Refactored Deepbots: DeepbotsEnv & Robot Class

1. Inherited from Webots Robot class
2. Refactored SupervisorEnv name to DeepbotsEnv
3. Shortened imports
4. Removed setup folder
5. Renamed lots of class name

Author: KelvinYang0320

deepbots/robots/__init__.py

@@ -0,0 +1,2 @@
+from deepbots.robots.controllers.csv_robot import CSVRobot
+from deepbots.robots.controllers.emitter_receiver_robot import EmitterReceiverRobot

deepbots/robots/controllers/robot_emitter_receiver_csv.py renamed to deepbots/robots/controllers/csv_robot.py

@@ -1,10 +1,10 @@
 from collections.abc import Iterable
 
-from deepbots.robots.controllers.robot_emitter_receiver import \
-    RobotEmitterReceiver
+from deepbots.robots.controllers.emitter_receiver_robot import \
+    EmitterReceiverRobot
 
 
-class RobotEmitterReceiverCSV(RobotEmitterReceiver):
+class CSVRobot(EmitterReceiverRobot):
     """
     Basic implementation of a robot that can emit and receive messages to/from
     the supervisor in string utf-8 form that are Comma Separated Values,
@@ -39,8 +39,8 @@ def initialize_comms(self, emitter_name, receiver_name):
             supervisor node
         :return: The initialized emitter and receiver references
         """
-        emitter = self.robot.getDevice(emitter_name)
-        receiver = self.robot.getDevice(receiver_name)
+        emitter = self.getDevice(emitter_name)
+        receiver = self.getDevice(receiver_name)
         receiver.enable(self.timestep)
         return emitter, receiver
 

deepbots/robots/controllers/robot_emitter_receiver.py renamed to deepbots/robots/controllers/emitter_receiver_robot.py

@@ -2,17 +2,17 @@
 from controller import Robot
 
 
-class RobotEmitterReceiver:
+class EmitterReceiverRobot(Robot):
     """
-    This RobotEmitterReceiver implements only the most basic run method, that
+    This EmitterReceiverRobot implements only the most basic run method, that
     steps the robot and calls the handle_emitter, handle_receiver methods that
     are needed for communication with the supervisor.
 
     This class must be inherited by all robot controllers created by the user
     and the handle_emitter, handle_receiver, initialize_comms methods are all
     abstract and need to be implemented according to their docstrings. For a
     simpler RobotController that implements the methods in a basic form
-    inherit the RobotEmitterReceiverCSV subclass or other emitter-receiver
+    inherit the CSVRobot subclass or other emitter-receiver
     subclasses.
     """
     def __init__(self,
@@ -35,10 +35,10 @@ def __init__(self,
 
         :param timestep: int, positive or None
         """
-        self.robot = Robot()
+        super().__init__()
 
         if timestep is None:
-            self.timestep = int(self.robot.getBasicTimeStep())
+            self.timestep = int(self.getBasicTimeStep())
         else:
             self.timestep = timestep
 
@@ -78,8 +78,8 @@ def initialize_comms(self, emitter_name, receiver_name):
 
         A basic example implementation can be:
 
-        emitter = self.robot.getDevice("emitter")
-        receiver = self.robot.getDevice("receiver")
+        emitter = self.getDevice("emitter")
+        receiver = self.getDevice("receiver")
         receiver.enable(self.timestep)
         return emitter, receiver
 
@@ -113,6 +113,6 @@ def run(self):
 
         This method should be called by a robot manager to run the robot.
         """
-        while self.robot.step(self.timestep) != -1:
+        while self.step(self.timestep) != -1:
             self.handle_receiver()
             self.handle_emitter()

deepbots/setup/__init__.py

@@ -0,0 +1,4 @@
+from deepbots.supervisor.controllers.robot_supervisor_env import RobotSupervisorEnv
+from deepbots.supervisor.controllers.csv_supervisor_env import CSVSupervisorEnv
+from deepbots.supervisor.controllers.deepbots_supervisor_env import DeepbotsSupervisorEnv
+from deepbots.supervisor.controllers.emitter_receiver_supervisor_env import EmitterReceiverSupervisorEnv

deepbots/setup/deepworlds_setup.py

@@ -0,0 +1,61 @@
+from collections.abc import Iterable
+
+from deepbots.supervisor.controllers.emitter_receiver_supervisor_env import EmitterReceiverSupervisorEnv
+
+
+class CSVSupervisorEnv(EmitterReceiverSupervisorEnv):
+    """
+    This class implements the emitter-receiver scheme using Comma Separated
+    Values.
+    """
+    def __init__(self,
+                 emitter_name="emitter",
+                 receiver_name="receiver",
+                 timestep=None):
+        """
+        The constructor just passes the arguments provided to the parent
+        class contructor.
+
+        :param emitter_name: The name of the emitter device on the
+            supervisor node
+        :param receiver_name: The name of the receiver device on the
+            supervisor node
+        :param timestep: The supervisor controller timestep
+        """
+        super(CSVSupervisorEnv, self).__init__(emitter_name, receiver_name,
+                                            timestep)
+
+    def handle_emitter(self, action):
+        """
+        Implementation of the handle_emitter method expecting an iterable
+        with Comma Separated Values (CSV).
+
+        :param action: Whatever the use-case uses as an action, e.g.
+            an integer representing discrete actions
+        :type action:  Iterable, for multiple values the CSV format is
+            required, e.g. [0, 1] for two actions
+        """
+        assert isinstance(action, Iterable), \
+            "The action object should be Iterable"
+
+        message = (",".join(map(str, action))).encode("utf-8")
+        self.emitter.send(message)
+
+    def handle_receiver(self):
+        """
+        Implementation of the handle_receiver method expecting an iterable
+        with Comma Separated Values (CSV).
+
+        :return: Returns the message received from the robot, returns None
+            if no message is received
+        :rtype: List of string values
+        """
+        if self.receiver.getQueueLength() > 0:
+            try:
+                string_message = self.receiver.getString()
+            except AttributeError:
+                string_message = self.receiver.getData().decode("utf-8")
+            self.receiver.nextPacket()
+            return string_message.split(",")
+        else:
+            return None

deepbots/supervisor/__init__.py

@@ -2,7 +2,7 @@
 from controller import Supervisor
 
 
-class SupervisorEnv(Supervisor, gym.Env):
+class DeepbotsSupervisorEnv(Supervisor, gym.Env):
     """
     This class is the highest class in deepbots class hierarchy, inheriting
     both the Webots Supervisor controller and the basic gym.Env.
@@ -18,7 +18,7 @@ class SupervisorEnv(Supervisor, gym.Env):
     compatible with reinforcement learning agents that work with
     the gym interface. Moreover, a problem-agnostic reset method is
     provided. Please use any of the children supervisor classes to be
-    inherited by your own class, such as the RobotSupervisor class.
+    inherited by your own class, such as the RobotSupervisorEnv class.
     Nevertheless, advanced users can inherit this class to create
     their own supervisor classes if they wish.
     """

deepbots/supervisor/controllers/csv_supervisor_env.py

@@ -1,11 +1,10 @@
-from collections.abc import Iterable
 from warnings import warn, simplefilter
 
-from deepbots.supervisor.controllers.supervisor_env import SupervisorEnv
+from deepbots.supervisor.controllers.deepbots_supervisor_env import DeepbotsSupervisorEnv
 from controller import Supervisor
 
 
-class SupervisorEmitterReceiver(SupervisorEnv):
+class EmitterReceiverSupervisorEnv(DeepbotsSupervisorEnv):
     """
     This is the base class for the emitter - receiver scheme.
 
@@ -26,7 +25,7 @@ def __init__(self,
             supervisor node
         :param timestep: The supervisor controller timestep
         """
-        super(SupervisorEmitterReceiver, self).__init__()
+        super(EmitterReceiverSupervisorEnv, self).__init__()
 
         if timestep is None:
             self.timestep = int(self.getBasicTimeStep())
@@ -116,61 +115,3 @@ def timestep(self, value):
         :param value: The new controller timestep in milliseconds
         """
         self._timestep = int(value)
-
-
-class SupervisorCSV(SupervisorEmitterReceiver):
-    """
-    This class implements the emitter-receiver scheme using Comma Separated
-    Values.
-    """
-    def __init__(self,
-                 emitter_name="emitter",
-                 receiver_name="receiver",
-                 timestep=None):
-        """
-        The constructor just passes the arguments provided to the parent
-        class contructor.
-
-        :param emitter_name: The name of the emitter device on the
-            supervisor node
-        :param receiver_name: The name of the receiver device on the
-            supervisor node
-        :param timestep: The supervisor controller timestep
-        """
-        super(SupervisorCSV, self).__init__(emitter_name, receiver_name,
-                                            timestep)
-
-    def handle_emitter(self, action):
-        """
-        Implementation of the handle_emitter method expecting an iterable
-        with Comma Separated Values (CSV).
-
-        :param action: Whatever the use-case uses as an action, e.g.
-            an integer representing discrete actions
-        :type action:  Iterable, for multiple values the CSV format is
-            required, e.g. [0, 1] for two actions
-        """
-        assert isinstance(action, Iterable), \
-            "The action object should be Iterable"
-
-        message = (",".join(map(str, action))).encode("utf-8")
-        self.emitter.send(message)
-
-    def handle_receiver(self):
-        """
-        Implementation of the handle_receiver method expecting an iterable
-        with Comma Separated Values (CSV).
-
-        :return: Returns the message received from the robot, returns None
-            if no message is received
-        :rtype: List of string values
-        """
-        if self.receiver.getQueueLength() > 0:
-            try:
-                string_message = self.receiver.getString()
-            except AttributeError:
-                string_message = self.receiver.getData().decode("utf-8")
-            self.receiver.nextPacket()
-            return string_message.split(",")
-        else:
-            return None

deepbots/supervisor/controllers/supervisor_env.py renamed to deepbots/supervisor/controllers/deepbots_supervisor_env.py

@@ -1,11 +1,11 @@
 from warnings import warn, simplefilter
-from deepbots.supervisor.controllers.supervisor_env import SupervisorEnv
+from deepbots.supervisor.controllers.deepbots_supervisor_env import DeepbotsSupervisorEnv
 from controller import Supervisor
 
 
-class RobotSupervisor(SupervisorEnv):
+class RobotSupervisorEnv(DeepbotsSupervisorEnv):
     """
-    The RobotSupervisor class implements both a robot controller and a
+    The RobotSupervisorEnv class implements both a robot controller and a
     supervisor RL environment, referred to as Robot-Supervisor scheme.
 
     This class can be used when there is no need to separate the Robot
@@ -18,17 +18,17 @@ class RobotSupervisor(SupervisorEnv):
 
     The user needs to implement the regular methods for the environment,
     reward(), get_observations(), get_default_observation, etc., from
-    SupervisorEnv according to their use-case in addition to the method
+    DeepbotsSupervisorEnv according to their use-case in addition to the method
     apply_action() introduced here.
 
     apply_action():
-    (similar to use_message_data() of RobotEmitterReceiverCSV)
+    (similar to use_message_data() of CSVRobot)
     This method takes an action argument and translates it to a robot
     action, e.g. motor speeds.
     Note that apply_action() is called during step().
     """
     def __init__(self, timestep=None):
-        super(RobotSupervisor, self).__init__()
+        super(RobotSupervisorEnv, self).__init__()
 
         if timestep is None:
             self.timestep = int(self.getBasicTimeStep())

deepbots/supervisor/controllers/supervisor_emitter_receiver.py renamed to deepbots/supervisor/controllers/emitter_receiver_supervisor_env.py

@@ -0,0 +1,2 @@
+from deepbots.supervisor.wrappers.keyboard_printer import KeyboardPrinter
+from deepbots.supervisor.wrappers.tensorboard_wrapper import TensorboardLogger

deepbots/supervisor/controllers/robot_supervisor.py renamed to deepbots/supervisor/controllers/robot_supervisor_env.py

@@ -1,16 +1,16 @@
 from controller import Keyboard
 
-from deepbots.supervisor.controllers.supervisor_env import SupervisorEnv
+from deepbots.supervisor.controllers.deepbots_supervisor_env import DeepbotsSupervisorEnv
 
 
-class KeyboardPrinter(SupervisorEnv):
+class KeyboardPrinter(DeepbotsSupervisorEnv):
     def __init__(self, controller):
         self.controller = controller
         self.keyboard = Keyboard()
         self.keyboard.enable(self.controller.timestep)
 
     def step(self, action):
-        observation, reward, isDone, info = self.controller.step(action)
+        observation, reward, is_done, info = self.controller.step(action)
         key = self.keyboard.getKey()
         # DEBUG CONTROLS
         if key == Keyboard.CONTROL + ord("A"):
@@ -23,13 +23,13 @@ def step(self, action):
             print()
             print("Observations: ", self.controller.observation)
 
-        return observation, reward, isDone, info
+        return observation, reward, is_done, info
 
     def is_done(self):
-        isDone = self.controller.is_done()
-        if isDone:
+        is_done = self.controller.is_done()
+        if is_done:
             print("Done")
-        return isDone
+        return is_done
 
     def get_observations(self):
         return self.controller.get_observations()

deepbots/supervisor/wrappers/__init__.py

@@ -1,10 +1,10 @@
 import numpy as np
 from tensorboardX import SummaryWriter
 
-from deepbots.supervisor.controllers.supervisor_env import SupervisorEnv
+from deepbots.supervisor.controllers.deepbots_supervisor_env import DeepbotsSupervisorEnv
 
 
-class TensorboardLogger(SupervisorEnv):
+class TensorboardLogger(DeepbotsSupervisorEnv):
     def __init__(self,
                  controller,
                  log_dir="logs/results",
@@ -29,7 +29,7 @@ def __init__(self,
         self.file_writer = SummaryWriter(log_dir, flush_secs=30)
 
     def step(self, action):
-        observation, reward, isDone, info = self.controller.step(action)
+        observation, reward, is_done, info = self.controller.step(action)
 
         if (self.v_action > 1):
             self.file_writer.add_histogram(
@@ -47,7 +47,7 @@ def step(self, action):
             self.file_writer.add_scalar("Rewards/Per Global Step", reward,
                                         self.step_global)
 
-        if (isDone):
+        if (is_done):
             self.file_writer.add_scalar(
                 "Is Done/Per Reset step",
                 self.step_cntr,
@@ -60,13 +60,13 @@ def step(self, action):
         self.step_cntr += 1
         self.step_global += 1
 
-        return observation, reward, isDone, info
+        return observation, reward, is_done, info
 
     def is_done(self):
-        isDone = self.controller.is_done()
+        is_done = self.controller.is_done()
 
         self.file_writer.flush()
-        return isDone
+        return is_done
 
     def get_observations(self):
         obs = self.controller.get_observations()