From cf73b62fc8362d11cd61b29f352f294029d50158 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Mon, 5 Dec 2022 14:38:12 -0500
Subject: [PATCH 01/40] Update local_gym.py

---
 explorationlib/local_gym.py | 110 ++++++++++++++++++++++++++++++++++++
 1 file changed, 110 insertions(+)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 90f11a9..9b599f0 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -1500,3 +1500,113 @@ def gamma_values(targets, shape=1.0, scale=2.0, prng=None):
 def levy_values(targets, exponent=2.0, prng=None):
     prng = _init_prng(prng)
     return np.power(prng.uniform(size=len(targets)), (-1 / exponent))
+
+# ---
+class ScentGridMovingTargets(Grid):
+    """Am open-grid, with scent and moving targets"""
+    def __init__(self, mode="discrete"):
+        super().__init__(mode=mode)
+        self.scent = None
+        self.scent_fn = None
+        self.obs = 0.0
+
+    def add_scent(self,
+                  target,
+                  value,
+                  coord,
+                  scent,
+                  detection_radius=1.0,
+                  noise_sigma=0.0,
+                  p_target=1.0):
+        # Offset coords by target location
+        # align them in other words
+        self.scent_x_coord = coord[0] + target[0]
+        self.scent_y_coord = coord[1] + target[1]
+
+        # Set scent and its params
+        self.noise_sigma = noise_sigma
+        self.scent_pdf = scent
+        self.add_targets([target], [value],
+                         detection_radius=detection_radius,
+                         kd_kwargs=None,
+                         p_target=p_target)
+
+        def scent_fn(state):
+            x, y = state
+            i = find_nearest(self.scent_x_coord, x)
+            j = find_nearest(self.scent_y_coord, y)
+
+            # Add noise?
+            noise = np.abs(self.np_random.normal(0, self.noise_sigma))
+            return self.scent_pdf[i, j] + noise
+
+        self.scent_fn = scent_fn
+
+    def add_scents(
+            self,
+            targets,
+            values,
+            coord,  # assume shared
+            scents,
+            detection_radius=1.0,
+            noise_sigma=0.0,
+            p_target=1.0):
+        """Add several scents, and targets"""
+        self.noise_sigma = noise_sigma
+        self.scent_pdfs = scents
+        self.add_targets(targets,
+                         values,
+                         detection_radius=detection_radius,
+                         kd_kwargs=None,
+                         p_target=p_target)
+
+        # Offset coords by target location
+        # align them in other words
+        self.scent_x_coords = []
+        self.scent_y_coords = []
+        for target in self.targets:
+            self.scent_x_coords.append(coord[0] + target[0])
+            self.scent_y_coords.append(coord[1] + target[1])
+
+        def scent_fn(state):
+            # Pos
+            x, y = state
+
+            # Sum scents from all targets @ pos
+            summed = 0.0
+            for ind in range(self.num_targets):
+                i = find_nearest(self.scent_x_coords[ind], x)
+                j = find_nearest(self.scent_y_coords[ind], y)
+                summed += self.scent_pdfs[ind][i, j]
+
+            # Add noise?
+            noise = np.abs(self.np_random.normal(0, self.noise_sigma))
+            return summed + noise
+
+        self.scent_fn = scent_fn
+
+    def step(self, action):
+        # Move
+        super().step(action)  # sets self.ind, etc
+
+        # Scent
+        if self.scent_fn is not None:
+            x, y = int(self.state[0]), int(self.state[1])
+            self.obs = self.scent_fn((x, y))
+        else:
+            self.obs = 0.0
+
+        if 
+            
+        # !
+        self.state_obs = (self.state, self.obs)
+        return self.last()
+
+    def last(self):
+        return (self.state_obs, self.reward, self.done, self.info)
+
+    def reset(self):
+        self.state = np.zeros(2, dtype=int)
+        self.obs = 0.0
+        self.state_obs = (self.state, self.obs)
+        self.last()

From 25c9da4c09667b98d047e96086c41dacb65b2ced Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Mon, 5 Dec 2022 14:57:36 -0500
Subject: [PATCH 02/40] Update plot.py

---
 explorationlib/plot.py | 53 +++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 52 insertions(+), 1 deletion(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index 448957c..e6d851c 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -495,4 +495,55 @@ def plot_length_hist(exp_data,
     if label is not None:
         ax.legend(loc='center left', bbox_to_anchor=(1, 0.5))
 
-    return ax
\ No newline at end of file
+    return ax
+
+
+
+
+def plot_targets2d(env,
+                   figsize=(3, 3),
+                   boundary=(1, 1),
+                   color=color,
+                   alpha=1.0,
+                   label=None,
+                   title=None,
+                   ax=None):
+
+    # No targets no plot
+    if env.targets is None:
+        return None
+
+    # Fmt
+    try:
+        vec = np.vstack(env.initial_targets)
+    except AttributeError:
+        vec = np.vstack(env.targets)
+
+    # Create a fig obj?
+    if ax is None:
+        fig = plt.figure(figsize=figsize)
+        ax = fig.add_subplot(111)
+        
+    dx = ["black", "red"]
+    for i in range(len(env.targets):
+        dy = env.targets[i - 1]
+        dz = dx[dy]
+        ax.scatter(
+            vec[:, 0],
+            vec[:, 1],
+            env.values,  # value is size, literal
+            color=dz,
+            label=label,
+            alpha=alpha)
+        ax.set_xlim(-boundary[0], boundary[0])
+        ax.set_ylim(-boundary[1], boundary[1])
+        ax.set_xlabel("x")
+        ax.set_ylabel("y")
+
+    # Labels, legends, titles?
+    if title is not None:
+        ax.set_title(title)
+    if label is not None:
+        ax.legend(loc='center left', bbox_to_anchor=(1, 0.5))
+
+    return ax

From 7a521994e0fe2cbf492e44c08c5b2ef772e70ffe Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Mon, 5 Dec 2022 14:58:41 -0500
Subject: [PATCH 03/40] Update plot.py

---
 explorationlib/plot.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index e6d851c..8ed273a 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -500,7 +500,7 @@ def plot_length_hist(exp_data,
 
 
 
-def plot_targets2d(env,
+def plot_targets2dX(env,
                    figsize=(3, 3),
                    boundary=(1, 1),
                    color=color,

From d61607795c671a9b0a946e27aac5f6f3c80f2f18 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Mon, 5 Dec 2022 15:00:05 -0500
Subject: [PATCH 04/40] Update local_gym.py

---
 explorationlib/local_gym.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 9b599f0..35c1c9b 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -1595,8 +1595,8 @@ def step(self, action):
             self.obs = self.scent_fn((x, y))
         else:
             self.obs = 0.0
-
-        if 
+            
+        # if statement here
             
         # !
         self.state_obs = (self.state, self.obs)

From fe7dbda98bed7861301f9bce26891231e824e132 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Mon, 5 Dec 2022 15:03:42 -0500
Subject: [PATCH 05/40] Update local_gym.py

---
 explorationlib/local_gym.py | 217 ++++++++++++++++++------------------
 1 file changed, 107 insertions(+), 110 deletions(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 35c1c9b..00d8d81 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -587,6 +587,113 @@ def reset(self):
         self.state_obs = (self.state, self.obs)
         self.last()
 
+# ---
+class ScentGridMovingTargets(Grid):
+    """An open-grid, with scent and moving targets"""
+    def __init__(self, mode="discrete"):
+        super().__init__(mode=mode)
+        self.scent = None
+        self.scent_fn = None
+        self.obs = 0.0
+
+    def add_scent(self,
+                  target,
+                  value,
+                  coord,
+                  scent,
+                  detection_radius=1.0,
+                  noise_sigma=0.0,
+                  p_target=1.0):
+        # Offset coords by target location
+        # align them in other words
+        self.scent_x_coord = coord[0] + target[0]
+        self.scent_y_coord = coord[1] + target[1]
+
+        # Set scent and its params
+        self.noise_sigma = noise_sigma
+        self.scent_pdf = scent
+        self.add_targets([target], [value],
+                         detection_radius=detection_radius,
+                         kd_kwargs=None,
+                         p_target=p_target)
+
+        def scent_fn(state):
+            x, y = state
+            i = find_nearest(self.scent_x_coord, x)
+            j = find_nearest(self.scent_y_coord, y)
+
+            # Add noise?
+            noise = np.abs(self.np_random.normal(0, self.noise_sigma))
+            return self.scent_pdf[i, j] + noise
+
+        self.scent_fn = scent_fn
+
+    def add_scents(
+            self,
+            targets,
+            values,
+            coord,  # assume shared
+            scents,
+            detection_radius=1.0,
+            noise_sigma=0.0,
+            p_target=1.0):
+        """Add several scents, and targets"""
+        self.noise_sigma = noise_sigma
+        self.scent_pdfs = scents
+        self.add_targets(targets,
+                         values,
+                         detection_radius=detection_radius,
+                         kd_kwargs=None,
+                         p_target=p_target)
+
+        # Offset coords by target location
+        # align them in other words
+        self.scent_x_coords = []
+        self.scent_y_coords = []
+        for target in self.targets:
+            self.scent_x_coords.append(coord[0] + target[0])
+            self.scent_y_coords.append(coord[1] + target[1])
+
+        def scent_fn(state):
+            # Pos
+            x, y = state
+
+            # Sum scents from all targets @ pos
+            summed = 0.0
+            for ind in range(self.num_targets):
+                i = find_nearest(self.scent_x_coords[ind], x)
+                j = find_nearest(self.scent_y_coords[ind], y)
+                summed += self.scent_pdfs[ind][i, j]
+
+            # Add noise?
+            noise = np.abs(self.np_random.normal(0, self.noise_sigma))
+            return summed + noise
+
+        self.scent_fn = scent_fn
+
+    def step(self, action):
+        # Move
+        super().step(action)  # sets self.ind, etc
+
+        # Scent
+        if self.scent_fn is not None:
+            x, y = int(self.state[0]), int(self.state[1])
+            self.obs = self.scent_fn((x, y))
+        else:
+            self.obs = 0.0
+
+        # !
+        self.state_obs = (self.state, self.obs)
+        return self.last()
+
+    def last(self):
+        return (self.state_obs, self.reward, self.done, self.info)
+
+    def reset(self):
+        self.state = np.zeros(2, dtype=int)
+        self.obs = 0.0
+        self.state_obs = (self.state, self.obs)
+        self.last()
 
 # ---
 # Multi
@@ -1500,113 +1607,3 @@ def gamma_values(targets, shape=1.0, scale=2.0, prng=None):
 def levy_values(targets, exponent=2.0, prng=None):
     prng = _init_prng(prng)
     return np.power(prng.uniform(size=len(targets)), (-1 / exponent))
-
-# ---
-class ScentGridMovingTargets(Grid):
-    """Am open-grid, with scent and moving targets"""
-    def __init__(self, mode="discrete"):
-        super().__init__(mode=mode)
-        self.scent = None
-        self.scent_fn = None
-        self.obs = 0.0
-
-    def add_scent(self,
-                  target,
-                  value,
-                  coord,
-                  scent,
-                  detection_radius=1.0,
-                  noise_sigma=0.0,
-                  p_target=1.0):
-        # Offset coords by target location
-        # align them in other words
-        self.scent_x_coord = coord[0] + target[0]
-        self.scent_y_coord = coord[1] + target[1]
-
-        # Set scent and its params
-        self.noise_sigma = noise_sigma
-        self.scent_pdf = scent
-        self.add_targets([target], [value],
-                         detection_radius=detection_radius,
-                         kd_kwargs=None,
-                         p_target=p_target)
-
-        def scent_fn(state):
-            x, y = state
-            i = find_nearest(self.scent_x_coord, x)
-            j = find_nearest(self.scent_y_coord, y)
-
-            # Add noise?
-            noise = np.abs(self.np_random.normal(0, self.noise_sigma))
-            return self.scent_pdf[i, j] + noise
-
-        self.scent_fn = scent_fn
-
-    def add_scents(
-            self,
-            targets,
-            values,
-            coord,  # assume shared
-            scents,
-            detection_radius=1.0,
-            noise_sigma=0.0,
-            p_target=1.0):
-        """Add several scents, and targets"""
-        self.noise_sigma = noise_sigma
-        self.scent_pdfs = scents
-        self.add_targets(targets,
-                         values,
-                         detection_radius=detection_radius,
-                         kd_kwargs=None,
-                         p_target=p_target)
-
-        # Offset coords by target location
-        # align them in other words
-        self.scent_x_coords = []
-        self.scent_y_coords = []
-        for target in self.targets:
-            self.scent_x_coords.append(coord[0] + target[0])
-            self.scent_y_coords.append(coord[1] + target[1])
-
-        def scent_fn(state):
-            # Pos
-            x, y = state
-
-            # Sum scents from all targets @ pos
-            summed = 0.0
-            for ind in range(self.num_targets):
-                i = find_nearest(self.scent_x_coords[ind], x)
-                j = find_nearest(self.scent_y_coords[ind], y)
-                summed += self.scent_pdfs[ind][i, j]
-
-            # Add noise?
-            noise = np.abs(self.np_random.normal(0, self.noise_sigma))
-            return summed + noise
-
-        self.scent_fn = scent_fn
-
-    def step(self, action):
-        # Move
-        super().step(action)  # sets self.ind, etc
-
-        # Scent
-        if self.scent_fn is not None:
-            x, y = int(self.state[0]), int(self.state[1])
-            self.obs = self.scent_fn((x, y))
-        else:
-            self.obs = 0.0
-            
-        # if statement here
-            
-        # !
-        self.state_obs = (self.state, self.obs)
-        return self.last()
-
-    def last(self):
-        return (self.state_obs, self.reward, self.done, self.info)
-
-    def reset(self):
-        self.state = np.zeros(2, dtype=int)
-        self.obs = 0.0
-        self.state_obs = (self.state, self.obs)
-        self.last()

From c7cf98973193b429d14927bf060a65f085b48d57 Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Mon, 5 Dec 2022 17:16:08 -0500
Subject: [PATCH 06/40] Update plot.py

---
 explorationlib/plot.py | 34 +++++++++++++++++++---------------
 1 file changed, 19 insertions(+), 15 deletions(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index 8ed273a..2003daf 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -24,7 +24,7 @@ def show_gif(name):
     return display.HTML(f'<img src="data:image/gif;base64,{b64}" />')
 
 
-# def render_2d(name,
+# def render_(name,
 #               env,
 #               exp_data,
 #               num_experiment=0,
@@ -265,13 +265,14 @@ def plot_targets2d(env,
                    alpha=1.0,
                    label=None,
                    title=None,
+                   differ = None
                    ax=None):
 
     # No targets no plot
     if env.targets is None:
         return None
 
-    # Fmt
+        # Fmt
     try:
         vec = np.vstack(env.initial_targets)
     except AttributeError:
@@ -281,19 +282,22 @@ def plot_targets2d(env,
     if ax is None:
         fig = plt.figure(figsize=figsize)
         ax = fig.add_subplot(111)
-
-    # !
-    ax.scatter(
-        vec[:, 0],
-        vec[:, 1],
-        env.values,  # value is size, literal
-        color=color,
-        label=label,
-        alpha=alpha)
-    ax.set_xlim(-boundary[0], boundary[0])
-    ax.set_ylim(-boundary[1], boundary[1])
-    ax.set_xlabel("x")
-    ax.set_ylabel("y")
+        
+    dx = ["black", "red"]
+    for i in range(len(env.targets):
+        dy = env.targets[i - 1]
+        dz = dx[dy]
+        ax.scatter(
+            vec[:, 0],
+            vec[:, 1],
+            env.values,  # value is size, literal
+            color=dz,
+            label=label,
+            alpha=alpha)
+        ax.set_xlim(-boundary[0], boundary[0])
+        ax.set_ylim(-boundary[1], boundary[1])
+        ax.set_xlabel("x")
+        ax.set_ylabel("y")
 
     # Labels, legends, titles?
     if title is not None:

From 56e5f99e24dcf0d87ac286da84bbdcb0f157bbad Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Mon, 5 Dec 2022 17:20:22 -0500
Subject: [PATCH 07/40] Update plot.py

---
 explorationlib/plot.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index 2003daf..a370391 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -265,7 +265,7 @@ def plot_targets2d(env,
                    alpha=1.0,
                    label=None,
                    title=None,
-                   differ = None
+                   differ = None,
                    ax=None):
 
     # No targets no plot

From af1c5f1cc724cd65bfdafd4a9d01b4a9fdcca058 Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Mon, 5 Dec 2022 17:25:44 -0500
Subject: [PATCH 08/40] Update plot.py

---
 explorationlib/plot.py | 31 ++++++++++++++++++++++++-------
 1 file changed, 24 insertions(+), 7 deletions(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index a370391..95543b2 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -282,12 +282,29 @@ def plot_targets2d(env,
     if ax is None:
         fig = plt.figure(figsize=figsize)
         ax = fig.add_subplot(111)
-        
-    dx = ["black", "red"]
-    for i in range(len(env.targets):
-        dy = env.targets[i - 1]
-        dz = dx[dy]
-        ax.scatter(
+       
+
+    if differ == None:
+        return
+    else:
+        dx = ["black", "red"]
+        for i in range(len(env.targets):
+            dy = env.targets[i - 1]
+            dz = dx[dy]
+                   
+            ax.scatter(
+                vec[:, 0],
+                vec[:, 1],
+                env.values,  # value is size, literal
+                color=dz,
+                label=label,
+                alpha=alpha)
+            ax.set_xlim(-boundary[0], boundary[0])
+            ax.set_ylim(-boundary[1], boundary[1])
+            ax.set_xlabel("x")
+            ax.set_ylabel("y")
+                       
+    ax.scatter(    
             vec[:, 0],
             vec[:, 1],
             env.values,  # value is size, literal
@@ -298,7 +315,7 @@ def plot_targets2d(env,
         ax.set_ylim(-boundary[1], boundary[1])
         ax.set_xlabel("x")
         ax.set_ylabel("y")
-
+                       
     # Labels, legends, titles?
     if title is not None:
         ax.set_title(title)

From 24288206bbdf45a66f87ac12fdf29c80e2811712 Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Mon, 5 Dec 2022 17:38:03 -0500
Subject: [PATCH 09/40] Update plot.py

---
 explorationlib/plot.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index 95543b2..26d212d 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -261,11 +261,11 @@ def plot_scent_grid(env,
 def plot_targets2d(env,
                    figsize=(3, 3),
                    boundary=(1, 1),
-                   color="black",
+                   color=None,
                    alpha=1.0,
                    label=None,
                    title=None,
-                   differ = None,
+                   differ=None,
                    ax=None):
 
     # No targets no plot
@@ -288,7 +288,7 @@ def plot_targets2d(env,
         return
     else:
         dx = ["black", "red"]
-        for i in range(len(env.targets):
+        for i in range(len(env.targets)):
             dy = env.targets[i - 1]
             dz = dx[dy]
                    

From 65babff96987aa309706142a1c1aa772a5c20eb7 Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Mon, 5 Dec 2022 17:40:00 -0500
Subject: [PATCH 10/40] Update plot.py

---
 explorationlib/plot.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index 26d212d..3a1858f 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -288,7 +288,7 @@ def plot_targets2d(env,
         return
     else:
         dx = ["black", "red"]
-        for i in range(len(env.targets)):
+        for i in range(len(env.targets)): ##Change the color hopefully
             dy = env.targets[i - 1]
             dz = dx[dy]
                    

From ad929bf2fa010776fe0d4ed2861c63fc2c402ab7 Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Mon, 5 Dec 2022 17:59:48 -0500
Subject: [PATCH 11/40] Update plot.py

---
 explorationlib/plot.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index 3a1858f..2878354 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -31,7 +31,7 @@ def show_gif(name):
 #               figsize=(4, 4),
 #               boundary=(50, 50),
 #               interval=200):
-#     """Replay an experiment, as a movie.
+#     """Replay an experiment, as a movie. FUCK
 
 #     NOTE: can be very slow to run for experiments
 #     with more than a couple thousand steps.

From ca86921dac92898fd6264695034031ae7a0ed674 Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Mon, 5 Dec 2022 18:08:51 -0500
Subject: [PATCH 12/40] Update plot.py

---
 explorationlib/plot.py | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index 2878354..beb0432 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -285,7 +285,18 @@ def plot_targets2d(env,
        
 
     if differ == None:
-        return
+        ax.scatter(    
+            vec[:, 0],
+            vec[:, 1],
+            env.values,  # value is size, literal
+            color=dz,
+            label=label,
+            alpha=alpha)
+        ax.set_xlim(-boundary[0], boundary[0])
+        ax.set_ylim(-boundary[1], boundary[1])
+        ax.set_xlabel("x")
+        ax.set_ylabel("y")
+        
     else:
         dx = ["black", "red"]
         for i in range(len(env.targets)): ##Change the color hopefully
@@ -304,17 +315,6 @@ def plot_targets2d(env,
             ax.set_xlabel("x")
             ax.set_ylabel("y")
                        
-    ax.scatter(    
-            vec[:, 0],
-            vec[:, 1],
-            env.values,  # value is size, literal
-            color=dz,
-            label=label,
-            alpha=alpha)
-        ax.set_xlim(-boundary[0], boundary[0])
-        ax.set_ylim(-boundary[1], boundary[1])
-        ax.set_xlabel("x")
-        ax.set_ylabel("y")
                        
     # Labels, legends, titles?
     if title is not None:

From 4ffcc392eee8a7f59d70f49d03c5fadb77ac7d0b Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Mon, 5 Dec 2022 19:42:09 -0500
Subject: [PATCH 13/40] Update plot.py

---
 explorationlib/plot.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index beb0432..4e5af01 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -289,7 +289,7 @@ def plot_targets2d(env,
             vec[:, 0],
             vec[:, 1],
             env.values,  # value is size, literal
-            color=dz,
+            color="black",
             label=label,
             alpha=alpha)
         ax.set_xlim(-boundary[0], boundary[0])

From a8d6196b8e757983f5a0e41cc7f1dfd24062c828 Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Mon, 5 Dec 2022 19:47:44 -0500
Subject: [PATCH 14/40] Update plot.py

---
 explorationlib/plot.py | 48 ------------------------------------------
 1 file changed, 48 deletions(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index 4e5af01..e763e46 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -520,51 +520,3 @@ def plot_length_hist(exp_data,
 
 
 
-
-def plot_targets2dX(env,
-                   figsize=(3, 3),
-                   boundary=(1, 1),
-                   color=color,
-                   alpha=1.0,
-                   label=None,
-                   title=None,
-                   ax=None):
-
-    # No targets no plot
-    if env.targets is None:
-        return None
-
-    # Fmt
-    try:
-        vec = np.vstack(env.initial_targets)
-    except AttributeError:
-        vec = np.vstack(env.targets)
-
-    # Create a fig obj?
-    if ax is None:
-        fig = plt.figure(figsize=figsize)
-        ax = fig.add_subplot(111)
-        
-    dx = ["black", "red"]
-    for i in range(len(env.targets):
-        dy = env.targets[i - 1]
-        dz = dx[dy]
-        ax.scatter(
-            vec[:, 0],
-            vec[:, 1],
-            env.values,  # value is size, literal
-            color=dz,
-            label=label,
-            alpha=alpha)
-        ax.set_xlim(-boundary[0], boundary[0])
-        ax.set_ylim(-boundary[1], boundary[1])
-        ax.set_xlabel("x")
-        ax.set_ylabel("y")
-
-    # Labels, legends, titles?
-    if title is not None:
-        ax.set_title(title)
-    if label is not None:
-        ax.legend(loc='center left', bbox_to_anchor=(1, 0.5))
-
-    return ax

From 7764187b36b43ce766e70a1262152fd35e604699 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Mon, 5 Dec 2022 23:21:15 -0500
Subject: [PATCH 15/40] Update local_gym.py

---
 explorationlib/local_gym.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 00d8d81..c29a082 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -681,6 +681,10 @@ def step(self, action):
             self.obs = self.scent_fn((x, y))
         else:
             self.obs = 0.0
+            
+        # New FP Code
+        print(target)
+        print("hi")
 
         # !
         self.state_obs = (self.state, self.obs)

From bc400d49b9e262e6d4046c30815f3272ea41a714 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Mon, 5 Dec 2022 23:41:27 -0500
Subject: [PATCH 16/40] Update local_gym.py

---
 explorationlib/local_gym.py | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index c29a082..1543d7d 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -683,9 +683,18 @@ def step(self, action):
             self.obs = 0.0
             
         # New FP Code
-        print(target)
-        print("hi")
-
+        for target in self.targets:
+            target[0] += random.randint(-3, 3)
+            if target[0] > 10:
+                target[0] = 10
+            elif target[0] < -10:
+                target[0] = -10
+            target[1] += random.randint(-3, 3)
+            if target[1] > 10:
+                target[1] = 10
+            elif target[1] < -10:
+                target[1] = -10
+                
         # !
         self.state_obs = (self.state, self.obs)
         return self.last()

From 020bbab872d82f27574dfbdd7479152038af9836 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Mon, 5 Dec 2022 23:45:10 -0500
Subject: [PATCH 17/40] Update local_gym.py

---
 explorationlib/local_gym.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 1543d7d..f581ce2 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -686,13 +686,17 @@ def step(self, action):
         for target in self.targets:
             target[0] += random.randint(-3, 3)
             if target[0] > 10:
+                print("target[0] > 10")
                 target[0] = 10
             elif target[0] < -10:
+                print("target[0] < -10")
                 target[0] = -10
             target[1] += random.randint(-3, 3)
             if target[1] > 10:
+                print("target[1] > 10")
                 target[1] = 10
             elif target[1] < -10:
+                print("target[1] < -10")
                 target[1] = -10
                 
         # !

From 1370c2de96a088d5df3e72b10471b35c56a43c6d Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Tue, 6 Dec 2022 00:00:35 -0500
Subject: [PATCH 18/40] Update local_gym.py

---
 explorationlib/local_gym.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index f581ce2..51bd46c 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -1,5 +1,6 @@
 #! /usr/bin/env python
 import numpy as np
+import random
 
 from copy import deepcopy
 from itertools import cycle

From 5932d9cc67f12b7c1ef81353fa81045996112ffc Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Tue, 6 Dec 2022 11:58:59 -0500
Subject: [PATCH 19/40] Update local_gym.py

---
 explorationlib/local_gym.py | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 51bd46c..7fd6656 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -591,6 +591,7 @@ def reset(self):
 # ---
 class ScentGridMovingTargets(Grid):
     """An open-grid, with scent and moving targets"""
+    countSteps = 0
     def __init__(self, mode="discrete"):
         super().__init__(mode=mode)
         self.scent = None
@@ -675,6 +676,7 @@ def scent_fn(state):
     def step(self, action):
         # Move
         super().step(action)  # sets self.ind, etc
+        countSteps += 1
 
         # Scent
         if self.scent_fn is not None:
@@ -685,20 +687,18 @@ def step(self, action):
             
         # New FP Code
         for target in self.targets:
-            target[0] += random.randint(-3, 3)
-            if target[0] > 10:
-                print("target[0] > 10")
-                target[0] = 10
-            elif target[0] < -10:
-                print("target[0] < -10")
-                target[0] = -10
-            target[1] += random.randint(-3, 3)
-            if target[1] > 10:
-                print("target[1] > 10")
-                target[1] = 10
-            elif target[1] < -10:
-                print("target[1] < -10")
-                target[1] = -10
+            if countSteps%50 == 0:
+                print("countSteps = ", countSteps)
+                target[0] += random.randint(-3, 3)
+                if target[0] > 10:
+                    target[0] = 10
+                elif target[0] < -10:
+                    target[0] = -10
+                target[1] += random.randint(-3, 3)
+                if target[1] > 10:
+                    target[1] = 10
+                elif target[1] < -10:
+                    target[1] = -10
                 
         # !
         self.state_obs = (self.state, self.obs)

From 61d9072f0d62349d591c78aa400f21ba610a9350 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Tue, 6 Dec 2022 12:05:56 -0500
Subject: [PATCH 20/40] Update local_gym.py

---
 explorationlib/local_gym.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 7fd6656..d58389b 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -18,6 +18,8 @@
 import warnings
 warnings.filterwarnings("ignore")
 
+countSteps = 0
+
 # -------------------------------------------------------------------------
 # Enviroments
 
@@ -591,7 +593,6 @@ def reset(self):
 # ---
 class ScentGridMovingTargets(Grid):
     """An open-grid, with scent and moving targets"""
-    countSteps = 0
     def __init__(self, mode="discrete"):
         super().__init__(mode=mode)
         self.scent = None

From a6c954f79e6245447eae1672cc153e0cdbb7494f Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Tue, 6 Dec 2022 12:10:37 -0500
Subject: [PATCH 21/40] Update local_gym.py

---
 explorationlib/local_gym.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index d58389b..f75430b 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -677,7 +677,7 @@ def scent_fn(state):
     def step(self, action):
         # Move
         super().step(action)  # sets self.ind, etc
-        countSteps += 1
+        global countSteps += 1
 
         # Scent
         if self.scent_fn is not None:

From f4b45abc0ccf1678b0063b4293aeddf385ed1858 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Tue, 6 Dec 2022 12:16:24 -0500
Subject: [PATCH 22/40] Update local_gym.py

---
 explorationlib/local_gym.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index f75430b..8a0d1e7 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -677,7 +677,7 @@ def scent_fn(state):
     def step(self, action):
         # Move
         super().step(action)  # sets self.ind, etc
-        global countSteps += 1
+        global countSteps = global countSteps + 1
 
         # Scent
         if self.scent_fn is not None:

From 3a5ebb9d0f0acc7fbdcc2e713377585eb192791f Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Tue, 6 Dec 2022 12:19:47 -0500
Subject: [PATCH 23/40] Update local_gym.py

---
 explorationlib/local_gym.py | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 8a0d1e7..2a58015 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -18,7 +18,7 @@
 import warnings
 warnings.filterwarnings("ignore")
 
-countSteps = 0
+#countSteps = 0
 
 # -------------------------------------------------------------------------
 # Enviroments
@@ -677,7 +677,7 @@ def scent_fn(state):
     def step(self, action):
         # Move
         super().step(action)  # sets self.ind, etc
-        global countSteps = global countSteps + 1
+        #global countSteps += 1
 
         # Scent
         if self.scent_fn is not None:
@@ -688,18 +688,18 @@ def step(self, action):
             
         # New FP Code
         for target in self.targets:
-            if countSteps%50 == 0:
-                print("countSteps = ", countSteps)
-                target[0] += random.randint(-3, 3)
-                if target[0] > 10:
-                    target[0] = 10
-                elif target[0] < -10:
-                    target[0] = -10
-                target[1] += random.randint(-3, 3)
-                if target[1] > 10:
-                    target[1] = 10
-                elif target[1] < -10:
-                    target[1] = -10
+            #if countSteps%50 == 0:
+            #print("countSteps = ", countSteps)
+            target[0] += random.randint(-3, 3)
+            if target[0] > 10:
+                target[0] = 10
+            elif target[0] < -10:
+                target[0] = -10
+            target[1] += random.randint(-3, 3)
+            if target[1] > 10:
+                target[1] = 10
+            elif target[1] < -10:
+                target[1] = -10
                 
         # !
         self.state_obs = (self.state, self.obs)

From 4e922d1ee315472f81c515096db3fcbb505009da Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Tue, 6 Dec 2022 13:33:29 -0500
Subject: [PATCH 24/40] Update plot.py

---
 explorationlib/plot.py | 42 ++++++++++++------------------------------
 1 file changed, 12 insertions(+), 30 deletions(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index e763e46..f09fb2d 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -284,37 +284,19 @@ def plot_targets2d(env,
         ax = fig.add_subplot(111)
        
 
-    if differ == None:
-        ax.scatter(    
-            vec[:, 0],
-            vec[:, 1],
-            env.values,  # value is size, literal
-            color="black",
-            label=label,
-            alpha=alpha)
-        ax.set_xlim(-boundary[0], boundary[0])
-        ax.set_ylim(-boundary[1], boundary[1])
-        ax.set_xlabel("x")
-        ax.set_ylabel("y")
+
+    ax.scatter(    
+        vec[:, 0],
+        vec[:, 1],
+        env.values,  # value is size, literal
+        color="black",
+        label=label,
+        alpha=alpha)
+    ax.set_xlim(-boundary[0], boundary[0])
+    ax.set_ylim(-boundary[1], boundary[1])
+    ax.set_xlabel("x")
+    ax.set_ylabel("y")
         
-    else:
-        dx = ["black", "red"]
-        for i in range(len(env.targets)): ##Change the color hopefully
-            dy = env.targets[i - 1]
-            dz = dx[dy]
-                   
-            ax.scatter(
-                vec[:, 0],
-                vec[:, 1],
-                env.values,  # value is size, literal
-                color=dz,
-                label=label,
-                alpha=alpha)
-            ax.set_xlim(-boundary[0], boundary[0])
-            ax.set_ylim(-boundary[1], boundary[1])
-            ax.set_xlabel("x")
-            ax.set_ylabel("y")
-                       
                        
     # Labels, legends, titles?
     if title is not None:

From afe674874dc4a262d7e312bd78201270184f5467 Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Tue, 6 Dec 2022 13:35:30 -0500
Subject: [PATCH 25/40] Update plot.py

---
 explorationlib/plot.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index f09fb2d..a5ca171 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -289,7 +289,7 @@ def plot_targets2d(env,
         vec[:, 0],
         vec[:, 1],
         env.values,  # value is size, literal
-        color="black",
+        color=color,
         label=label,
         alpha=alpha)
     ax.set_xlim(-boundary[0], boundary[0])

From e74e9ba59a88bfe298b3815e8d8eb018f00444f2 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Tue, 6 Dec 2022 13:49:27 -0500
Subject: [PATCH 26/40] Update local_gym.py

---
 explorationlib/local_gym.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 2a58015..84e7f09 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -555,14 +555,14 @@ def scent_fn(state):
 
             # Sum scents from all targets @ pos
             summed = 0.0
-            for ind in range(self.num_targets):
-                i = find_nearest(self.scent_x_coords[ind], x)
-                j = find_nearest(self.scent_y_coords[ind], y)
-                summed += self.scent_pdfs[ind][i, j]
+            #for ind in range(self.num_targets):
+                #i = find_nearest(self.scent_x_coords[ind], x)
+                #j = find_nearest(self.scent_y_coords[ind], y)
+                #summed += self.scent_pdfs[ind][i, j]
 
             # Add noise?
-            noise = np.abs(self.np_random.normal(0, self.noise_sigma))
-            return summed + noise
+            #noise = np.abs(self.np_random.normal(0, self.noise_sigma))
+            #return summed + noise
 
         self.scent_fn = scent_fn
 

From 61ebadbd891c051d2383d9bf06e9e2df430ae400 Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Tue, 6 Dec 2022 13:51:25 -0500
Subject: [PATCH 27/40] Update plot.py

---
 explorationlib/plot.py | 59 +++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 58 insertions(+), 1 deletion(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index a5ca171..c23b65e 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -257,7 +257,7 @@ def plot_scent_grid(env,
 
     return ax
 
-
+'''
 def plot_targets2d(env,
                    figsize=(3, 3),
                    boundary=(1, 1),
@@ -305,7 +305,64 @@ def plot_targets2d(env,
         ax.legend(loc='center left', bbox_to_anchor=(1, 0.5))
 
     return ax
+'''
+def plot_targets2d(env,
+                   figsize=(3, 3),
+                   boundary=(1, 1),
+                   color=None,
+                   alpha=1.0,
+                   label=None,
+                   title=None,
+                   differ=None,
+                   ax=None):
+
+    # No targets no plot
+    if env.targets is None:
+        return None
+
+        # Fmt
+    try:
+        vec = np.vstack(env.initial_targets)
+    except AttributeError:
+        vec = np.vstack(env.targets)
+
+    # Create a fig obj?
+    if ax is None:
+        fig = plt.figure(figsize=figsize)
+        ax = fig.add_subplot(111)
+   
+    if differ == None:
+        ax.scatter(    
+            vec[:, 0],
+            vec[:, 1],
+            env.values,  # value is size, literal
+            color="black",
+            label=label,
+            alpha=alpha)
+        ax.set_xlim(-boundary[0], boundary[0])
+        ax.set_ylim(-boundary[1], boundary[1])
+        ax.set_xlabel("x")
+        ax.set_ylabel("y")
+    else:
+        ax.scatter(    
+            vec[:, 0],
+            vec[:, 1],
+            env.values,  # value is size, literal
+            color="red",
+            label=label,
+            alpha=alpha)
+        ax.set_xlim(-boundary[0], boundary[0])
+        ax.set_ylim(-boundary[1], boundary[1])
+        ax.set_xlabel("x")
+        ax.set_ylabel("y")     
+                       
+    # Labels, legends, titles?
+    if title is not None:
+        ax.set_title(title)
+    if label is not None:
+        ax.legend(loc='center left', bbox_to_anchor=(1, 0.5))
 
+    return ax
 
 def plot_position2d(exp_data,
                     boundary=(1, 1),

From c975725ca8af55b0060471445efa295f45e33e9f Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Tue, 6 Dec 2022 13:53:40 -0500
Subject: [PATCH 28/40] Update local_gym.py

---
 explorationlib/local_gym.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 84e7f09..7f4559c 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -657,7 +657,7 @@ def add_scents(
             self.scent_x_coords.append(coord[0] + target[0])
             self.scent_y_coords.append(coord[1] + target[1])
 
-        def scent_fn(state):
+        '''def scent_fn(state):
             # Pos
             x, y = state
 
@@ -672,7 +672,7 @@ def scent_fn(state):
             noise = np.abs(self.np_random.normal(0, self.noise_sigma))
             return summed + noise
 
-        self.scent_fn = scent_fn
+        self.scent_fn = scent_fn'''
 
     def step(self, action):
         # Move

From caee9ef90ec30a85be1e7ff45d4de22aa13c65f4 Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Tue, 6 Dec 2022 13:56:23 -0500
Subject: [PATCH 29/40] Update plot.py

---
 explorationlib/plot.py | 37 +++++++++++++++----------------------
 1 file changed, 15 insertions(+), 22 deletions(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index c23b65e..def4ec0 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -332,29 +332,22 @@ def plot_targets2d(env,
         ax = fig.add_subplot(111)
    
     if differ == None:
-        ax.scatter(    
-            vec[:, 0],
-            vec[:, 1],
-            env.values,  # value is size, literal
-            color="black",
-            label=label,
-            alpha=alpha)
-        ax.set_xlim(-boundary[0], boundary[0])
-        ax.set_ylim(-boundary[1], boundary[1])
-        ax.set_xlabel("x")
-        ax.set_ylabel("y")
+        color = "black"
+
     else:
-        ax.scatter(    
-            vec[:, 0],
-            vec[:, 1],
-            env.values,  # value is size, literal
-            color="red",
-            label=label,
-            alpha=alpha)
-        ax.set_xlim(-boundary[0], boundary[0])
-        ax.set_ylim(-boundary[1], boundary[1])
-        ax.set_xlabel("x")
-        ax.set_ylabel("y")     
+        color = "red"
+        
+    ax.scatter(    
+        vec[:, 0],
+        vec[:, 1],
+        env.values,  # value is size, literal
+        color=color,
+        label=label,
+        alpha=alpha)
+    ax.set_xlim(-boundary[0], boundary[0])
+    ax.set_ylim(-boundary[1], boundary[1])     
+    ax.set_xlabel("x")
+    ax.set_ylabel("y")     
                        
     # Labels, legends, titles?
     if title is not None:

From 4cfad29a4fe07cf367d22ee9f9deeca265b962bf Mon Sep 17 00:00:00 2001
From: JaredEu <112651539+JaredEu@users.noreply.github.com>
Date: Tue, 6 Dec 2022 13:59:05 -0500
Subject: [PATCH 30/40] Update plot.py

---
 explorationlib/plot.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/explorationlib/plot.py b/explorationlib/plot.py
index def4ec0..13dc87a 100644
--- a/explorationlib/plot.py
+++ b/explorationlib/plot.py
@@ -257,7 +257,7 @@ def plot_scent_grid(env,
 
     return ax
 
-'''
+
 def plot_targets2d(env,
                    figsize=(3, 3),
                    boundary=(1, 1),
@@ -356,7 +356,7 @@ def plot_targets2d(env,
         ax.legend(loc='center left', bbox_to_anchor=(1, 0.5))
 
     return ax
-
+'''
 def plot_position2d(exp_data,
                     boundary=(1, 1),
                     figsize=(3, 3),

From 0b7f6ef8ff671220985aae812ad452f3dd029f93 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Tue, 6 Dec 2022 14:06:47 -0500
Subject: [PATCH 31/40] Update local_gym.py

---
 explorationlib/local_gym.py | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 7f4559c..2a58015 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -555,14 +555,14 @@ def scent_fn(state):
 
             # Sum scents from all targets @ pos
             summed = 0.0
-            #for ind in range(self.num_targets):
-                #i = find_nearest(self.scent_x_coords[ind], x)
-                #j = find_nearest(self.scent_y_coords[ind], y)
-                #summed += self.scent_pdfs[ind][i, j]
+            for ind in range(self.num_targets):
+                i = find_nearest(self.scent_x_coords[ind], x)
+                j = find_nearest(self.scent_y_coords[ind], y)
+                summed += self.scent_pdfs[ind][i, j]
 
             # Add noise?
-            #noise = np.abs(self.np_random.normal(0, self.noise_sigma))
-            #return summed + noise
+            noise = np.abs(self.np_random.normal(0, self.noise_sigma))
+            return summed + noise
 
         self.scent_fn = scent_fn
 
@@ -657,7 +657,7 @@ def add_scents(
             self.scent_x_coords.append(coord[0] + target[0])
             self.scent_y_coords.append(coord[1] + target[1])
 
-        '''def scent_fn(state):
+        def scent_fn(state):
             # Pos
             x, y = state
 
@@ -672,7 +672,7 @@ def add_scents(
             noise = np.abs(self.np_random.normal(0, self.noise_sigma))
             return summed + noise
 
-        self.scent_fn = scent_fn'''
+        self.scent_fn = scent_fn
 
     def step(self, action):
         # Move

From 4518973900a5f9662c0269d55691cff12446c48e Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Wed, 7 Dec 2022 21:32:34 -0500
Subject: [PATCH 32/40] Update local_gym.py

---
 explorationlib/local_gym.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 2a58015..8f3fa05 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -666,6 +666,7 @@ def scent_fn(state):
             for ind in range(self.num_targets):
                 i = find_nearest(self.scent_x_coords[ind], x)
                 j = find_nearest(self.scent_y_coords[ind], y)
+                print(summed)
                 summed += self.scent_pdfs[ind][i, j]
 
             # Add noise?

From d0e8d8b391e7ad1f503320cfa58fb754001ded28 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Wed, 7 Dec 2022 21:43:09 -0500
Subject: [PATCH 33/40] Update local_gym.py

---
 explorationlib/local_gym.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 8f3fa05..dd166f2 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -559,6 +559,7 @@ def scent_fn(state):
                 i = find_nearest(self.scent_x_coords[ind], x)
                 j = find_nearest(self.scent_y_coords[ind], y)
                 summed += self.scent_pdfs[ind][i, j]
+                print("regular scentgrid = ", self.scent_pdfs[ind][i, j])
 
             # Add noise?
             noise = np.abs(self.np_random.normal(0, self.noise_sigma))
@@ -666,7 +667,8 @@ def scent_fn(state):
             for ind in range(self.num_targets):
                 i = find_nearest(self.scent_x_coords[ind], x)
                 j = find_nearest(self.scent_y_coords[ind], y)
-                print(summed)
+                print("movinggrid summed = ", summed)
+                print("movinggrid = ", self.scent_pdfs[ind][i, j])
                 summed += self.scent_pdfs[ind][i, j]
 
             # Add noise?

From aea058f54070d213a756de78932c24c4de62a391 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Wed, 7 Dec 2022 21:57:45 -0500
Subject: [PATCH 34/40] Update local_gym.py

---
 explorationlib/local_gym.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index dd166f2..2a58015 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -559,7 +559,6 @@ def scent_fn(state):
                 i = find_nearest(self.scent_x_coords[ind], x)
                 j = find_nearest(self.scent_y_coords[ind], y)
                 summed += self.scent_pdfs[ind][i, j]
-                print("regular scentgrid = ", self.scent_pdfs[ind][i, j])
 
             # Add noise?
             noise = np.abs(self.np_random.normal(0, self.noise_sigma))
@@ -667,8 +666,6 @@ def scent_fn(state):
             for ind in range(self.num_targets):
                 i = find_nearest(self.scent_x_coords[ind], x)
                 j = find_nearest(self.scent_y_coords[ind], y)
-                print("movinggrid summed = ", summed)
-                print("movinggrid = ", self.scent_pdfs[ind][i, j])
                 summed += self.scent_pdfs[ind][i, j]
 
             # Add noise?

From 5abd75084e9527ed0aa80ced2c445777d69cb2fb Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Thu, 8 Dec 2022 16:55:51 -0500
Subject: [PATCH 35/40] Update local_gym.py

---
 explorationlib/local_gym.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 2a58015..69b3e5a 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -687,6 +687,7 @@ def step(self, action):
             self.obs = 0.0
             
         # New FP Code
+        newTargets = []
         for target in self.targets:
             #if countSteps%50 == 0:
             #print("countSteps = ", countSteps)
@@ -700,6 +701,8 @@ def step(self, action):
                 target[1] = 10
             elif target[1] < -10:
                 target[1] = -10
+            newTargets.append(target)
+        self.add_targets(newTargets, self.values)
                 
         # !
         self.state_obs = (self.state, self.obs)

From add24719cb9bbfb282c447f6708dc86ea2ed5509 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Thu, 8 Dec 2022 17:10:42 -0500
Subject: [PATCH 36/40] Update local_gym.py

---
 explorationlib/local_gym.py | 20 +++++++++++++++++++-
 1 file changed, 19 insertions(+), 1 deletion(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 69b3e5a..c6bed1b 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -702,7 +702,25 @@ def step(self, action):
             elif target[1] < -10:
                 target[1] = -10
             newTargets.append(target)
-        self.add_targets(newTargets, self.values)
+        #self.add_targets(newTargets, self.values)
+        values = self.values
+        targets = newTargets
+
+        scentsX = []
+        count = 0
+        for _ in range(num_targets):
+          if values[count] == 1:
+            newAmp = 1
+            newSig = 2
+          else:
+            newAmp = 1.5
+            newSig = 1.75
+
+          coord, scent = create_grid_scent_patches(
+            target_boundary, p=1.0, amplitude=newAmp, sigma=newSig)
+          scentsX.append(scent)
+          count += 1
+        self.add_scents(targets, values, coord, scentsX, noise_sigma=noise_sigma)
                 
         # !
         self.state_obs = (self.state, self.obs)

From d80d50b2d9b7189f9f2de4778b03705a35d0f8a7 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Thu, 8 Dec 2022 17:13:43 -0500
Subject: [PATCH 37/40] Update local_gym.py

---
 explorationlib/local_gym.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index c6bed1b..1efcb62 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -708,7 +708,7 @@ def step(self, action):
 
         scentsX = []
         count = 0
-        for _ in range(num_targets):
+        for _ in range(len(targets):
           if values[count] == 1:
             newAmp = 1
             newSig = 2

From 061f021a96227b15a309e98e9bd7bad9412fa1bb Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Thu, 8 Dec 2022 17:15:29 -0500
Subject: [PATCH 38/40] Update local_gym.py

---
 explorationlib/local_gym.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 1efcb62..63b851c 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -708,7 +708,7 @@ def step(self, action):
 
         scentsX = []
         count = 0
-        for _ in range(len(targets):
+        for _ in range(len(targets)):
           if values[count] == 1:
             newAmp = 1
             newSig = 2

From bd113673218131b02226c8acd106a3cbe88269f4 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Thu, 8 Dec 2022 17:23:37 -0500
Subject: [PATCH 39/40] Update local_gym.py

---
 explorationlib/local_gym.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 63b851c..7e4fd2c 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -717,7 +717,7 @@ def step(self, action):
             newSig = 1.75
 
           coord, scent = create_grid_scent_patches(
-            target_boundary, p=1.0, amplitude=newAmp, sigma=newSig)
+            (10, 10), p=1.0, amplitude=newAmp, sigma=newSig)
           scentsX.append(scent)
           count += 1
         self.add_scents(targets, values, coord, scentsX, noise_sigma=noise_sigma)

From 7ee413d21e142cc06c0d7519f4f003948a676e05 Mon Sep 17 00:00:00 2001
From: arshiaua <112977038+arshiaua@users.noreply.github.com>
Date: Thu, 8 Dec 2022 17:30:59 -0500
Subject: [PATCH 40/40] Update local_gym.py

---
 explorationlib/local_gym.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/explorationlib/local_gym.py b/explorationlib/local_gym.py
index 7e4fd2c..68034eb 100644
--- a/explorationlib/local_gym.py
+++ b/explorationlib/local_gym.py
@@ -720,7 +720,7 @@ def step(self, action):
             (10, 10), p=1.0, amplitude=newAmp, sigma=newSig)
           scentsX.append(scent)
           count += 1
-        self.add_scents(targets, values, coord, scentsX, noise_sigma=noise_sigma)
+        self.add_scents(targets, values, coord, scentsX, noise_sigma=self.noise_sigma)
                 
         # !
         self.state_obs = (self.state, self.obs)