examples/custom_observation_example.py

@@ -206,7 +206,8 @@ env = RailEnv(width=10,
               rail_generator=complex_rail_generator(nr_start_goal=5, nr_extra=1, min_dist=8, max_dist=99999, seed=0),
               schedule_generator=complex_schedule_generator(),
               number_of_agents=3,
-              obs_builder_object=CustomObsBuilder)
+              obs_builder_object=CustomObsBuilder,
+              save_episodes=True)
 
 obs = env.reset()
 env_renderer = RenderTool(env, gl="PILSVG")
@@ -222,4 +223,8 @@ for step in range(100):
     obs, all_rewards, done, _ = env.step(action_dict)
     print("Rewards: ", all_rewards, "  [done=", done, "]")
     env_renderer.render_env(show=True, frames=True, show_observations=True, show_predictions=False)
-    time.sleep(0.5)
+    time.sleep(0.01)
+
+sFilename = "saved_episode_{:}x{:}.mpk".format(*env.rail.grid.shape)
+env.save(sFilename)
+

flatland/envs/rail_env.py

@@ -108,7 +108,8 @@ class RailEnv(Environment):
                  number_of_agents=1,
                  obs_builder_object=TreeObsForRailEnv(max_depth=2),
                  max_episode_steps=None,
-                 stochastic_data=None
+                 stochastic_data=None,
+                 save_episodes=False
                  ):
         """
         Environment init.
@@ -201,6 +202,11 @@ class RailEnv(Environment):
 
         self.valid_positions = None
 
+        # save episode timesteps ie agent positions, orientations.  (not yet actions / observations)
+        self.save_episodes = save_episodes
+        self.episodes = []
+        self.cur_episode = []
+
     # no more agent_handles
     def get_agent_handles(self):
         return range(self.get_num_agents())
@@ -291,7 +297,7 @@ class RailEnv(Environment):
         # If counter has come to zero --> Agent has malfunction
         # set next malfunction time and duration of current malfunction
         if agent.malfunction_data['malfunction_rate'] > 0 >= agent.malfunction_data['malfunction'] and \
-            agent.malfunction_data['next_malfunction'] <= 0:
+                agent.malfunction_data['next_malfunction'] <= 0:
             # Increase number of malfunctions
             agent.malfunction_data['nr_malfunctions'] += 1
 
@@ -310,6 +316,10 @@ class RailEnv(Environment):
 
     # TODO refactor to decrease length of this method!
     def step(self, action_dict_):
+
+        if self.save_episodes:
+            self.record_timestep()
+
         self._elapsed_steps += 1
 
         # Reset the step rewards
@@ -364,7 +374,7 @@ class RailEnv(Environment):
                     self.rewards_dict[i_agent] += self.stop_penalty
 
                 if not agent.moving and not (
-                    action == RailEnvActions.DO_NOTHING or action == RailEnvActions.STOP_MOVING):
+                        action == RailEnvActions.DO_NOTHING or action == RailEnvActions.STOP_MOVING):
                     # Allow agent to start with any forward or direction action
                     agent.moving = True
                     self.rewards_dict[i_agent] += self.start_penalty
@@ -435,8 +445,8 @@ class RailEnv(Environment):
                     # so we only have to check cell_free now!
 
                     # cell and transition validity was checked when we stored transition_action_on_cellexit!
-                    cell_free, new_cell_valid, new_direction, new_position, transition_valid = self._check_action_on_agent(
-                        agent.speed_data['transition_action_on_cellexit'], agent)
+                    cell_free, new_cell_valid, new_direction, new_position, transition_valid = \
+                        self._check_action_on_agent(agent.speed_data['transition_action_on_cellexit'], agent)
 
                     if cell_free:
                         agent.position = new_position
@@ -475,6 +485,15 @@ class RailEnv(Environment):
 
         return self._get_observations(), self.rewards_dict, self.dones, info_dict
 
+    def record_timestep(self):
+        ''' Record the positions and orientations of all agents in memory.
+        '''
+        list_timestep = []
+        for i_agent in range(self.get_num_agents()):
+            agent = self.agents[i_agent]
+            list_timestep.append([*agent.position, int(agent.direction)])
+        self.cur_episode.append(list_timestep)
+
     def _check_action_on_agent(self, action, agent):
 
         # compute number of possible transitions in the current
@@ -540,13 +559,16 @@ class RailEnv(Environment):
         grid_data = self.rail.grid.tolist()
         agent_static_data = [agent.to_list() for agent in self.agents_static]
         agent_data = [agent.to_list() for agent in self.agents]
+        episode_data = [self.cur_episode]
         msgpack.packb(grid_data, use_bin_type=True)
         msgpack.packb(agent_data, use_bin_type=True)
         msgpack.packb(agent_static_data, use_bin_type=True)
+        msgpack.packb(episode_data, use_bin_type=True)
         msg_data = {
             "grid": grid_data,
             "agents_static": agent_static_data,
-            "agents": agent_data}
+            "agents": agent_data,
+            "episodes": episode_data}
         return msgpack.packb(msg_data, use_bin_type=True)
 
     def get_agent_state_msg(self):
@@ -585,9 +607,11 @@ class RailEnv(Environment):
         grid_data = self.rail.grid.tolist()
         agent_static_data = [agent.to_list() for agent in self.agents_static]
         agent_data = [agent.to_list() for agent in self.agents]
+        episode_data = [self.cur_episode]
         msgpack.packb(grid_data, use_bin_type=True)
         msgpack.packb(agent_data, use_bin_type=True)
         msgpack.packb(agent_static_data, use_bin_type=True)
+        msgpack.packb(episode_data, use_bin_type=True)
         if hasattr(self.obs_builder, 'distance_map'):
             distance_map_data = self.obs_builder.distance_map
             msgpack.packb(distance_map_data, use_bin_type=True)
@@ -595,12 +619,14 @@ class RailEnv(Environment):
                 "grid": grid_data,
                 "agents_static": agent_static_data,
                 "agents": agent_data,
-                "distance_maps": distance_map_data}
+                "distance_maps": distance_map_data,
+                "episodes": episode_data}
         else:
             msg_data = {
                 "grid": grid_data,
                 "agents_static": agent_static_data,
-                "agents": agent_data}
+                "agents": agent_data,
+                "episodes": episode_data}
 
         return msgpack.packb(msg_data, use_bin_type=True)