Merge pull request #42 from jerryz123/teleop_fix

Fixed tele-op agent actions and state generation

gym_urbandriving/agents/tele_op/keyboard_agent.py

@@ -1,5 +1,7 @@
 import pygame
 from gym_urbandriving.agents import Agent
+from gym_urbandriving.actions import SteeringAction
+import numpy as np
 
 class KeyboardAgent(Agent):
     """
@@ -43,4 +45,4 @@ def eval_policy(self, state):
             steer = 1
         elif keys[pygame.K_RIGHT]:
             steer = -1
-        return np.array([steer, acc])
+        return SteeringAction(steer, acc)

gym_urbandriving/state/state.py

@@ -122,16 +122,14 @@ def create_agents(self):
             self.bg_agents['controlled_cars'].append(agent)
 
     def is_in_collision(self,car):
-
+        
         for obj in self.static_objects:
           if car.collides(obj):
-            return True
-
+              return True
         for key in self.dynamic_objects.keys():
-            for i,obj in enumerate(self.dynamic_objects[key]):
-              if car.collides(obj):
-                return True
-
+            for i,obj in six.iteritems(self.dynamic_objects[key]):
+                if car.collides(obj):
+                    return True
         return False