Initialize damage to the initial value observed.

[Santara]

In some tracks and for some cars, the initial value of self.ob.damage is >0. In these cases, the environment detects collision right at the outset of an episode. To prevent this from happening, the initial value of self.damage in

MADRaS/MADRaS/utils/reward_manager.py

Lines 112 to 122 in 5e9cf13

	class CollisionPenalty(MadrasReward):
	def __init__(self, cfg):
	self.damage = 0.0
	super(CollisionPenalty, self).__init__(cfg)
	def compute_reward(self, game_config, game_state):
	del game_config
	reward = 0.0
	if self.damage < game_state["damage"]:
	reward = -self.cfg["scale"]
	return reward

and

MADRaS/MADRaS/utils/done_manager.py

Lines 99 to 117 in 5e9cf13

	class Collision(MadrasDone):
	def __init__(self):
	self.damage = 0.0
	self.num_steps = 0
	def check_done(self, game_config, game_state):
	del game_config
	self.num_steps += 1
	if self.damage < game_state["damage"]:
	logging.info("Done: Episode terminated because agent collided after {} steps.".format(self.num_steps))
	self.damage = 0.0
	return True
	else:
	return False
	def reset(self):
	self.damage = 0.0
	self.num_steps = 0

should be set to the initial value of self.ob.damage observed upon reset.