Remove smell related code

experiments/cf_simple.py

@@ -613,10 +613,19 @@ def vis_policy(
     scale: float = 1.0,
     seq_plot: bool = False,
 ) -> None:
+    import importlib
+
+    import matplotlib as mpl
+
     from emevo.analysis.evaluate import eval_policy
     from emevo.analysis.policy import draw_cf_policy, draw_cf_policy_multi
     from emevo.analysis.value import plot_values
 
+    if importlib.util.find_spec("PySide6") is not None:  # type: ignore
+        mpl.use("QtAgg")
+    else:
+        mpl.use("TkAgg")
+
     with cfconfig_path.open("r") as f:
         cfconfig = toml.from_toml(CfConfig, f.read())
 
@@ -636,6 +645,7 @@ def vis_policy(
     if seq_plot:
         visualizer = None
         images = []
+        policy_means, values = [], []
         for output, env_state, ag_idx in outputs:
             if visualizer is None:
                 visualizer = env.visualizer(
@@ -653,7 +663,8 @@ def vis_policy(
             visualizer.render(env_state.physics)
             images.append(visualizer.get_image())
             visualizer.show()
-        policy_means = [np.array(output.mean) for output, _, _ in outputs]
+            policy_means.append(np.array(output.mean))
+            values.append(np.array(output.value).ravel())
         rot = [state.physics.circle.p.angle[idx].item() for _, state, idx in outputs]
         draw_cf_policy_multi(
             names,
@@ -663,7 +674,6 @@ def vis_policy(
             max_force=max_force,
             show=False,
         )
-        values = [np.array(output.value).ravel() for output, _, _ in outputs]
         plot_values(np.stack(values), names, images, fig_unit=value_fig_unit)
     else:
         visualizer = None

src/emevo/environments/circle_foraging.py

@@ -478,10 +478,6 @@ def __init__(
         max_place_attempts: int = 10,
         n_max_food_regen: int = 20,
         random_angle: bool = True,  # False when debugging/testing
-        # Only for CircleForagingWithSmell, but placed here to keep config class simple
-        smell_decay_factor: float = 0.01,
-        smell_diff_max: float = 1.0,
-        smell_diff_coef: float = 100.0,
     ) -> None:
         # Coordinate and range
         if env_shape == "square":
@@ -732,11 +728,6 @@ def place_newborn_neighbor(
             )
         )
 
-        # Smell
-        self._smell_decay_factor = smell_decay_factor
-        self._smell_diff_max = smell_diff_max
-        self._smell_diff_coef = smell_diff_coef
-
         # Sensor index
         self._sensor_index = 0
 

src/emevo/environments/circle_foraging_with_neurotoxin.py

@@ -1,5 +1,3 @@
-"""Various hand-coded rules for the effect of food"""
-
 from dataclasses import replace
 from typing import Any
 

src/emevo/exp_utils.py

@@ -74,9 +74,6 @@ class CfConfig:
     n_position_iter: int = 2
     n_physics_iter: int = 5
     max_place_attempts: int = 10
-    smell_decay_factor: float = 0.01
-    smell_diff_max: float = 1.0
-    smell_diff_coef: float = 100.0
     observe_food_label: bool = False
     mouth_range: str = "front"