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fixed render funciton and obsbuilder

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This commit is contained in:
Chanumask
2023-11-02 12:02:03 +01:00
parent ee4d29d50b
commit 4a8c12a5c3
7 changed files with 31 additions and 19 deletions
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20
marl_factory_grid/utils/observation_builder.py
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@@ -15,7 +15,6 @@ from marl_factory_grid.utils.utility_classes import Floor
class OBSBuilder(object):
default_obs = [c.WALLS, c.OTHERS]
@property
@@ -95,20 +94,19 @@ class OBSBuilder(object):
agent_want_obs = self.obs_layers[agent.name]
# Handle in-grid observations aka visible observations (Things on the map, with pos)
visible_entitites = self.ray_caster[agent.name].visible_entities(state.entities.pos_dict)
pre_sort_obs = defaultdict(lambda: np.zeros(self.obs_shape))
visible_entities = self.ray_caster[agent.name].visible_entities(state.entities.pos_dict)
pre_sort_obs = defaultdict(lambda: np.zeros(self.obs_shape))
if self.pomdp_r:
for e in set(visible_entitites):
for e in set(visible_entities):
self.place_entity_in_observation(pre_sort_obs[e.obs_tag], agent, e)
else:
for e in set(visible_entitites):
for e in set(visible_entities):
pre_sort_obs[e.obs_tag][e.x, e.y] += e.encoding
pre_sort_obs = dict(pre_sort_obs)
obs = np.zeros((len(agent_want_obs), self.obs_shape[0], self.obs_shape[1]))
for idx, l_name in enumerate(agent_want_obs):
print(l_name)
try:
obs[idx] = pre_sort_obs[l_name]
except KeyError:
@@ -125,12 +123,11 @@ class OBSBuilder(object):
try:
# Look for bound entity names!
pattern = re.compile(f'{re.escape(l_name)}(.*){re.escape(agent.name)}')
print(pattern)
name = next((x for x in self.all_obs if pattern.search(x)), None)
e = self.all_obs[name]
except KeyError:
try:
e = next(v for k in self.all_obs.items() if l_name in k and agent.name in k)
e = next(v for k, v in self.all_obs.items() if l_name in k and agent.name in k)
except StopIteration:
raise KeyError(
f'Check for spelling errors! \n '
@@ -233,7 +230,7 @@ class RayCaster:
return f'{self.__class__.__name__}({self.agent.name})'
def build_ray_targets(self):
north = np.array([0, -1])*self.pomdp_r
north = np.array([0, -1]) * self.pomdp_r
thetas = [np.deg2rad(deg) for deg in np.linspace(-self.degs // 2, self.degs // 2, self.n_rays)[::-1]]
rot_M = [
[[math.cos(theta), -math.sin(theta)],
@@ -266,8 +263,9 @@ class RayCaster:
diag_hits = all([
self.ray_block_cache(
key,
lambda: all(False for e in pos_dict[key] if not e.var_is_blocking_light) and bool(pos_dict[key]))
for key in ((x, y-cy), (x-cx, y))
lambda: all(False for e in pos_dict[key] if not e.var_is_blocking_light) and bool(
pos_dict[key]))
for key in ((x, y - cy), (x - cx, y))
]) if (cx != 0 and cy != 0) else False
visible += entities_hit if not diag_hits else []