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Steffen Illium
2021-08-27 11:56:06 +02:00
parent 0fc4db193f
commit 4731f63ba6
7 changed files with 219 additions and 230 deletions
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environments/factory/base/base_factory.py
+51 -39
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@@ -27,7 +27,7 @@ class BaseFactory(gym.Env):
@property
def action_space(self):
return spaces.Discrete(self._actions.n)
return spaces.Discrete(len(self._actions))
@property
def observation_space(self):
@@ -69,6 +69,7 @@ class BaseFactory(gym.Env):
self._level_shape = None
self.verbose = verbose
self._renderer = None # expensive - don't use it when not required !
self._entities = Entities()
self.n_agents = n_agents
@@ -92,6 +93,9 @@ class BaseFactory(gym.Env):
# Reset
self.reset()
def __getitem__(self, item):
return self._entities[item]
def _base_init_env(self):
# Objects
entities = {}
@@ -116,7 +120,7 @@ class BaseFactory(gym.Env):
entities.update({c.FLOOR: floor})
# NOPOS
self.NO_POS_TILE = Tile(c.NO_POS, c.NO_POS.value)
self.NO_POS_TILE = Tile(c.NO_POS.value)
# Doors
parsed_doors = h.one_hot_level(parsed_level, c.DOOR)
@@ -145,7 +149,7 @@ class BaseFactory(gym.Env):
if self.omit_agent_in_obs and self.n_agents == 1:
del arrays[c.AGENT]
obs_cube_z = sum([a.shape[0] if not self._entities[key].is_per_agent else 1 for key, a in arrays.items()])
obs_cube_z = sum([a.shape[0] if not self[key].is_per_agent else 1 for key, a in arrays.items()])
self._obs_cube = np.zeros((obs_cube_z, *self._level_shape), dtype=np.float32)
# Optionally Pad this obs cube for pomdp cases
@@ -175,14 +179,14 @@ class BaseFactory(gym.Env):
self.hook_pre_step()
# Move this in a seperate function?
for action, agent in zip(actions, self._entities[c.AGENT]):
for action, agent in zip(actions, self[c.AGENT]):
agent.clear_temp_sate()
action_obj = self._actions[action]
if self._actions.is_moving_action(action_obj):
valid = self._move_or_colide(agent, action_obj)
elif self._actions.is_no_op(action_obj):
valid = c.VALID.value
elif self._actions.is_door_usage(action_obj):
elif h.EnvActions.NOOP == agent.temp_action:
valid = c.VALID
elif h.EnvActions.USE_DOOR == action_obj:
valid = self._handle_door_interaction(agent)
else:
valid = self.do_additional_actions(agent, action_obj)
@@ -206,7 +210,7 @@ class BaseFactory(gym.Env):
# Step the door close intervall
if self.parse_doors:
self._entities[c.DOORS].tick_doors()
self[c.DOORS].tick_doors()
# Finalize
reward, reward_info = self.calculate_reward()
@@ -224,53 +228,61 @@ class BaseFactory(gym.Env):
return obs, reward, done, info
def _handle_door_interaction(self, agent):
def _handle_door_interaction(self, agent) -> c:
# Check if agent really is standing on a door:
if self.doors_have_area:
door = self._entities[c.DOORS].get_near_position(agent.pos)
door = self[c.DOORS].get_near_position(agent.pos)
else:
door = self._entities[c.DOORS].by_pos(agent.pos)
door = self[c.DOORS].by_pos(agent.pos)
if door is not None:
door.use()
return c.VALID.value
return c.VALID
# When he doesn't...
else:
return c.NOT_VALID.value
return c.NOT_VALID
def _get_observations(self) -> np.ndarray:
state_array_dict = self._entities.arrays
if self.n_agents == 1:
obs = self._build_per_agent_obs(self._entities[c.AGENT][0])
obs = self._build_per_agent_obs(self[c.AGENT][0], state_array_dict)
elif self.n_agents >= 2:
obs = np.stack([self._build_per_agent_obs(agent) for agent in self._entities[c.AGENT]])
obs = np.stack([self._build_per_agent_obs(agent, state_array_dict) for agent in self[c.AGENT]])
else:
raise ValueError('n_agents cannot be smaller than 1!!')
return obs
def _build_per_agent_obs(self, agent: Agent) -> np.ndarray:
plain_arrays = self._entities.arrays
def _build_per_agent_obs(self, agent: Agent, state_array_dict) -> np.ndarray:
agent_pos_is_omitted = False
if self.omit_agent_in_obs and self.n_agents == 1:
del plain_arrays[c.AGENT]
del state_array_dict[c.AGENT]
elif self.omit_agent_in_obs and self.combin_agent_obs and self.n_agents > 1:
state_array_dict[c.AGENT][0, agent.x, agent.y] -= agent.encoding
agent_pos_is_omitted = True
running_idx, shadowing_idxs, can_be_shadowed_idxs = 0, [], []
for key, array in plain_arrays.items():
if self._entities[key].is_per_agent:
per_agent_idx = self._entities[key].get_idx_by_name(agent.name)
for key, array in state_array_dict.items():
# Flush state array object representation to obs cube
if self[key].is_per_agent:
per_agent_idx = self[key].get_idx_by_name(agent.name)
z = 1
self._obs_cube[running_idx: z] = array[per_agent_idx]
self._obs_cube[running_idx: running_idx+z] = array[per_agent_idx]
else:
z = array.shape[0]
self._obs_cube[running_idx: z] = array
self._obs_cube[running_idx: running_idx+z] = array
# Define which OBS SLices cast a Shadow
if self._entities[key].is_blocking_light:
if self[key].is_blocking_light:
for i in range(z):
shadowing_idxs.append(running_idx + i)
# Define which OBS SLices are effected by shadows
if self._entities[key].can_be_shadowed:
if self[key].can_be_shadowed:
for i in range(z):
can_be_shadowed_idxs.append(running_idx + i)
running_idx += z
if agent_pos_is_omitted:
state_array_dict[c.AGENT][0, agent.x, agent.y] += agent.encoding
if r := self.pomdp_r:
x, y = self._level_shape
self._padded_obs_cube[:, r:r + x, r:r + y] = self._obs_cube
@@ -284,7 +296,7 @@ class BaseFactory(gym.Env):
if self.cast_shadows:
obs_block_light = [obs[idx] != c.OCCUPIED_CELL.value for idx in shadowing_idxs]
door_shadowing = False
if door := self._entities[c.DOORS].by_pos(agent.pos):
if door := self[c.DOORS].by_pos(agent.pos):
if door.is_closed:
for group in door.connectivity_subgroups:
if agent.last_pos not in group:
@@ -319,7 +331,7 @@ class BaseFactory(gym.Env):
def get_all_tiles_with_collisions(self) -> List[Tile]:
tiles_with_collisions = list()
for tile in self._entities[c.FLOOR]:
for tile in self[c.FLOOR]:
if tile.is_occupied():
guests = [guest for guest in tile.guests if guest.can_collide]
if len(guests) >= 2:
@@ -337,11 +349,11 @@ class BaseFactory(gym.Env):
def _check_agent_move(self, agent, action: Action) -> (Tile, bool):
# Actions
x_diff, y_diff = h.ACTIONMAP[action.name]
x_diff, y_diff = h.ACTIONMAP[action.identifier]
x_new = agent.x + x_diff
y_new = agent.y + y_diff
new_tile = self._entities[c.FLOOR].by_pos((x_new, y_new))
new_tile = self[c.FLOOR].by_pos((x_new, y_new))
if new_tile:
valid = c.VALID
else:
@@ -350,13 +362,13 @@ class BaseFactory(gym.Env):
return tile, valid
if self.parse_doors and agent.last_pos != c.NO_POS:
if door := self._entities[c.DOORS].by_pos(new_tile.pos):
if door := self[c.DOORS].by_pos(new_tile.pos):
if door.can_collide:
return agent.tile, c.NOT_VALID
else: # door.is_closed:
pass
if door := self._entities[c.DOORS].by_pos(agent.pos):
if door := self[c.DOORS].by_pos(agent.pos):
if door.is_open:
pass
else: # door.is_closed:
@@ -376,7 +388,7 @@ class BaseFactory(gym.Env):
info_dict = dict()
reward = 0
for agent in self._entities[c.AGENT]:
for agent in self[c.AGENT]:
if self._actions.is_moving_action(agent.temp_action):
if agent.temp_valid:
# info_dict.update(movement=1)
@@ -387,7 +399,7 @@ class BaseFactory(gym.Env):
self.print(f'{agent.name} just hit the wall at {agent.pos}.')
info_dict.update({f'{agent.name}_vs_LEVEL': 1})
elif self._actions.is_door_usage(agent.temp_action):
elif h.EnvActions.USE_DOOR == agent.temp_action:
if agent.temp_valid:
self.print(f'{agent.name} did just use the door at {agent.pos}.')
info_dict.update(door_used=1)
@@ -396,7 +408,7 @@ class BaseFactory(gym.Env):
self.print(f'{agent.name} just tried to use a door at {agent.pos}, but failed.')
info_dict.update({f'{agent.name}_failed_action': 1})
info_dict.update({f'{agent.name}_failed_door_open': 1})
elif self._actions.is_no_op(agent.temp_action):
elif h.EnvActions.NOOP == agent.temp_action:
info_dict.update(no_op=1)
reward -= 0.00
@@ -415,15 +427,15 @@ class BaseFactory(gym.Env):
height, width = self._obs_cube.shape[1:]
self._renderer = Renderer(width, height, view_radius=self.pomdp_r, fps=5)
walls = [RenderEntity('wall', wall.pos) for wall in self._entities[c.WALLS]]
walls = [RenderEntity('wall', wall.pos) for wall in self[c.WALLS]]
agents = []
for i, agent in enumerate(self._entities[c.AGENT]):
for i, agent in enumerate(self[c.AGENT]):
name, state = h.asset_str(agent)
agents.append(RenderEntity(name, agent.pos, 1, 'none', state, i + 1, agent.temp_light_map))
doors = []
if self.parse_doors:
for i, door in enumerate(self._entities[c.DOORS]):
for i, door in enumerate(self[c.DOORS]):
name, state = 'door_open' if door.is_open else 'door_closed', 'blank'
doors.append(RenderEntity(name, door.pos, 1, 'none', state, i + 1))
additional_assets = self.render_additional_assets()
@@ -442,7 +454,7 @@ class BaseFactory(gym.Env):
def _summarize_state(self):
summary = {f'{REC_TAC}_step': self._steps}
self._entities[c.WALLS].summarize_state()
self[c.WALLS].summarize_state()
for entity in self._entities:
if hasattr(entity, 'summarize_state'):
summary.update({f'{REC_TAC}_{entity.name}': entity.summarize_state()})
@@ -484,7 +496,7 @@ class BaseFactory(gym.Env):
return {}
@abc.abstractmethod
def do_additional_actions(self, agent: Agent, action: int) -> Union[None, bool]:
def do_additional_actions(self, agent: Agent, action: Action) -> Union[None, c]:
return None
@abc.abstractmethod