diff --git a/env-data/tests/test-10x10.mpk b/env-data/tests/test-10x10.mpk
new file mode 100644
index 0000000000000000000000000000000000000000..e7e9ad5a5fd875eacced553d816ee407fa8215d1
Binary files /dev/null and b/env-data/tests/test-10x10.mpk differ
diff --git a/flatland/envs/generators.py b/flatland/envs/generators.py
index c1578a816e2e30127fb77dda6e72ab51b2f41cb2..f396164615baad167adac5860201af3359d8efbc 100644
--- a/flatland/envs/generators.py
+++ b/flatland/envs/generators.py
@@ -9,6 +9,21 @@ from flatland.envs.env_utils import distance_on_rail, connect_rail, get_directio
from flatland.envs.env_utils import get_rnd_agents_pos_tgt_dir_on_rail
+def empty_rail_generator():
+ """
+ Returns a generator which returns an empty rail mail with no agents.
+ Primarily used by the editor
+ """
+ def generator(width, height, num_agents=0, num_resets=0):
+ rail_trans = RailEnvTransitions()
+ grid_map = GridTransitionMap(width=width, height=height, transitions=rail_trans)
+ rail_array = grid_map.grid
+ rail_array.fill(0)
+
+ return grid_map, [], [], []
+ return generator
+
+
def complex_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dist=99999, seed=0):
"""
Parameters
diff --git a/flatland/envs/observations.py b/flatland/envs/observations.py
index fa77b58a53ef63767c2690edc782b6699f6c8459..ba159cb7fb6df9fd171a3b509f352d3ba8d2d30c 100644
--- a/flatland/envs/observations.py
+++ b/flatland/envs/observations.py
@@ -195,7 +195,8 @@ class TreeObsForRailEnv(ObservationBuilder):
# for loc in self.env.agents_position:
# self.location_has_agent[(loc[0], loc[1])] = 1
self.location_has_agent = {tuple(agent.position): 1 for agent in self.env.agents}
-
+ if handle > len(self.env.agents):
+ print("ERROR: obs _get - handle ", handle, " len(agents)", len(self.env.agents))
agent = self.env.agents[handle] # TODO: handle being treated as index
# position = self.env.agents_position[handle]
# orientation = self.env.agents_direction[handle]
diff --git a/flatland/utils/editor.py b/flatland/utils/editor.py
index a33a0116a93b9c1aa25c9da8103925f7c5ed51ae..7e813d763d7f26a96a1e1ca1f4c3d1bceef68ee3 100644
--- a/flatland/utils/editor.py
+++ b/flatland/utils/editor.py
@@ -15,7 +15,7 @@ import os
# from ipywidgets import IntSlider, link, VBox
from flatland.envs.rail_env import RailEnv, random_rail_generator
-from flatland.envs.generators import complex_rail_generator
+from flatland.envs.generators import complex_rail_generator, empty_rail_generator
# from flatland.core.transitions import RailEnvTransitions
from flatland.envs.observations import TreeObsForRailEnv
import flatland.utils.rendertools as rt
@@ -60,7 +60,7 @@ class View(object):
self.new_env()
self.oRT.renderEnv(spacing=False, arrows=False, sRailColor="gray", show=False)
img = self.oRT.getImage()
- plt.clf()
+ plt.clf() # TODO: remove this plt.clf() call
self.wImage = jpy_canvas.Canvas(img)
self.yxSize = self.wImage.data.shape[:2]
self.writableData = np.copy(self.wImage.data) # writable copy of image - wid_img.data is somehow readonly
@@ -86,6 +86,9 @@ class View(object):
self.wDebug_move = Checkbox(description="Debug mouse move")
self.wDebug_move.observe(self.controller.setDebugMove, names="value")
+ # Checkbox for rendering observations
+ self.wShowObs = Checkbox(description="Show Agent Observations")
+
# This is like a cell widget where loggin goes
self.wOutput = Output()
@@ -95,13 +98,15 @@ class View(object):
self.wFilename.observe(self.controller.setFilename, names="value")
# Size of environment when regenerating
- self.wSize = IntSlider(value=10, min=5, max=30, step=5, description="Regen Size")
- self.wSize.observe(self.controller.setRegenSize, names="value")
+ self.wRegenSize = IntSlider(value=10, min=5, max=100, step=5, description="Regen Size",
+ tip="Click Regenerate after changing this")
+ self.wRegenSize.observe(self.controller.setRegenSize, names="value")
# Number of Agents when regenerating
- self.wNAgents = IntSlider(value=1, min=0, max=20, step=1, description="# Agents")
+ self.wRegenNAgents = IntSlider(value=1, min=0, max=20, step=1, description="# Agents",
+ tip="Click regenerate or reset after changing this")
- self.wRegenMethod = RadioButtons(description="Regen\nMethod", options=["Random Cell", "Path-based"])
+ self.wRegenMethod = RadioButtons(description="Regen\nMethod", options=["Empty", "Random Cell", "Path-based"])
self.wReplaceAgents = Checkbox(value=True, description="Replace Agents")
self.wTab = Tab()
@@ -109,8 +114,8 @@ class View(object):
for i, title in enumerate(tab_contents):
self.wTab.set_title(i, title)
self.wTab.children = [
- VBox([self.wDebug, self.wDebug_move]),
- VBox([self.wRegenMethod, self.wReplaceAgents])]
+ VBox([self.wDebug, self.wDebug_move, self.wShowObs]),
+ VBox([self.wRegenSize, self.wRegenNAgents, self.wRegenMethod, self.wReplaceAgents])]
# Progress bar intended for stepping in the background (not yet working)
self.wProg_steps = ipywidgets.IntProgress(value=0, min=0, max=20, step=1, description="Step")
@@ -140,8 +145,8 @@ class View(object):
self.wVbox_controls = VBox([
self.wFilename, # self.wDrawMode,
*self.lwButtons,
- self.wSize,
- self.wNAgents,
+ # self.wRegenSize,
+ # self.wRegenNAgents,
self.wProg_steps,
self.wTab])
@@ -161,13 +166,17 @@ class View(object):
with self.wOutput:
# plt.figure(figsize=(10, 10))
self.oRT.renderEnv(spacing=False, arrows=False, sRailColor="gray",
- show=False, iSelectedAgent=self.model.iSelectedAgent)
+ show=False, iSelectedAgent=self.model.iSelectedAgent,
+ show_observations=self.show_observations())
img = self.oRT.getImage()
# plt.clf()
# plt.close()
self.wImage.data = img
self.writableData = np.copy(self.wImage.data)
+
+ # the size should only be updated on regenerate at most
+ self.yxSize = self.wImage.data.shape[:2]
return img
def redisplayImage(self):
@@ -191,6 +200,13 @@ class View(object):
else:
print(*args, **kwargs)
+ def show_observations(self):
+ ''' returns whether to show observations - boolean '''
+ if self.wShowObs.value:
+ return True
+ else:
+ return False
+
class Controller(object):
"""
@@ -297,17 +313,17 @@ class Controller(object):
self.model.clear()
def reset(self, event):
- self.log("Reset - nAgents:", self.view.wNAgents.value)
+ self.log("Reset - nAgents:", self.view.wRegenNAgents.value)
self.model.reset(replace_agents=self.view.wReplaceAgents.value,
- nAgents=self.view.wNAgents.value)
+ nAgents=self.view.wRegenNAgents.value)
def restartAgents(self, event):
- self.log("Restart Agents - nAgents:", self.view.wNAgents.value)
+ self.log("Restart Agents - nAgents:", self.view.wRegenNAgents.value)
self.model.restartAgents()
def regenerate(self, event):
method = self.view.wRegenMethod.value
- nAgents = self.view.wNAgents.value
+ nAgents = self.view.wRegenNAgents.value
self.model.regenerate(method, nAgents)
def setRegenSize(self, event):
@@ -375,6 +391,43 @@ class EditorModel(object):
def setDrawMode(self, sDrawMode):
self.drawMode = sDrawMode
+ def interpolate_path(self, rcLast, rcCell):
+ if np.array_equal(rcLast, rcCell):
+ return []
+ rcLast = array(rcLast)
+ rcCell = array(rcCell)
+ rcDelta = rcCell - rcLast
+
+ lrcInterp = [] # extra row,col points
+
+ if np.any(np.abs(rcDelta) >= 1):
+ iDim0 = np.argmax(np.abs(rcDelta)) # the dimension with the bigger move
+ iDim1 = 1 - iDim0 # the dim with the smaller move
+ rcRatio = rcDelta[iDim1] / rcDelta[iDim0]
+ delta0 = rcDelta[iDim0]
+ sgn0 = np.sign(delta0)
+
+ iDelta1 = 0
+
+ # count integers along the larger dimension
+ for iDelta0 in range(sgn0, delta0 + sgn0, sgn0):
+ rDelta1 = iDelta0 * rcRatio
+
+ if np.abs(rDelta1 - iDelta1) >= 1:
+ rcInterp = (iDelta0, iDelta1) # fill in the "corner" for "Manhattan interpolation"
+ lrcInterp.append(rcInterp)
+ iDelta1 = int(rDelta1)
+
+ rcInterp = (iDelta0, int(rDelta1))
+ lrcInterp.append(rcInterp)
+ g2Interp = array(lrcInterp)
+ if iDim0 == 1: # if necessary, swap c,r to make r,c
+ g2Interp = g2Interp[:, [1, 0]]
+ g2Interp += rcLast
+ # Convert the array to a list of tuples
+ lrcInterp = list(map(tuple, g2Interp))
+ return lrcInterp
+
def drag_path_element(self, rcCell):
"""Mouse motion event handler for drawing.
"""
@@ -384,8 +437,9 @@ class EditorModel(object):
if len(lrcStroke) > 0:
rcLast = lrcStroke[-1]
if not np.array_equal(rcLast, rcCell): # only save at transition
- lrcStroke.append(rcCell)
- self.debug("lrcStroke ", len(lrcStroke), rcCell)
+ lrcInterp = self.interpolate_path(rcLast, rcCell)
+ lrcStroke.extend(lrcInterp)
+ self.debug("lrcStroke ", len(lrcStroke), rcCell, "interp:", lrcInterp)
else:
# This is the first cell in a mouse stroke
@@ -545,7 +599,7 @@ class EditorModel(object):
self.redraw()
def setFilename(self, filename):
- self.log("filename = ", filename, type(filename))
+ # self.log("filename = ", filename, type(filename))
self.env_filename = filename
def load(self):
@@ -567,7 +621,9 @@ class EditorModel(object):
def regenerate(self, method=None, nAgents=0):
self.log("Regenerate size", self.regen_size)
- if method is None or method == "Random Cell":
+ if method is None or method == "Empty":
+ fnMethod = empty_rail_generator()
+ elif method == "Random Cell":
fnMethod = random_rail_generator(cell_type_relative_proportion=[1] * 11)
else:
fnMethod = complex_rail_generator(nr_start_goal=5, nr_extra=20, min_dist=12)
@@ -583,6 +639,7 @@ class EditorModel(object):
self.set_env(self.env)
self.player = Player(self.env)
self.view.new_env()
+ # self.view.init_canvas() # Can't do init_canvas - need to keep the same canvas widget!
self.redraw()
def setRegenSize(self, size):
diff --git a/flatland/utils/graphics_layer.py b/flatland/utils/graphics_layer.py
index 40bf319da737c8bb49e6c228c98b70604734ddc4..4cfcc64bffb82f91a0f36822188db297bc1ed37e 100644
--- a/flatland/utils/graphics_layer.py
+++ b/flatland/utils/graphics_layer.py
@@ -51,7 +51,7 @@ class GraphicsLayer(object):
elif type(color) is tuple:
if type(color[0]) is not int:
gcolor = array(color)
- color = tuple((gcolor[:4] * 255).astype(int))
+ color = tuple((gcolor[:3] * 255).astype(int))
else:
color = self.tColGrid
diff --git a/flatland/utils/rendertools.py b/flatland/utils/rendertools.py
index 26ec39d1f426691e7d4fe5a8b4b6aec3bcc7b1fd..30dccfaca0f0d8506c9fed7bf34601275148bd7b 100644
--- a/flatland/utils/rendertools.py
+++ b/flatland/utils/rendertools.py
@@ -606,7 +606,7 @@ class RenderTool(object):
def renderEnv(
self, show=False, curves=True, spacing=False,
- arrows=False, agents=True, obsrender=True, sRailColor="gray", frames=False,
+ arrows=False, agents=True, show_observations=True, sRailColor="gray", frames=False,
iEpisode=None, iStep=None,
iSelectedAgent=None, action_dict=None):
"""
@@ -643,7 +643,7 @@ class RenderTool(object):
# Draw each agent + its orientation + its target
if agents:
self.plotAgents(targets=True, iSelectedAgent=iSelectedAgent)
- if obsrender:
+ if show_observations:
self.renderObs(range(env.get_num_agents()), env.dev_obs_dict)
# Draw some textual information like fps
yText = [-0.3, -0.6, -0.9]
diff --git a/notebooks/Editor2.ipynb b/notebooks/Editor2.ipynb
index f2481d086d67376ec6018b758e1a88edd4222183..7a55510f486280d7910dadfcbfae14b79ca9b043 100644
--- a/notebooks/Editor2.ipynb
+++ b/notebooks/Editor2.ipynb
@@ -56,15 +56,7 @@
"cell_type": "code",
"execution_count": 4,
"metadata": {},
- "outputs": [
- {
- "name": "stdout",
- "output_type": "stream",
- "text": [
- "cpu\n"
- ]
- }
- ],
+ "outputs": [],
"source": [
"from flatland.utils.editor import EditorMVC, EditorModel, View, Controller"
]
@@ -93,14 +85,14 @@
"metadata": {},
"source": [
"## Instructions\n",
- "- Drag to draw\n",
- " - improved dead-ends\n",
- "- Shift-Drag to erase rails\n",
- " - erasing dead ends not yet automated - drag right across them\n",
+ "- Drag to draw (improved dead-ends)\n",
+ "- Shift-Drag to erase rails (erasing dead ends not yet automated - drag right across them)\n",
"- ctrl-click to add agent\n",
" - direction chosen randomly to fit rail\n",
"- ctrl-shift-click to add target for last agent\n",
- " - target can be moved by repeating "
+ " - target can be moved by repeating\n",
+ "- to Resize the env (cannot preserve work):\n",
+ " - select \"Regen\" tab, set regen size slider, click regenerate."
]
},
{
@@ -113,7 +105,7 @@
{
"data": {
"application/vnd.jupyter.widget-view+json": {
- "model_id": "6b1f996bbb834fcc962c80041465ac2d",
+ "model_id": "4bff3defb8dc40fb8c2ba74bdbd3c231",
"version_major": 2,
"version_minor": 0
},
@@ -123,6 +115,13 @@
},
"metadata": {},
"output_type": "display_data"
+ },
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "len: 190 <class 'bytes'> temp.pkl /home/jeremy/projects/aicrowd/rl-trains/notebooks\n"
+ ]
}
],
"source": [
@@ -139,7 +138,7 @@
{
"data": {
"application/vnd.jupyter.widget-view+json": {
- "model_id": "bf8e0dd6aa564b42a5ec3aa19c31a679",
+ "model_id": "961d8340f5d444c3b7a31f6684249233",
"version_major": 2,
"version_minor": 0
},
@@ -155,14 +154,34 @@
"mvc.view.wOutput.clear_output()\n",
"mvc.view.wOutput"
]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 8,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "(0, 0)"
+ ]
+ },
+ "execution_count": 8,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "len(mvc.editor.env.agents), len(mvc.editor.env.agents_static)"
+ ]
}
],
"metadata": {
"hide_input": false,
"kernelspec": {
- "display_name": "Python 3",
+ "display_name": "ve367",
"language": "python",
- "name": "python3"
+ "name": "ve367"
},
"language_info": {
"codemirror_mode": {
@@ -174,7 +193,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
- "version": "3.6.5"
+ "version": "3.6.7"
},
"latex_envs": {
"LaTeX_envs_menu_present": true,