Merge remote-tracking branch 'origin/main'

environments/factory/base_factory.py

@@ -68,6 +68,7 @@ class BaseFactory(gym.Env):
         self.steps = 0
         self.cumulative_reward = 0
         self.monitor = FactoryMonitor(self)
+        self.agent_states = []
         # Agent placement ...
         agents = np.zeros((self.n_agents, *self.level.shape), dtype=np.int8)
         floor_tiles = np.argwhere(self.level == h.IS_FREE_CELL)
@@ -75,9 +76,13 @@ class BaseFactory(gym.Env):
         np.random.shuffle(floor_tiles)
         for i, (x, y) in enumerate(floor_tiles[:self.n_agents]):
             agents[i, x, y] = h.IS_OCCUPIED_CELL
+            agent_state = AgentState(i, -1)
+            agent_state.update(pos=[x, y])
+            self.agent_states.append(agent_state)
         # state.shape = level, agent 1,..., agent n,
         self.state = np.concatenate((np.expand_dims(self.level, axis=0), agents), axis=0)
         # Returns State, Reward, Done, Info
+
         return self.state, 0, self.done, {}
 
     def additional_actions(self, agent_i: int, action: int) -> ((int, int), bool):
@@ -103,6 +108,7 @@ class BaseFactory(gym.Env):
         for i, collision_vec in enumerate(self.check_all_collisions(states, self.state.shape[0])):
             states[i].update(collision_vector=collision_vec)
 
+        self.agent_states = states
         reward, info = self.calculate_reward(states)
         self.cumulative_reward += reward
 

environments/factory/renderer.py

@@ -28,7 +28,7 @@ class Renderer:
         self.screen_size = (grid_h*cell_size, grid_w*cell_size)
         self.screen = pygame.display.set_mode(self.screen_size)
         self.clock = pygame.time.Clock()
-        assets = list((Path(__file__).parent / 'assets').glob('*.png'))
+        assets = list((Path(__file__).parent / 'assets').rglob('*.png'))
         self.assets = {path.stem: self.load_asset(str(path), 0.97) for path in assets}
         self.fill_bg()
 
@@ -41,9 +41,9 @@ class Renderer:
                     rect = pygame.Rect(x, y, self.cell_size, self.cell_size)
                     pygame.draw.rect(self.screen, Renderer.WHITE, rect, 1)
 
-    def blit_params(self, entity, name):
+    def blit_params(self, entity):
         r, c = entity.pos
-        img = self.assets[name]
+        img = self.assets[entity.name]
         if entity.value_operation == 'opacity':
             img.set_alpha(255*entity.value)
         elif entity.value_operation == 'scale':
@@ -71,7 +71,7 @@ class Renderer:
         self.fill_bg()
         for asset, entities in pos_dict.items():
             for entity in entities:
-                bp = self.blit_params(entity, asset)
+                bp = self.blit_params(entity)
                 if 'agent' in asset and self.view_radius > 0:
                     visibility_rect = bp['dest'].inflate((self.view_radius*2)*self.cell_size, (self.view_radius*2)*self.cell_size)
                     shape_surf = pygame.Surface(visibility_rect.size, pygame.SRCALPHA)

environments/factory/simple_factory_getting_dirty.py

@@ -41,10 +41,11 @@ class GettingDirty(BaseFactory):
 
         dirt      = [Entity('dirt', [x, y], min(1.1*self.state[DIRT_INDEX, x, y], 1), 'opacity')
                      for x, y in np.argwhere(self.state[DIRT_INDEX] > h.IS_FREE_CELL)]
-        walls  = [Entity('dirt', 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[h.LEVEL_IDX] > h.IS_FREE_CELL)]
-        agents = [Entity('agent1', pos) for pos in np.argwhere(self.state[h.AGENT_START_IDX] > h.IS_FREE_CELL)]
+        violation = lambda agent: agent.action_valid and agent.collision_vector[h.LEVEL_IDX] <= 0
-
+        agents = {f'agent{i+1}': [Entity(f'agent{i+1}' if violation(agent) else f'agent{i+1}violation', agent.pos)]
-        self.renderer.render(OrderedDict(dirt=dirt, wall=walls, agent1=agents))
+                  for i, agent in enumerate(self.agent_states)}
+        self.renderer.render(OrderedDict(dirt=dirt, wall=walls, **agents))
 
     def spawn_dirt(self) -> None:
         free_for_dirt = self.free_cells(excluded_slices=DIRT_INDEX)