def _make_action(self, rid, action):
"""
:param rid: id of the agent
:param action: action for the agent
:return: tuple of following:
state_prime: new state for the agent
reward: reward for the agent
done: agent terminated or not
info: anything else
"""
agent = self.agents[rid]
pos = agent.pos
# action: 0-north, 1-east, 2-south, 3-west
new_pos = Position(-1, -1)
if action == Direction.UP or action == Direction.UP.value:
new_pos = pos.up()
elif action == Direction.RIGHT or action == Direction.RIGHT.value:
new_pos = pos.right()
elif action == Direction.DOWN or action == Direction.DOWN.value:
new_pos = pos.down()
elif action == Direction.LEFT or action == Direction.LEFT.value:
new_pos = pos.left()
else:
print("Invalid direction: %s" % (action))
agent._set_pos(new_pos)
try:
assert new_pos >= Position(
0, 0), "out of bounds - outside map (below_min)"
assert new_pos < Position(
self.height,
self.width), "out of bounds - outside map (above_max)"
assert self.grid[
new_pos.asTuple()] != 0, "out of bounds - internal edge"
except Exception as e:
# print("position:", new_pos, "is", e)
# print("\tRemember (in y,x format) the grid size is", self.grid.shape)
self.dead = True
reward = self._get_reward(new_pos)
state_prime = agent._get_state(new_pos)
return StepResponse(state_prime, reward, True)
# return None, reward, True, None
state_prime = agent._get_state(new_pos)
reward = self._get_reward(new_pos)
done = self._get_terminate(new_pos)
resp = StepResponse(state_prime, reward, done)
return resp
def __init__(self,
height=5,
width=5,
num_agents=1,
start=Position(0, 0),
goal=Position(9E9, 9E9),
view_range=1,
horizon=2,
goal_reward=1.0,
pos_hist_len=5,
render=False,
std=False):
self.std = std
self.width = width
self.height = height
self.num_agents = num_agents
self.start = start
self.goal = goal
self.view_range = view_range
self.dead = False
self.pos_hist_len = pos_hist_len
if self.std:
start = Position(y=start[0], x=start[1])
goal = Position(y=goal[0], x=goal[1])
if goal.x > self.width or goal.y > self.height:
goal = Position(self.height - 1, self.width - 1)
# self.grid stores state of each grid of the map
# 0-obstacle, 1-walkable, 2-goal, 3-agent
self.grid = np.ones((height, width), dtype=int)
self.grid[goal.asTuple()] = 2
self.num_agents = num_agents
self.agents = {}
for n in range(self.num_agents):
self.agents[n] = Agent(self,
pos_hist_len=self.pos_hist_len,
pos_start=self.start)
self.reward_map = RewardMap(self.goal, self.height, self.width,
horizon, goal_reward)
# self.reward_map = np.zeros((height,width))
# self.reward_map[goal.asTuple()] = 1.0
self.reward_death = -100.0
self.renderEnv = render
self.called_render = False
if self.renderEnv:
self._render()
