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Restructuring

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steffen-illium
2021-06-17 16:21:13 +02:00
parent d9d8784338
commit c8883a9c0d
6 changed files with 94 additions and 73 deletions
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48
environments/factory/simple_factory.py
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@ -49,28 +49,30 @@ class SimpleFactory(BaseFactory):
dirt = [Entity('dirt', [x, y], min(0.15 + self._state[DIRT_INDEX, x, y], 1.5), 'scale')
for x, y in np.argwhere(self._state[DIRT_INDEX] > h.IS_FREE_CELL)]
walls = [Entity('wall', pos) for pos in np.argwhere(self._state[h.LEVEL_IDX] > h.IS_FREE_CELL)]
walls = [Entity('wall', pos)
for pos in np.argwhere(self._state[self._state_slices.by_name(h.LEVEL)] > h.IS_FREE_CELL)]
def asset_str(agent):
if any([x is None for x in [self._state_slices[j] for j in agent.collisions]]):
print('error')
cols = ' '.join([self._state_slices[j] for j in agent.collisions])
if 'agent' in cols:
if h.AGENT in cols:
return 'agent_collision', 'blank'
elif not agent.action_valid or 'level' in cols or 'agent' in cols:
return 'agent', 'invalid'
elif not agent.action_valid or 'level' in cols or h.AGENT in cols:
return h.AGENT, 'invalid'
elif self._is_clean_up_action(agent.action):
return 'agent', 'valid'
return h.AGENT, 'valid'
else:
return 'agent', 'idle'
return h.AGENT, 'idle'
agents = []
for i, agent in enumerate(self._agent_states):
name, state = asset_str(agent)
agents.append(Entity(name, agent.pos, 1, 'none', state, i+1))
doors = []
for i, door in enumerate(self._door_states):
name, state = 'door_open' if door.is_open else 'door_closed', 'blank'
agents.append(Entity(name, door.pos, 1, 'none', state, i+1))
if self.has_doors:
for i, door in enumerate(self._door_states):
name, state = 'door_open' if door.is_open else 'door_closed', 'blank'
agents.append(Entity(name, door.pos, 1, 'none', state, i+1))
self._renderer.render(dirt+walls+agents+doors)
def spawn_dirt(self) -> None:
@ -141,26 +143,25 @@ class SimpleFactory(BaseFactory):
reward = 0
for agent_state in agent_states:
agent_name = f'{h.AGENT.capitalize()} {agent_state.i}'
cols = agent_state.collisions
list_of_collisions = [self._state_slices[entity] for entity in cols
if entity != self._state_slices.by_name("dirt")]
if entity != self._state_slices.by_name('dirt')]
if list_of_collisions:
self.print(f't = {self._steps}\tAgent {agent_state.i} has collisions with '
f'{list_of_collisions}')
self.print(f't = {self._steps}\t{agent_name} has collisions with {list_of_collisions}')
if self._is_clean_up_action(agent_state.action):
if agent_state.action_valid:
reward += 1
self.print(f'Agent {agent_state.i} did just clean up some dirt at {agent_state.pos}.')
self.print(f'{agent_name} did just clean up some dirt at {agent_state.pos}.')
info_dict.update(dirt_cleaned=1)
else:
reward -= 0.01
self.print(f'Agent {agent_state.i} just tried to clean up some dirt '
f'at {agent_state.pos}, but was unsucsessfull.')
info_dict.update({f'agent_{agent_state.i}_failed_action': 1})
info_dict.update({f'agent_{agent_state.i}_failed_dirt_cleanup': 1})
self.print(f'{agent_name} just tried to clean up some dirt at {agent_state.pos}, but failed.')
info_dict.update({f'{h.AGENT}_{agent_state.i}_failed_action': 1})
info_dict.update({f'{h.AGENT}_{agent_state.i}_failed_dirt_cleanup': 1})
elif self._actions.is_moving_action(agent_state.action):
if agent_state.action_valid:
@ -173,21 +174,20 @@ class SimpleFactory(BaseFactory):
elif self._actions.is_door_usage(agent_state.action):
if agent_state.action_valid:
reward += 0.1
self.print(f'Agent {agent_state.i} did just use the door at {agent_state.pos}.')
self.print(f'{agent_name} did just use the door at {agent_state.pos}.')
info_dict.update(door_used=1)
else:
self.print(f'Agent {agent_state.i} just tried to use a door '
f'at {agent_state.pos}, but was unsucsessfull.')
info_dict.update({f'agent_{agent_state.i}_failed_action': 1})
info_dict.update({f'agent_{agent_state.i}_failed_door_open': 1})
self.print(f'{agent_name} just tried to use a door at {agent_state.pos}, but failed.')
info_dict.update({f'{h.AGENT}_{agent_state.i}_failed_action': 1})
info_dict.update({f'{h.AGENT}_{agent_state.i}_failed_door_open': 1})
else:
info_dict.update(no_op=1)
reward -= 0.00
for entity in list_of_collisions:
entity = 'agent' if 'agent' in entity else entity
info_dict.update({f'agent_{agent_state.i}_vs_{entity}': 1})
entity = h.AGENT if h.AGENT in entity else entity
info_dict.update({f'{h.AGENT}_{agent_state.i}_vs_{entity}': 1})
self.print(f"reward is {reward}")
# Potential based rewards ->