diff --git a/examples/simple_example_3.py b/examples/simple_example_3.py
index 1978e27c8511154d317ef5c96c3a9bc6816168c5..8c98eea7f1810d29522364703a496a1fb883fb36 100644
--- a/examples/simple_example_3.py
+++ b/examples/simple_example_3.py
@@ -6,8 +6,8 @@ from flatland.utils.rendertools import RenderTool
from flatland.envs.observations import TreeObsForRailEnv
import numpy as np
-random.seed(100)
-np.random.seed(100)
+random.seed(10)
+np.random.seed(10)
env = RailEnv(width=7,
height=7,
@@ -24,7 +24,7 @@ obs, all_rewards, done, _ = env.step({0: 0})
for i in range(env.get_num_agents()):
env.obs_builder.util_print_obs_subtree(tree=obs[i], num_features_per_node=5)
-env_renderer = RenderTool(env, gl="QT")
+env_renderer = RenderTool(env, gl="PIL")
env_renderer.renderEnv(show=True)
print("Manual control: s=perform step, q=quit, [agent id] [1-2-3 action] \
@@ -52,4 +52,4 @@ for step in range(100):
i = i + 1
i += 1
- env_renderer.renderEnv(show=True)
+ env_renderer.renderEnv(show=True, frames=True)
diff --git a/flatland/envs/agent_utils.py b/flatland/envs/agent_utils.py
index a4dc6962ebd69b38008c684e8015fc2c3e1b5d43..5105ec5dfb792895a7361060431d84d8ceb5c39e 100644
--- a/flatland/envs/agent_utils.py
+++ b/flatland/envs/agent_utils.py
@@ -29,17 +29,19 @@ class EnvAgentStatic(object):
position = attrib()
direction = attrib()
target = attrib()
+ moving = attrib()
def __init__(self, position, direction, target):
self.position = position
self.direction = direction
self.target = target
+ self.moving = False
@classmethod
def from_lists(cls, positions, directions, targets):
""" Create a list of EnvAgentStatics from lists of positions, directions and targets
"""
- return list(starmap(EnvAgentStatic, zip(positions, directions, targets)))
+ return list(starmap(EnvAgentStatic, zip(positions, directions, targets, [False]*len(positions))))
def to_list(self):
@@ -53,7 +55,7 @@ class EnvAgentStatic(object):
if type(lTarget) is np.ndarray:
lTarget = lTarget.tolist()
- return [lPos, int(self.direction), lTarget]
+ return [lPos, int(self.direction), lTarget, int(self.moving)]
@attrs
@@ -77,7 +79,7 @@ class EnvAgent(EnvAgentStatic):
def to_list(self):
return [
self.position, self.direction, self.target, self.handle,
- self.old_direction, self.old_position]
+ self.old_direction, self.old_position, self.moving]
@classmethod
def from_static(cls, oStatic):
diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index a23b6ac71651e8e424bb90a23cbcfd472ce89a12..ba4e9e46e8d5be9207e6bad64d0f7f364840f4d4 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -9,6 +9,7 @@ a GridTransitionMap object.
import msgpack
import numpy as np
+from enum import IntEnum
from flatland.core.env import Environment
from flatland.envs.agent_utils import EnvAgentStatic, EnvAgent
@@ -21,6 +22,14 @@ from flatland.envs.observations import TreeObsForRailEnv
# from flatland.core.transition_map import GridTransitionMap
+class RailEnvActions(IntEnum):
+ DO_NOTHING = 0
+ MOVE_LEFT = 1
+ MOVE_FORWARD = 2
+ MOVE_RIGHT = 3
+ STOP_MOVING = 4
+
+
class RailEnv(Environment):
"""
RailEnv environment class.
@@ -32,9 +41,10 @@ class RailEnv(Environment):
The valid actions in the environment are:
0: do nothing
- 1: turn left and move to the next cell
- 2: move to the next cell in front of the agent
- 3: turn right and move to the next cell
+ 1: turn left and move to the next cell; if the agent was not moving, movement is started
+ 2: move to the next cell in front of the agent; if the agent was not moving, movement is started
+ 3: turn right and move to the next cell; if the agent was not moving, movement is started
+ 4: stop moving
Moving forward in a dead-end cell makes the agent turn 180 degrees and step
to the cell it came from.
@@ -176,7 +186,7 @@ class RailEnv(Environment):
alpha = 1.0
beta = 1.0
- invalid_action_penalty = -2
+ invalid_action_penalty = 0 # -2 GIACOMO: we decided that invalid actions will carry no penalty
step_penalty = -1 * alpha
global_reward = 1 * beta
@@ -198,7 +208,11 @@ class RailEnv(Environment):
agent = self.agents[iAgent]
if iAgent not in action_dict: # no action has been supplied for this agent
- continue
+ if agent.moving:
+ # Keep moving
+ action_dict[iAgent] = RailEnvActions.MOVE_FORWARD
+ else:
+ action_dict[iAgent] = RailEnvActions.DO_NOTHING
if self.dones[iAgent]: # this agent has already completed...
# print("rail_env.py @", currentframe().f_back.f_lineno, " agent ", iAgent,
@@ -206,12 +220,27 @@ class RailEnv(Environment):
continue
action = action_dict[iAgent]
- if action < 0 or action > 3:
+ if action < 0 or action > len(RailEnvActions):
print('ERROR: illegal action=', action,
'for agent with index=', iAgent)
return
- if action > 0:
+ if action == RailEnvActions.DO_NOTHING and agent.moving:
+ # Keep moving
+ action_dict[iAgent] = RailEnvActions.MOVE_FORWARD
+ action = RailEnvActions.MOVE_FORWARD
+
+ if action == RailEnvActions.STOP_MOVING and agent.moving:
+ action_dict[iAgent] = RailEnvActions.DO_NOTHING
+ action = RailEnvActions.DO_NOTHING
+ agent.moving = False
+ # TODO: possibly, penalty for stopping!
+
+ if not agent.moving and (action == RailEnvActions.MOVE_LEFT or action == RailEnvActions.MOVE_FORWARD or action == RailEnvActions.MOVE_RIGHT):
+ agent.moving = True
+ # TODO: possibly, may add a penalty for starting, but the best is only for stopping (GIACOMO's opinion)
+
+ if action != RailEnvActions.DO_NOTHING and action != RailEnvActions.STOP_MOVING:
# pos = agent.position # self.agents_position[i]
# direction = agent.direction # self.agents_direction[i]
@@ -293,7 +322,7 @@ class RailEnv(Environment):
# Reset the step actions (in case some agent doesn't 'register_action'
# on the next step)
- self.actions = [0] * self.get_num_agents()
+ self.actions = [RailEnvActions.DO_NOTHING] * self.get_num_agents()
return self._get_observations(), self.rewards_dict, self.dones, {}
def check_action(self, agent, action):
@@ -303,19 +332,19 @@ class RailEnv(Environment):
new_direction = agent.direction
# print(nbits,np.sum(possible_transitions))
- if action == 1:
+ if action == RailEnvActions.MOVE_LEFT:
new_direction = agent.direction - 1
if num_transitions <= 1:
transition_isValid = False
- elif action == 3:
+ elif action == RailEnvActions.MOVE_RIGHT:
new_direction = agent.direction + 1
if num_transitions <= 1:
transition_isValid = False
new_direction %= 4
- if action == 2:
+ if action == RailEnvActions.MOVE_FORWARD:
if num_transitions == 1:
# - dead-end, straight line or curved line;
# new_direction will be the only valid transition