refactored main plus small changes
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@ -17,10 +17,12 @@ DIRT_INDEX = -1
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@dataclass
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class DirtProperties:
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clean_amount = 10
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max_spawn_ratio = 0.1
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gain_amount = 0.1
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spawn_frequency = 5
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clean_amount = 2 # How much does the robot clean with one action.
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max_spawn_ratio = 0.2 # On max how much tiles does the dirt spawn in percent.
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gain_amount = 0.5 # How much dirt does spawn per tile
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spawn_frequency = 5 # Spawn Frequency in Steps
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max_local_amount = 1 # Max dirt amount per tile.
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max_global_amount = 20 # Max dirt amount in the whole environment.
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class SimpleFactory(BaseFactory):
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@ -64,13 +66,15 @@ class SimpleFactory(BaseFactory):
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self.renderer.render(OrderedDict(dirt=dirt, wall=walls, **agents))
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def spawn_dirt(self) -> None:
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if not self.state[DIRT_INDEX].sum() > self.max_dirt or not np.argwhere(self.state[DIRT_INDEX] != h.IS_FREE_CELL).shape[0] > 10:
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if not np.argwhere(self.state[DIRT_INDEX] != h.IS_FREE_CELL).shape[0] > self._dirt_properties.max_global_amount:
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free_for_dirt = self.free_cells(excluded_slices=DIRT_INDEX)
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# randomly distribute dirt across the grid
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n_dirt_tiles = int(random.uniform(0, self._dirt_properties.max_spawn_ratio) * len(free_for_dirt))
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for x, y in free_for_dirt[:n_dirt_tiles]:
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self.state[DIRT_INDEX, x, y] += self._dirt_properties.gain_amount
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new_value = self.state[DIRT_INDEX, x, y] + self._dirt_properties.gain_amount
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self.state[DIRT_INDEX, x, y] = max(new_value, self._dirt_properties.max_local_amount)
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else:
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pass
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@ -130,19 +134,20 @@ class SimpleFactory(BaseFactory):
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f'{[self.slice_strings[entity] for entity in cols if entity != self.string_slices["dirt"]]}')
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if self._is_clean_up_action(agent_state.action):
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if agent_state.action_valid:
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reward += 0.9
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reward += 1
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self.print(f'Agent {agent_state.i} did just clean up some dirt at {agent_state.pos}.')
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self.monitor.set('dirt_cleaned', 1)
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else:
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reward -= 1
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self.print(f'Agent {agent_state.i} just tried to clean up some dirt '
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f'at {agent_state.pos}, but was unsucsessfull.')
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self.monitor.set('failed_cleanup_attempt', 1)
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reward -= 0.01
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elif self._is_moving_action(agent_state.action):
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if agent_state.action_valid:
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reward -= 0.2
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reward -= 0.01
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else:
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reward -= 0.1
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reward -= 0.5
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for entity in cols:
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if entity != self.string_slices["dirt"]:
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