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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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80
environments/factory/simple_factory.py
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@ -8,7 +8,7 @@ import numpy as np
from environments.helpers import Constants as c
from environments import helpers as h
from environments.factory.base.base_factory import BaseFactory
from environments.factory.base.objects import Agent, Action, Entity
from environments.factory.base.objects import Agent, Action, Entity, Tile
from environments.factory.base.registers import Entities, MovingEntityObjectRegister
from environments.factory.renderer import RenderEntity
@ -85,19 +85,21 @@ class DirtRegister(MovingEntityObjectRegister):
super(DirtRegister, self).__init__(*args)
self._dirt_properties: DirtProperties = dirt_properties
def spawn_dirt(self, then_dirty_tiles) -> None:
if not self.amount > self.dirt_properties.max_global_amount:
# randomly distribute dirt across the grid
for tile in then_dirty_tiles:
def spawn_dirt(self, then_dirty_tiles) -> c:
if isinstance(then_dirty_tiles, Tile):
then_dirty_tiles = [then_dirty_tiles]
for tile in then_dirty_tiles:
if not self.amount > self.dirt_properties.max_global_amount:
dirt = self.by_pos(tile.pos)
if dirt is None:
dirt = Dirt(0, tile, amount=self.dirt_properties.gain_amount)
dirt = Dirt(tile, amount=self.dirt_properties.gain_amount)
self.register_item(dirt)
else:
new_value = dirt.amount + self.dirt_properties.gain_amount
dirt.set_new_amount(min(new_value, self.dirt_properties.max_local_amount))
else:
pass
else:
return c.NOT_VALID
return c.VALID
def softmax(x):
@ -117,7 +119,7 @@ class SimpleFactory(BaseFactory):
def additional_actions(self) -> Union[Action, List[Action]]:
super_actions = super(SimpleFactory, self).additional_actions
if self.dirt_properties.agent_can_interact:
super_actions.append(Action(CLEAN_UP_ACTION))
super_actions.append(Action(enum_ident=CLEAN_UP_ACTION))
return super_actions
@property
@ -127,13 +129,6 @@ class SimpleFactory(BaseFactory):
super_entities.update(({c.DIRT: dirt_register}))
return super_entities
def _is_clean_up_action(self, action: Union[str, Action, int]):
if isinstance(action, int):
action = self._actions[action]
if isinstance(action, Action):
action = action.name
return action == CLEAN_UP_ACTION.name
def __init__(self, *args, dirt_properties: DirtProperties = DirtProperties(), env_seed=time.time_ns(), **kwargs):
self.dirt_properties = dirt_properties
self._dirt_rng = np.random.default_rng(env_seed)
@ -144,38 +139,43 @@ class SimpleFactory(BaseFactory):
def render_additional_assets(self, mode='human'):
additional_assets = super(SimpleFactory, self).render_additional_assets()
dirt = [RenderEntity('dirt', dirt.tile.pos, min(0.15 + dirt.amount, 1.5), 'scale')
for dirt in self._entities[c.DIRT]]
for dirt in self[c.DIRT]]
additional_assets.extend(dirt)
return additional_assets
def clean_up(self, agent: Agent) -> bool:
if dirt := self._entities[c.DIRT].by_pos(agent.pos):
def clean_up(self, agent: Agent) -> c:
if dirt := self[c.DIRT].by_pos(agent.pos):
new_dirt_amount = dirt.amount - self.dirt_properties.clean_amount
dirt.set_new_amount(max(new_dirt_amount, c.FREE_CELL.value))
return True
if new_dirt_amount <= 0:
self[c.DIRT].delete_item(dirt)
else:
dirt.set_new_amount(max(new_dirt_amount, c.FREE_CELL.value))
return c.VALID
else:
return False
return c.NOT_VALID
def trigger_dirt_spawn(self):
free_for_dirt = self._entities[c.FLOOR].empty_tiles
free_for_dirt = self[c.FLOOR].empty_tiles
new_spawn = self._dirt_rng.uniform(0, self.dirt_properties.max_spawn_ratio)
n_dirt_tiles = max(0, int(new_spawn * len(free_for_dirt)))
self._entities[c.DIRT].spawn_dirt(free_for_dirt[:n_dirt_tiles])
self[c.DIRT].spawn_dirt(free_for_dirt[:n_dirt_tiles])
def do_additional_step(self) -> dict:
info_dict = super(SimpleFactory, self).do_additional_step()
if smear_amount := self.dirt_properties.dirt_smear_amount:
for agent in self._entities[c.AGENT]:
for agent in self[c.AGENT]:
if agent.temp_valid and agent.last_pos != c.NO_POS:
if old_pos_dirt := self._entities[c.DIRT].by_pos(agent.last_pos):
if smeared_dirt := round(old_pos_dirt.amount * smear_amount, 2):
old_pos_dirt.set_new_amount(max(0, old_pos_dirt.amount-smeared_dirt))
if new_pos_dirt := self._entities[c.DIRT].by_pos(agent.pos):
new_pos_dirt.set_new_amount(max(0, new_pos_dirt.amount + smeared_dirt))
else:
self._entities[c.Dirt].spawn_dirt(agent.tile)
new_pos_dirt = self._entities[c.DIRT].by_pos(agent.pos)
new_pos_dirt.set_new_amount(max(0, new_pos_dirt.amount + smeared_dirt))
if self._actions.is_moving_action(agent.temp_action):
if old_pos_dirt := self[c.DIRT].by_pos(agent.last_pos):
if smeared_dirt := round(old_pos_dirt.amount * smear_amount, 2):
old_pos_dirt.set_new_amount(max(0, old_pos_dirt.amount-smeared_dirt))
if new_pos_dirt := self[c.DIRT].by_pos(agent.pos):
new_pos_dirt.set_new_amount(max(0, new_pos_dirt.amount + smeared_dirt))
else:
if self[c.DIRT].spawn_dirt(agent.tile):
new_pos_dirt = self[c.DIRT].by_pos(agent.pos)
new_pos_dirt.set_new_amount(max(0, new_pos_dirt.amount + smeared_dirt))
if not self._next_dirt_spawn:
self.trigger_dirt_spawn()
@ -184,15 +184,15 @@ class SimpleFactory(BaseFactory):
self._next_dirt_spawn -= 1
return info_dict
def do_additional_actions(self, agent: Agent, action: int) -> Union[None, bool]:
def do_additional_actions(self, agent: Agent, action: Action) -> Union[None, c]:
valid = super(SimpleFactory, self).do_additional_actions(agent, action)
if valid is None:
if self._is_clean_up_action(action):
if action == CLEAN_UP_ACTION:
if self.dirt_properties.agent_can_interact:
valid = self.clean_up(agent)
return valid
else:
return False
return c.NOT_VALID
else:
return None
else:
@ -205,7 +205,7 @@ class SimpleFactory(BaseFactory):
def calculate_additional_reward(self, agent: Agent) -> (int, dict):
reward, info_dict = super(SimpleFactory, self).calculate_additional_reward(agent)
dirt = [dirt.amount for dirt in self._entities[c.DIRT]]
dirt = [dirt.amount for dirt in self[c.DIRT]]
current_dirt_amount = sum(dirt)
dirty_tile_count = len(dirt)
if dirty_tile_count:
@ -220,7 +220,7 @@ class SimpleFactory(BaseFactory):
if agent.temp_collisions:
self.print(f't = {self._steps}\t{agent.name} has collisions with {agent.temp_collisions}')
if self._is_clean_up_action(agent.temp_action):
if agent.temp_action == CLEAN_UP_ACTION:
if agent.temp_valid:
reward += 0.5
self.print(f'{agent.name} did just clean up some dirt at {agent.pos}.')
@ -245,7 +245,7 @@ if __name__ == '__main__':
factory = SimpleFactory(n_agents=1, done_at_collision=False, frames_to_stack=0,
level_name='rooms', max_steps=400,
omit_agent_slice_in_obs=True, parse_doors=True, pomdp_r=3,
omit_agent_slice_in_obs=True, parse_doors=True, pomdp_r=2,
record_episodes=False, verbose=False
)