Agent Trained on Doors

environments/factory/base_factory.py

@@ -22,10 +22,11 @@ class BaseFactory(gym.Env):
     @property
     def observation_space(self):
         agent_slice = self.n_agents if self.omit_agent_slice_in_obs else 0
-        agent_slice = 1 if self.combin_agent_slices_in_obs else agent_slice
+        agent_slice = (self.n_agents - 1) if self.combin_agent_slices_in_obs else agent_slice
         if self.pomdp_radius:
-            return spaces.Box(low=0, high=1, shape=(self._state.shape[0] - agent_slice, self.pomdp_radius * 2 + 1,
-                                                    self.pomdp_radius * 2 + 1), dtype=np.float32)
+            shape = (self._state.shape[0] - agent_slice, self.pomdp_radius * 2 + 1, self.pomdp_radius * 2 + 1)
+            space = spaces.Box(low=0, high=1, shape=shape, dtype=np.float32)
+            return space
         else:
             shape = [x-agent_slice if idx == 0 else x for idx, x in enumerate(self._state.shape)]
             space = spaces.Box(low=0, high=1, shape=shape, dtype=np.float32)
@@ -194,6 +195,14 @@ class BaseFactory(gym.Env):
             if self.done_at_collision and collision_vec.any():
                 done = True
 
+        # Step the door close intervall
+        agents_pos = [agent.pos for agent in self._agent_states]
+        for door_i, door in enumerate(self._door_states):
+            if door.is_open and door.time_to_close and door.pos not in agents_pos:
+                door.time_to_close -= 1
+            elif door.is_open and not door.time_to_close and door.pos not in agents_pos:
+                door.use()
+
         reward, info = self.calculate_reward(self._agent_states)
 
         if self._steps >= self.max_steps:
@@ -256,7 +265,7 @@ class BaseFactory(gym.Env):
         x_new = x + x_diff
         y_new = y + y_diff
 
-        if h.DOORS in self._state_slices.values():
+        if h.DOORS in self._state_slices.values() and self._agent_states[agent_i]._last_pos != (-1, -1):
             door = [door for door in self._door_states if door.pos == (x, y)]
             if door:
                 door = door[0]
@@ -326,7 +335,7 @@ class BaseFactory(gym.Env):
         # Returns: Reward, Info
         raise NotImplementedError
 
-    def render(self):
+    def render(self, mode='human'):
         raise NotImplementedError
 
     def save_params(self, filepath: Path):