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Steffen Illium
2022-01-11 13:45:00 +01:00
parent 3150757347
commit b6c8cbd2e3
5 changed files with 70 additions and 47 deletions
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47
environments/factory/base/base_factory.py
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@ -181,11 +181,11 @@ class BaseFactory(gym.Env):
if agents_to_spawn:
agents = Agents.from_tiles(floor.empty_tiles[:agents_to_spawn], self._level_shape, **agents_kwargs)
else:
agents = Agents(**agents_kwargs)
agents = Agents(self._level_shape, **agents_kwargs)
if self._injected_agents:
initialized_injections = list()
for i, injection in enumerate(self._injected_agents):
agents.register_item(injection(self, floor.empty_tiles[agents_to_spawn+i+1], static_problem=False))
agents.register_item(injection(self, floor.empty_tiles[0], agents, static_problem=False))
initialized_injections.append(agents[-1])
self._initialized_injections = initialized_injections
self._entities.register_additional_items({c.AGENT: agents})
@ -335,7 +335,12 @@ class BaseFactory(gym.Env):
# Generel Observations
lvl_obs = self[c.WALLS].as_array()
door_obs = self[c.DOORS].as_array()
global_agent_obs = self[c.AGENT].as_array() if self.obs_prop.render_agents != a_obs.NOT else None
if self.obs_prop.render_agents == a_obs.NOT:
global_agent_obs = None
elif self.obs_prop.omit_agent_self and self.n_agents == 1:
global_agent_obs = None
else:
global_agent_obs = self[c.AGENT].as_array().copy()
placeholder_obs = self[c.AGENT_PLACEHOLDER].as_array() if self[c.AGENT_PLACEHOLDER] else None
add_obs_dict = self._additional_observations()
@ -343,7 +348,7 @@ class BaseFactory(gym.Env):
obs_dict = dict()
# Build Agent Observations
if self.obs_prop.render_agents != a_obs.NOT:
if self.obs_prop.omit_agent_self:
if self.obs_prop.omit_agent_self and self.n_agents >= 2:
if self.obs_prop.render_agents == a_obs.SEPERATE:
other_agent_obs_idx = [x for x in range(self.n_agents) if x != agent_idx]
agent_obs = np.take(global_agent_obs, other_agent_obs_idx, axis=0)
@ -361,11 +366,12 @@ class BaseFactory(gym.Env):
lvl_obs += global_agent_obs
obs_dict[c.WALLS] = lvl_obs
if self.obs_prop.render_agents in [a_obs.SEPERATE, a_obs.COMBINED]:
if self.obs_prop.render_agents in [a_obs.SEPERATE, a_obs.COMBINED] and agent_obs is not None:
obs_dict[c.AGENT] = agent_obs
if self[c.AGENT_PLACEHOLDER]:
if self[c.AGENT_PLACEHOLDER] and placeholder_obs is not None:
obs_dict[c.AGENT_PLACEHOLDER] = placeholder_obs
obs_dict[c.DOORS] = door_obs
if self.parse_doors and door_obs is not None:
obs_dict[c.DOORS] = door_obs
obs_dict.update(add_obs_dict)
obsn = np.vstack(list(obs_dict.values()))
if self.obs_prop.pomdp_r:
@ -381,20 +387,21 @@ class BaseFactory(gym.Env):
zip(keys, idxs, list(idxs[1:]) + [idxs[-1]+1, ])}
# Shadow Casting
try:
light_block_obs = [obs_idx for key, obs_idx in per_agent_expl_idx[agent.name].items()
if self[key].is_blocking_light]
# Flatten
light_block_obs = [x for y in light_block_obs for x in y]
shadowed_obs = [obs_idx for key, obs_idx in per_agent_expl_idx[agent.name].items()
if self[key].can_be_shadowed]
# Flatten
shadowed_obs = [x for y in shadowed_obs for x in y]
except AttributeError as e:
print('Check your Keys! Only use Constants as Keys!')
print(e)
raise e
if self.obs_prop.cast_shadows:
try:
light_block_obs = [obs_idx for key, obs_idx in per_agent_expl_idx[agent.name].items()
if self[key].is_blocking_light]
# Flatten
light_block_obs = [x for y in light_block_obs for x in y]
shadowed_obs = [obs_idx for key, obs_idx in per_agent_expl_idx[agent.name].items()
if self[key].can_be_shadowed]
# Flatten
shadowed_obs = [x for y in shadowed_obs for x in y]
except AttributeError as e:
print('Check your Keys! Only use Constants as Keys!')
print(e)
raise e
obs_block_light = obsn[light_block_obs] != c.OCCUPIED_CELL
door_shadowing = False
if self.parse_doors:

14
environments/factory/factory_dirt.py
View File

@ -6,6 +6,7 @@ import random
import numpy as np
# from algorithms.TSP_dirt_agent import TSPDirtAgent
from algorithms.TSP_dirt_agent import TSPDirtAgent
from environments.helpers import Constants as BaseConstants
from environments.helpers import EnvActions as BaseActions
from environments.helpers import Rewards as BaseRewards
@ -27,9 +28,9 @@ class Actions(BaseActions):
class Rewards(BaseRewards):
CLEAN_UP_VALID = 0.5
CLEAN_UP_FAIL = -0.1
CLEAN_UP_LAST_PIECE = 4.5
CLEAN_UP_VALID = 1
CLEAN_UP_FAIL = -0.1
CLEAN_UP_LAST_PIECE = 4
class DirtProperties(NamedTuple):
@ -293,13 +294,13 @@ if __name__ == '__main__':
global_timings = []
for i in range(10):
factory = DirtFactory(n_agents=4, done_at_collision=False,
factory = DirtFactory(n_agents=1, done_at_collision=False,
level_name='rooms', max_steps=1000,
doors_have_area=False,
obs_prop=obs_props, parse_doors=True,
verbose=True,
mv_prop=move_props, dirt_prop=dirt_props,
# inject_agents=[TSPDirtAgent],
inject_agents=[TSPDirtAgent],
)
# noinspection DuplicatedCode
@ -317,10 +318,11 @@ if __name__ == '__main__':
env_state = factory.reset()
if render:
factory.render()
# tsp_agent = factory.get_injected_agents()[0]
tsp_agent = factory.get_injected_agents()[0]
rwrd = 0
for agent_i_action in random_actions:
agent_i_action = tsp_agent.predict()
env_state, step_rwrd, done_bool, info_obj = factory.step(agent_i_action)
rwrd += step_rwrd
if render: