=1.0,
restitution=0.0,
categoryBits=0x0020,
maskBits=0x001,
),
)
leg.ground_contact = False
leg.color1 = (0.5, 0.4, 0.9)
leg.color2 = (0.3, 0.3, 0.5)
rjd = revoluteJointDef(
bodyA=self.lander,
bodyB=leg,
localAnchorA=(0, 0),
localAnchorB=(i * LEG_AWAY / SCALE, LEG_DOWN / SCALE),
enableMotor=True,
enableLimit=True,
maxMotorTorque=LEG_SPRING_TORQUE,
motorSpeed=+0.3 * i, # low enough not to jump back into the sky
)
if i == -1:
rjd.lowerAngle = (
+0.9 - 0.5
) # The most esoteric numbers here, angled legs have freedom to travel within
rjd.upperAngle = +0.9
else:
rjd.lowerAngle = -0.9
rjd.upperAngle = -0.9 + 0.5
leg.joint = self.world.CreateJoint(rjd)
self.legs.append(leg)
self.drawlist = [self.lander] + self.legs
return self.transition(0)[0]
def _create_particle(self, mass, x, y, ttl):
p = self.world.CreateDynamicBody(
position=(x, y),
angle=0.0,
fixtures=fixtureDef(
shape=circleShape(radius=2 / SCALE, pos=(0, 0)),
density=mass,
friction=0.1,
categoryBits=0x0100,
maskBits=0x001, # collide only with ground
restitution=0.3,
),
)
p.ttl = ttl
self.particles.append(p)
self._clean_particles(False)
return p
def _clean_particles(self, all):
while self.particles and (all or self.particles[0].ttl < 0):
self.world.DestroyBody(self.particles.pop(0))
def transition(self, action):
# Engines
tip = (math.sin(self.lander.angle), math.cos(self.lander.angle))
side = (-tip[1], tip[0])
dispersion = [self.np_random.uniform(-1.0, +1.0) / SCALE for _ in range(2)]
m_power = 0.0
if action == 2:
# Main engine
m_power = 1.0
ox = (
tip[0] * (4 / SCALE + 2 * dispersion[0]) + side[0] * dispersion[1]
) # 4 is move a bit downwards, +-2 for randomness
oy = -tip[1] * (4 / SCALE + 2 * dispersion[0]) - side[1] * dispersion[1]
impulse_pos = (self.lander.position[0] + ox, self.lander.position[1] + oy)
p = self._create_particle(
3.5, # 3.5 is here to make particle speed adequate
impulse_pos[0],
impulse_pos[1],
m_power,
) # particles are just a decoration
p.ApplyLinearImpulse(
(ox * MAIN_ENGINE_POWER * m_power, oy * MAIN_ENGINE_POWER * m_power),
impulse_pos,
True,
)
self.lander.ApplyLinearImpulse(
(-ox * MAIN_ENGINE_POWER * m_power, -oy * MAIN_ENGINE_POWER * m_power),
impulse_pos,
True,
)
s_power = 0.0
if action in [1, 3]:
# Orientation engines
direction = action - 2
s_power = 1.0
ox = tip[0] * dispersion[0] + side[0] * (
3 * dispersion[1] + direction * SIDE_ENGINE_AWAY / SCALE
)
oy = -tip[1] * dispersion[0] - side[1] * (
3 * dispersion[1] + direction * SIDE_ENGINE_AWAY / SCALE
)
impulse_pos = (
self.lander.position[0] + ox - tip[0] * 17 / SCALE,
self.lander.position[1] + oy + tip[1] * SIDE_ENGINE_HEIGHT / SCALE,
)
p = self._create_particle(0.7, impulse_pos[0], impulse_pos[1], s_power)
p.ApplyLinearImpulse(
(ox * SIDE_ENGINE_POWER * s_power, oy * SIDE_ENGINE_POWER * s_power),
impulse_pos,
True,
)
self.lander.ApplyLinearImpulse(
(-ox * SIDE_ENGINE_POWER * s_power, -oy * SIDE_ENGINE_POWER * s_power),
impulse_pos,
True,
)
self.world.Step(1.0 / FPS, 6 * 30, 2 * 30)
pos = self.lander.position
vel = self.lander.linearVelocity
state = [
(pos.x - VIEWPORT_W / SCALE / 2) / (VIEWPORT_W / SCALE / 2),
(pos.y - (self.helipad_y + LEG_DOWN / SCALE)) / (VIEWPORT_H / SCALE / 2),
vel.x * (VIEWPORT_W / SCALE / 2) / FPS,
vel.y * (VIEWPORT_H / SCALE / 2) / FPS,
self.lander.angle,
20.0 * self.lander.angularVelocity / FPS,
1.0 if self.legs[0].ground_contact else 0.0,
1.0 if self.legs[1].ground_contact else 0.0,
]
assert len(state) == 8
reward = 0
shaping = (
-100 * np.sqrt(state[0] * state[0] + state[1] * state[1])
- 100 * np.sqrt(state[2] * state[2] + state[3] * state[3])
- 100 * abs(state[4])
+ 10 * state[6]
+ 10 * state[7]
) # And ten points for legs contact, the idea is if you
# lose contact again after landing, you get negative reward
if self.prev_shaping is not None:
reward = shaping - self.prev_shaping
self.prev_shaping = shaping
reward -= (
m_power * 0.30
) # less fuel spent is better, about -30 for heuristic landing
reward -= s_power * 0.03
terminal = False
if self.game_over or abs(state[0]) >= 1.0:
terminal = True
reward = -100
if not self.lander.awake:
terminal = True
reward = +100
return np.array(state, dtype=np.float32), reward, terminal
def render(self, mode="human"):
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.Viewer(VIEWPORT_W, VIEWPORT_H)
self.viewer.set_bounds(0, VIEWPORT_W / SCALE, 0, VIEWPORT_H / SCALE)
for obj in self.particles:
obj.ttl -= 0.15
obj.color1 = (
max(0.2, 0.2 + obj.ttl),
max(0.2, 0.5 * obj.ttl),
max(0.2, 0.5 * obj.ttl),
)
obj.color2 = (
max(0.2, 0.2 + obj.ttl),
max(0.2, 0.5 * obj.ttl),
max(0.2, 0.5 * obj.ttl),
)
self._clean_particles(False)
for p in self.sky_polys:
self.viewer.draw_polygon(p, color=(0, 0, 0))
for obj in self.particles + self.drawlist:
for f in obj.fixtures:
trans = f.body.transform
if type(f.shape) is circleShape:
t = rendering.Transform(translation=trans * f.shape.pos)
self.viewer.draw_circle(
f.shape.radius, 20, color=obj.color1
).add_attr(t)
self.viewer.draw_circle(
f.shape.radius, 20, color=obj.color2, filled=False, linewidth=2
).add_attr(t)
else:
path = [trans * v for v in f.shape.vertices]
self.viewer.draw_polygon(path, color=obj.color1)
path.append(path[0])
self.viewer.draw_polyline(path, color=obj.color2, linewidth=2)
for x in [self.helipad_x1, self.helipad_x2]:
flagy1 = self.helipad_y
flagy2 = flagy1 + 50 / SCALE
self.viewer.draw_polyline([(x, flagy1), (x, flagy2)], color=(1, 1, 1))
self.viewer.draw_polygon(
[
(x, flagy2),
(x, flagy2 - 10 / SCALE),
(x + 25 / SCALE, flagy2 - 5 / SCALE),
],
color=(0.8, 0.8, 0),
)
return self.viewer.render(return_rgb_array=mode == "rgb_array")
def close(self):
if self.viewer is not None:
self.viewer.close()
self.viewer = None