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Destinations implemented and debugged

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This commit is contained in:
Steffen Illium
2021-12-06 15:46:26 +01:00
parent 3d81b7577d
commit 7f7a3d9a3b
13 changed files with 426 additions and 76 deletions
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65
environments/factory/base/base_factory.py
View File

@ -64,7 +64,7 @@ class BaseFactory(gym.Env):
def __init__(self, level_name='simple', n_agents=1, max_steps=int(5e2),
mv_prop: MovementProperties = MovementProperties(),
obs_prop: ObservationProperties = ObservationProperties(),
parse_doors=False, done_at_collision=False,
parse_doors=False, done_at_collision=False, inject_agents: Union[None, List] = None,
verbose=False, doors_have_area=True, env_seed=time.time_ns(), individual_rewards=False,
**kwargs):
@ -98,6 +98,7 @@ class BaseFactory(gym.Env):
self.done_at_collision = done_at_collision
self._record_episodes = False
self.parse_doors = parse_doors
self._injected_agents = inject_agents or []
self.doors_have_area = doors_have_area
self.individual_rewards = individual_rewards
@ -108,8 +109,10 @@ class BaseFactory(gym.Env):
return self._entities[item]
def _base_init_env(self):
# All entities
# Objects
entities = {}
self._entities = Entities()
# Level
level_filepath = Path(__file__).parent.parent / h.LEVELS_DIR / f'{self.level_name}.txt'
parsed_level = h.parse_level(level_filepath)
@ -121,14 +124,14 @@ class BaseFactory(gym.Env):
np.argwhere(level_array == c.OCCUPIED_CELL.value),
self._level_shape
)
entities.update({c.WALLS: walls})
self._entities.register_additional_items({c.WALLS: walls})
# Floor
floor = FloorTiles.from_argwhere_coordinates(
np.argwhere(level_array == c.FREE_CELL.value),
self._level_shape
)
entities.update({c.FLOOR: floor})
self._entities.register_additional_items({c.FLOOR: floor})
# NOPOS
self._NO_POS_TILE = Tile(c.NO_POS.value)
@ -141,7 +144,7 @@ class BaseFactory(gym.Env):
doors = Doors.from_tiles(door_tiles, self._level_shape,
entity_kwargs=dict(context=floor)
)
entities.update({c.DOORS: doors})
self._entities.register_additional_items({c.DOORS: doors})
# Actions
self._actions = Actions(self.mv_prop, can_use_doors=self.parse_doors)
@ -149,12 +152,22 @@ class BaseFactory(gym.Env):
self._actions.register_additional_items(additional_actions)
# Agents
agents = Agents.from_tiles(floor.empty_tiles[:self.n_agents], self._level_shape,
individual_slices=self.obs_prop.render_agents == a_obs.SEPERATE,
hide_from_obs_builder=self.obs_prop.render_agents == a_obs.LEVEL,
is_observable=self.obs_prop.render_agents != a_obs.NOT
)
entities.update({c.AGENT: agents})
agents_to_spawn = self.n_agents-len(self._injected_agents)
agents_kwargs = dict(level_shape=self._level_shape,
individual_slices=self.obs_prop.render_agents == a_obs.SEPERATE,
hide_from_obs_builder=self.obs_prop.render_agents == a_obs.LEVEL,
is_observable=self.obs_prop.render_agents != a_obs.NOT)
if agents_to_spawn:
agents = Agents.from_tiles(floor.empty_tiles[:agents_to_spawn], **agents_kwargs)
else:
agents = Agents(**agents_kwargs)
if self._injected_agents:
initialized_injections = list()
for i, injection in enumerate(self._injected_agents):
agents.register_item(injection(self, floor.empty_tiles[agents_to_spawn+i+1], static_problem=False))
initialized_injections.append(agents[-1])
self._initialized_injections = initialized_injections
self._entities.register_additional_items({c.AGENT: agents})
if self.obs_prop.additional_agent_placeholder is not None:
# TODO: Make this accept Lists for multiple placeholders
@ -165,11 +178,7 @@ class BaseFactory(gym.Env):
fill_value=self.obs_prop.additional_agent_placeholder)
)
entities.update({c.AGENT_PLACEHOLDER: placeholder})
# All entities
self._entities = Entities()
self._entities.register_additional_items(entities)
self._entities.register_additional_items({c.AGENT_PLACEHOLDER: placeholder})
# Additional Entitites from SubEnvs
if additional_entities := self.additional_entities:
@ -182,6 +191,7 @@ class BaseFactory(gym.Env):
arrays = self._entities.obs_arrays
obs_cube_z = sum([a.shape[0] if not self[key].is_per_agent else 1 for key, a in arrays.items()])
obs_cube_z += 1 if self.obs_prop.show_global_position_info else 0
self._obs_cube = np.zeros((obs_cube_z, *self._level_shape), dtype=np.float32)
def reset(self) -> (np.ndarray, int, bool, dict):
@ -279,7 +289,7 @@ class BaseFactory(gym.Env):
if self.n_agents == 1:
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, state_array_dict) for agent in self[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
@ -384,6 +394,7 @@ class BaseFactory(gym.Env):
if self.obs_prop.pomdp_r:
oobs = self._do_pomdp_obs_cutout(agent, other_agent_obs)[0]
# noinspection PyUnresolvedReferences
mask = (oobs != c.SHADOWED_CELL.value).astype(int)
obs[0] += oobs * mask
@ -497,7 +508,7 @@ class BaseFactory(gym.Env):
if self._actions.is_moving_action(agent.temp_action):
if agent.temp_valid:
# info_dict.update(movement=1)
per_agent_reward -= 0.01
per_agent_reward -= 0.001
pass
else:
per_agent_reward -= 0.05
@ -553,6 +564,7 @@ class BaseFactory(gym.Env):
self.print(f"reward is {reward}")
return reward, combined_info_dict
# noinspection PyGlobalUndefined
def render(self, mode='human'):
if not self._renderer: # lazy init
from environments.factory.base.renderer import Renderer, RenderEntity
@ -560,6 +572,7 @@ class BaseFactory(gym.Env):
height, width = self._obs_cube.shape[1:]
self._renderer = Renderer(width, height, view_radius=self._pomdp_r, fps=5)
# noinspection PyUnboundLocalVariable
walls = [RenderEntity('wall', wall.pos) for wall in self[c.WALLS]]
agents = []
@ -582,6 +595,12 @@ class BaseFactory(gym.Env):
with filepath.open('w') as f:
simplejson.dump(d, f, indent=4, namedtuple_as_object=True)
def get_injected_agents(self) -> list:
if hasattr(self, '_initialized_injections'):
return self._initialized_injections
else:
return []
def _summarize_state(self):
summary = {f'{REC_TAC}step': self._steps}
@ -621,9 +640,15 @@ class BaseFactory(gym.Env):
def additional_obs_build(self) -> List[np.ndarray]:
return []
@abc.abstractmethod
def additional_per_agent_obs_build(self, agent) -> List[np.ndarray]:
return []
additional_per_agent_obs = []
if self.obs_prop.show_global_position_info:
pos_array = np.zeros(self.observation_space.shape[1:])
for xy in range(1):
pos_array[0, xy] = agent.pos[xy] / self._level_shape[xy]
additional_per_agent_obs.append(pos_array)
return additional_per_agent_obs
@abc.abstractmethod
def do_additional_reset(self) -> None:

15
environments/factory/base/registers.py
View File

@ -50,6 +50,8 @@ class Register:
def __getitem__(self, item):
if isinstance(item, (int, np.int64, np.int32)):
if item < 0:
item = len(self._register) - abs(item)
try:
return next(v for i, v in enumerate(self._register.values()) if i == item)
except StopIteration:
@ -147,10 +149,10 @@ class MovingEntityObjectRegister(EntityObjectRegister, ABC):
if self.individual_slices:
self._array = np.delete(self._array, idx, axis=0)
def delete_item(self, item):
self.delete_item_by_name(item.name)
def delete_entity(self, item):
self.delete_entity_by_name(item.name)
def delete_item_by_name(self, name):
def delete_entity_by_name(self, name):
del self[name]
@ -320,8 +322,11 @@ class Agents(MovingEntityObjectRegister):
def positions(self):
return [agent.pos for agent in self]
def __setitem__(self, key, value):
self._register[self[key].name] = value
def replace_agent(self, key, agent):
old_agent = self[key]
self[key].tile.leave(self[key])
agent._name = old_agent.name
self._register[agent.name] = agent
class Doors(EntityObjectRegister):