Set one goal per controlled vehicle in ParkingEnv

Fix #593
Farama-Foundation · Apr 27, 2024 · 421eeee · 421eeee
1 parent af23919
commit 421eeee
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Showing 2 changed files with 9 additions and 8 deletions.
diff --git a/highway_env/envs/common/observation.py b/highway_env/envs/common/observation.py
@@ -545,7 +545,7 @@ def observe(self) -> Dict[str, np.ndarray]:
             pd.DataFrame.from_records([self.observer_vehicle.to_dict()])[self.features]
         )
         goal = np.ravel(
-            pd.DataFrame.from_records([self.env.goal.to_dict()])[self.features]
+            pd.DataFrame.from_records([self.observer_vehicle.goal.to_dict()])[self.features]
         )
         obs = OrderedDict(
             [

diff --git a/highway_env/envs/parking_env.py b/highway_env/envs/parking_env.py
@@ -189,13 +189,14 @@ def _create_vehicles(self) -> None:
             empty_spots.remove(vehicle.lane_index)
 
         # Goal
-        lane_index = empty_spots[self.np_random.choice(np.arange(len(empty_spots)))]
-        lane = self.road.network.get_lane(lane_index)
-        self.goal = Landmark(
-            self.road, lane.position(lane.length / 2, 0), heading=lane.heading
-        )
-        self.road.objects.append(self.goal)
-        empty_spots.remove(lane_index)
+        for vehicle in self.controlled_vehicles:
+            lane_index = empty_spots[self.np_random.choice(np.arange(len(empty_spots)))]
+            lane = self.road.network.get_lane(lane_index)
+            vehicle.goal = Landmark(
+                self.road, lane.position(lane.length / 2, 0), heading=lane.heading
+            )
+            self.road.objects.append(vehicle.goal)
+            empty_spots.remove(lane_index)
 
         # Other vehicles
         for i in range(self.config["vehicles_count"]):