Merge pull request #50 from jerryz123/observation_fix

Removed raw state retrieval through observations
BerkeleyAutomation · Apr 18, 2018 · 6dc137a · 6dc137a
2 parents 7a3af96 + 2d636c3
commit 6dc137a
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diff --git a/docs/source/observations.rst b/docs/source/observations.rst
@@ -4,7 +4,7 @@ Observations are generated for each controlled car in the scene. The type of obs
 
 Raw
 ^^^
-A pointer to the raw environment, giving agents full access to the scene, and all other objects in the scene.
+A copy of the the raw environment, giving agents full access to the scene, and all other objects in the scene. Using this observation type should be avoided, as duplicating the environment incurs a significant performance penalty.
 
 Q-LIDAR
 ^^^^^^^

diff --git a/gym_urbandriving/envs/urbandriving_env.py b/gym_urbandriving/envs/urbandriving_env.py
@@ -140,7 +140,7 @@ def _step(self, action, background_simplified=False,supervisor=False):
         info_dict = {"saved_actions": action}
 
         if self.observation_type == 'raw':
-            observations = [state] * len(state.dynamic_objects['controlled_cars'])
+            observations = [deepcopy(state) for i in state.dynamic_objects['controlled_cars']]
         elif self.observation_type == 'Q-LIDAR':
             observations = []
             for key in self.current_state.dynamic_objects['controlled_cars'].keys():