diff --git a/examples/training_navigation.py b/examples/training_navigation.py
index 554782e3b03803e450a4085098f96bfa4192d84f..b1032511ec00cbf23a4cfe7b8bca4bca370f5180 100644
--- a/examples/training_navigation.py
+++ b/examples/training_navigation.py
@@ -40,7 +40,7 @@ scores = []
dones_list = []
action_prob = [0]*4
agent = Agent(state_size, action_size, "FC", 0)
-#agent.qnetwork_local.load_state_dict(torch.load('../flatland/baselines/Nets/avoid_checkpoint8000.pth'))
+agent.qnetwork_local.load_state_dict(torch.load('../flatland/baselines/Nets/avoid_checkpoint9900.pth'))
def max_lt(seq, val):
"""
Return greatest item in seq for which item < val applies.
@@ -70,11 +70,11 @@ for trials in range(1, n_trials + 1):
# Run episode
for step in range(50):
#if trials > 114:
- #env_renderer.renderEnv(show=True)
+ env_renderer.renderEnv(show=True)
#print(step)
# Action
for a in range(env.number_of_agents):
- action = agent.act(np.array(obs[a]), eps=eps)
+ action = agent.act(np.array(obs[a]), eps=0)
action_prob[action] += 1
action_dict.update({a: action})
diff --git a/flatland/core/env_observation_builder.py b/flatland/core/env_observation_builder.py
index 86485ec2c068ea410d5d27997f6f037d3aab6c23..8737862b60d9c330cb95e7679b3e39c2ad897da6 100644
--- a/flatland/core/env_observation_builder.py
+++ b/flatland/core/env_observation_builder.py
@@ -114,7 +114,7 @@ class TreeObsForRailEnv(ObservationBuilder):
nodes_queue.append(n)
if len(valid_neighbors) > 0:
- max_distance = max(max_distance, node[3]+1)
+ max_distance = max(max_distance, node[3] + 1)
return max_distance
@@ -129,7 +129,7 @@ class TreeObsForRailEnv(ObservationBuilder):
if enforce_target_direction >= 0:
# The agent must land into the current cell with orientation `enforce_target_direction'.
# This is only possible if the agent has arrived from the cell in the opposite direction!
- possible_directions = [(enforce_target_direction+2) % 4]
+ possible_directions = [(enforce_target_direction + 2) % 4]
for neigh_direction in possible_directions:
new_cell = self._new_position(position, neigh_direction)
@@ -137,7 +137,7 @@ class TreeObsForRailEnv(ObservationBuilder):
if new_cell[0] >= 0 and new_cell[0] < self.env.height and \
new_cell[1] >= 0 and new_cell[1] < self.env.width:
- desired_movement_from_new_cell = (neigh_direction+2) % 4
+ desired_movement_from_new_cell = (neigh_direction + 2) % 4
"""
# Is the next cell a dead-end?
@@ -166,7 +166,7 @@ class TreeObsForRailEnv(ObservationBuilder):
movement = (desired_movement_from_new_cell+2) % 4
"""
new_distance = min(self.distance_map[target_nr, new_cell[0], new_cell[1], agent_orientation],
- current_distance+1)
+ current_distance + 1)
neighbors.append((new_cell[0], new_cell[1], agent_orientation, new_distance))
self.distance_map[target_nr, new_cell[0], new_cell[1], agent_orientation] = new_distance
@@ -177,11 +177,11 @@ class TreeObsForRailEnv(ObservationBuilder):
Utility function that converts a compass movement over a 2D grid to new positions (r, c).
"""
if movement == 0: # NORTH
- return (position[0]-1, position[1])
+ return (position[0] - 1, position[1])
elif movement == 1: # EAST
return (position[0], position[1] + 1)
elif movement == 2: # SOUTH
- return (position[0]+1, position[1])
+ return (position[0] + 1, position[1])
elif movement == 3: # WEST
return (position[0], position[1] - 1)
@@ -241,7 +241,7 @@ class TreeObsForRailEnv(ObservationBuilder):
# Start from the current orientation, and see which transitions are available;
# organize them as [left, forward, right, back], relative to the current orientation
- for branch_direction in [(orientation+4+i) % 4 for i in range(-1, 3)]:
+ for branch_direction in [(orientation + 4 + i) % 4 for i in range(-1, 3)]:
if self.env.rail.get_transition((position[0], position[1], orientation), branch_direction):
new_cell = self._new_position(position, branch_direction)
@@ -253,7 +253,7 @@ class TreeObsForRailEnv(ObservationBuilder):
for i in range(self.max_depth):
num_cells_to_fill_in += pow4
pow4 *= 4
- observation = observation + [-np.inf, -np.inf, -np.inf, -np.inf, -np.inf]*num_cells_to_fill_in
+ observation = observation + [-np.inf, -np.inf, -np.inf, -np.inf, -np.inf] * num_cells_to_fill_in
return observation
@@ -262,7 +262,7 @@ class TreeObsForRailEnv(ObservationBuilder):
Utility function to compute tree-based observations.
"""
# [Recursive branch opened]
- if depth >= self.max_depth+1:
+ if depth >= self.max_depth + 1:
return []
# Continue along direction until next switch or
@@ -356,7 +356,7 @@ class TreeObsForRailEnv(ObservationBuilder):
observation = [0,
1 if other_target_encountered else 0,
1 if other_agent_encountered else 0,
- root_observation[3]+num_steps,
+ root_observation[3] + num_steps,
0]
elif last_isTerminal:
@@ -369,7 +369,7 @@ class TreeObsForRailEnv(ObservationBuilder):
observation = [0,
1 if other_target_encountered else 0,
1 if other_agent_encountered else 0,
- root_observation[3]+num_steps,
+ root_observation[3] + num_steps,
self.distance_map[handle, position[0], position[1], direction]]
# #############################
@@ -379,18 +379,18 @@ class TreeObsForRailEnv(ObservationBuilder):
# Start from the current orientation, and see which transitions are available;
# organize them as [left, forward, right, back], relative to the current orientation
- for branch_direction in [(direction+4+i) % 4 for i in range(-1, 3)]:
+ for branch_direction in [(direction + 4 + i) % 4 for i in range(-1, 3)]:
if last_isDeadEnd and self.env.rail.get_transition((position[0], position[1], direction),
- (branch_direction+2) % 4):
+ (branch_direction + 2) % 4):
# Swap forward and back in case of dead-end, so that an agent can learn that going forward takes
# it back
- new_cell = self._new_position(position, (branch_direction+2) % 4)
+ new_cell = self._new_position(position, (branch_direction + 2) % 4)
branch_observation = self._explore_branch(handle,
new_cell,
- (branch_direction+2) % 4,
+ (branch_direction + 2) % 4,
new_root_observation,
- depth+1)
+ depth + 1)
observation = observation + branch_observation
elif last_isSwitch and self.env.rail.get_transition((position[0], position[1], direction),
@@ -401,16 +401,16 @@ class TreeObsForRailEnv(ObservationBuilder):
new_cell,
branch_direction,
new_root_observation,
- depth+1)
+ depth + 1)
observation = observation + branch_observation
else:
num_cells_to_fill_in = 0
pow4 = 1
- for i in range(self.max_depth-depth):
+ for i in range(self.max_depth - depth):
num_cells_to_fill_in += pow4
pow4 *= 4
- observation = observation + [-np.inf, -np.inf, -np.inf, -np.inf, -np.inf]*num_cells_to_fill_in
+ observation = observation + [-np.inf, -np.inf, -np.inf, -np.inf, -np.inf] * num_cells_to_fill_in
return observation
@@ -422,7 +422,7 @@ class TreeObsForRailEnv(ObservationBuilder):
return
depth = 0
- tmp = len(tree)/num_features_per_node-1
+ tmp = len(tree) / num_features_per_node - 1
pow4 = 4
while tmp > 0:
tmp -= pow4
@@ -431,15 +431,15 @@ class TreeObsForRailEnv(ObservationBuilder):
prompt_ = ['L:', 'F:', 'R:', 'B:']
- print(" "*current_depth + prompt, tree[0:num_features_per_node])
- child_size = (len(tree)-num_features_per_node)//4
+ print(" " * current_depth + prompt, tree[0:num_features_per_node])
+ child_size = (len(tree) - num_features_per_node) // 4
for children in range(4):
- child_tree = tree[(num_features_per_node+children*child_size):
- (num_features_per_node+(children+1)*child_size)]
+ child_tree = tree[(num_features_per_node + children * child_size):
+ (num_features_per_node + (children + 1) * child_size)]
self.util_print_obs_subtree(child_tree,
num_features_per_node,
prompt=prompt_[children],
- current_depth=current_depth+1)
+ current_depth=current_depth + 1)
class GlobalObsForRailEnv(ObservationBuilder):
diff --git a/flatland/core/transitions.py b/flatland/core/transitions.py
index eb4cb8e394c2effd6e5ba1bfcedf381281ea9388..a8cb8d6f49157bafbb65551b53c6612c45565c88 100644
--- a/flatland/core/transitions.py
+++ b/flatland/core/transitions.py
@@ -180,7 +180,7 @@ class Grid4Transitions(Transitions):
List of the validity of transitions in the cell.
"""
- bits = (cell_transition >> ((3-orientation)*4))
+ bits = (cell_transition >> ((3 - orientation) * 4))
return ((bits >> 3) & 1, (bits >> 2) & 1, (bits >> 1) & 1, (bits) & 1)
def set_transitions(self, cell_transition, orientation, new_transitions):
@@ -208,7 +208,7 @@ class Grid4Transitions(Transitions):
`orientation'.
"""
- mask = (1 << ((4-orientation)*4)) - (1 << ((3-orientation)*4))
+ mask = (1 << ((4 - orientation) * 4)) - (1 << ((3 - orientation) * 4))
negmask = ~mask
new_transitions = \
@@ -217,9 +217,7 @@ class Grid4Transitions(Transitions):
(new_transitions[2] & 1) << 1 | \
(new_transitions[3] & 1)
- cell_transition = \
- (cell_transition & negmask) | \
- (new_transitions << ((3-orientation)*4))
+ cell_transition = (cell_transition & negmask) | (new_transitions << ((3 - orientation) * 4))
return cell_transition
@@ -245,8 +243,7 @@ class Grid4Transitions(Transitions):
Validity of the requested transition: 0/1 allowed/not allowed.
"""
- return ((cell_transition >> ((4-1-orientation) * 4)) >>
- (4-1-direction)) & 1
+ return ((cell_transition >> ((4 - 1 - orientation) * 4)) >> (4 - 1 - direction)) & 1
def set_transition(self, cell_transition, orientation, direction,
new_transition):
@@ -276,12 +273,9 @@ class Grid4Transitions(Transitions):
"""
if new_transition:
- cell_transition |= (1 << ((4-1-orientation) * 4 +
- (4-1-direction)))
+ cell_transition |= (1 << ((4 - 1 - orientation) * 4 + (4 - 1 - direction)))
else:
- cell_transition &= \
- ~(1 << ((4-1-orientation) * 4 +
- (4-1-direction)))
+ cell_transition &= ~(1 << ((4 - 1 - orientation) * 4 + (4 - 1 - direction)))
return cell_transition
@@ -310,13 +304,11 @@ class Grid4Transitions(Transitions):
rotation = rotation // 90
for i in range(4):
block_tuple = self.get_transitions(value, i)
- block_tuple = block_tuple[(
- 4-rotation):] + block_tuple[:(4-rotation)]
+ block_tuple = block_tuple[(4 - rotation):] + block_tuple[:(4 - rotation)]
value = self.set_transitions(value, i, block_tuple)
# Rotate the 4-bits blocks
- value = ((value & (2**(rotation*4)-1)) <<
- ((4-rotation)*4)) | (value >> (rotation*4))
+ value = ((value & (2**(rotation * 4) - 1)) << ((4 - rotation) * 4)) | (value >> (rotation * 4))
cell_transition = value
return cell_transition
@@ -355,7 +347,7 @@ class Grid8Transitions(Transitions):
List of the validity of transitions in the cell.
"""
- bits = (cell_transition >> ((7-orientation)*8))
+ bits = (cell_transition >> ((7 - orientation) * 8))
cell_transition = (
(bits >> 7) & 1,
(bits >> 6) & 1,
@@ -389,7 +381,7 @@ class Grid8Transitions(Transitions):
`orientation'.
"""
- mask = (1 << ((8-orientation)*8)) - (1 << ((7-orientation)*8))
+ mask = (1 << ((8 - orientation) * 8)) - (1 << ((7 - orientation) * 8))
negmask = ~mask
new_transitions = \
@@ -402,8 +394,7 @@ class Grid8Transitions(Transitions):
(new_transitions[6] & 1) << 1 | \
(new_transitions[7] & 1)
- cell_transition = (cell_transition & negmask) | (
- new_transitions << ((7-orientation)*8))
+ cell_transition = (cell_transition & negmask) | (new_transitions << ((7 - orientation) * 8))
return cell_transition
@@ -429,8 +420,7 @@ class Grid8Transitions(Transitions):
Validity of the requested transition: 0/1 allowed/not allowed.
"""
- return ((cell_transition >> ((8-1-orientation) * 8)) >>
- (8-1-direction)) & 1
+ return ((cell_transition >> ((8 - 1 - orientation) * 8)) >> (8 - 1 - direction)) & 1
def set_transition(self, cell_transition, orientation, direction,
new_transition):
@@ -460,11 +450,9 @@ class Grid8Transitions(Transitions):
"""
if new_transition:
- cell_transition |= (1 << ((8-1-orientation) * 8 +
- (8 - 1 - direction)))
+ cell_transition |= (1 << ((8 - 1 - orientation) * 8 + (8 - 1 - direction)))
else:
- cell_transition &= ~(1 << ((8-1-orientation) * 8 +
- (8 - 1 - direction)))
+ cell_transition &= ~(1 << ((8 - 1 - orientation) * 8 + (8 - 1 - direction)))
return cell_transition
@@ -500,8 +488,7 @@ class Grid8Transitions(Transitions):
value = self.set_transitions(value, i, block_tuple)
# Rotate the 8bits blocks
- value = ((value & (2**(rotation*8)-1)) <<
- ((8-rotation)*8)) | (value >> (rotation*8))
+ value = ((value & (2**(rotation * 8) - 1)) << ((8 - rotation) * 8)) | (value >> (rotation * 8))
cell_transition = value
diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index cf206033d7aab65571b18de0c95d729f5d09c65c..3fadf66ccf185329c49d2ea105728e3faedf0ae5 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -45,8 +45,7 @@ def rail_from_manual_specifications_generator(rail_spec):
if cell[0] < 0 or cell[0] >= len(t_utils.transitions):
print("ERROR - invalid cell type=", cell[0])
return []
- rail.set_transitions((r, c), t_utils.rotate_transition(
- t_utils.transitions[cell[0]], cell[1]))
+ rail.set_transitions((r, c), t_utils.rotate_transition(t_utils.transitions[cell[0]], cell[1]))
return rail
@@ -110,7 +109,7 @@ def generate_rail_from_list_of_manual_specifications(list_of_specifications)
"""
-def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
+def random_rail_generator(cell_type_relative_proportion=[1.0] * 8):
"""
Dummy random level generator:
- fill in cells at random in [width-2, height-2]
@@ -149,7 +148,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
transitions_templates_ = []
transition_probabilities = []
- for i in range(len(t_utils.transitions)-1): # don't include dead-ends
+ for i in range(len(t_utils.transitions) - 1): # don't include dead-ends
all_transitions = 0
for dir_ in range(4):
trans = t_utils.get_transitions(t_utils.transitions[i], dir_)
@@ -159,7 +158,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
(trans[3])
template = [int(x) for x in bin(all_transitions)[2:]]
- template = [0]*(4-len(template)) + template
+ template = [0] * (4 - len(template)) + template
# add all rotations
for rot in [0, 90, 180, 270]:
@@ -168,7 +167,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
t_utils.transitions[i],
rot)))
transition_probabilities.append(transition_probability[i])
- template = [template[-1]]+template[:-1]
+ template = [template[-1]] + template[:-1]
def get_matching_templates(template):
ret = []
@@ -183,7 +182,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
ret.append((transitions_templates_[i][1], transition_probabilities[i]))
return ret
- MAX_INSERTIONS = (width-2) * (height-2) * 10
+ MAX_INSERTIONS = (width - 2) * (height - 2) * 10
MAX_ATTEMPTS_FROM_SCRATCH = 10
attempt_number = 0
@@ -191,10 +190,9 @@ def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
cells_to_fill = []
rail = []
for r in range(height):
- rail.append([None]*width)
- if r > 0 and r < height-1:
- cells_to_fill = cells_to_fill \
- + [(r, c) for c in range(1, width-1)]
+ rail.append([None] * width)
+ if r > 0 and r < height - 1:
+ cells_to_fill = cells_to_fill + [(r, c) for c in range(1, width - 1)]
num_insertions = 0
while num_insertions < MAX_INSERTIONS and len(cells_to_fill) > 0:
@@ -212,14 +210,13 @@ def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
(1, 3, (0, 1)),
(2, 0, (1, 0)),
(3, 1, (0, -1))]: # N, E, S, W
- neigh_trans = rail[row+el[2][0]][col+el[2][1]]
+ neigh_trans = rail[row + el[2][0]][col + el[2][1]]
if neigh_trans is not None:
# select transition coming from facing direction el[1] and
# moving to direction el[1]
max_bit = 0
for k in range(4):
- max_bit |= \
- t_utils.get_transition(neigh_trans, k, el[1])
+ max_bit |= t_utils.get_transition(neigh_trans, k, el[1])
if max_bit:
valid_template[el[0]] = 1
@@ -244,8 +241,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
elif k == 3:
rot = 90
- rail[row][col] = t_utils.rotate_transition(
- int('0010000000000000', 2), rot)
+ rail[row][col] = t_utils.rotate_transition(int('0010000000000000', 2), rot)
num_insertions += 1
break
@@ -258,8 +254,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
for k in range(4):
tmp_template = valid_template[:]
tmp_template[k] = -1
- possible_cell_transitions = get_matching_templates(
- tmp_template)
+ possible_cell_transitions = get_matching_templates(tmp_template)
if len(possible_cell_transitions) > len(besttrans):
besttrans = possible_cell_transitions
bestk = k
@@ -284,7 +279,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
rail[replace_row][replace_col] = None
possible_transitions, possible_probabilities = zip(*besttrans)
- possible_probabilities = [p/sum(possible_probabilities) for p in possible_probabilities]
+ possible_probabilities = [p / sum(possible_probabilities) for p in possible_probabilities]
rail[row][col] = np.random.choice(possible_transitions,
p=possible_probabilities)
@@ -298,7 +293,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
else:
possible_transitions, possible_probabilities = zip(*possible_cell_transitions)
- possible_probabilities = [p/sum(possible_probabilities) for p in possible_probabilities]
+ possible_probabilities = [p / sum(possible_probabilities) for p in possible_probabilities]
rail[row][col] = np.random.choice(possible_transitions,
p=possible_probabilities)
@@ -321,12 +316,10 @@ def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
neigh_trans = rail[r][1]
if neigh_trans is not None:
for k in range(4):
- neigh_trans_from_direction = (neigh_trans >> ((3-k) * 4)) \
- & (2**4-1)
+ neigh_trans_from_direction = (neigh_trans >> ((3 - k) * 4)) & (2**4 - 1)
max_bit = max_bit | (neigh_trans_from_direction & 1)
if max_bit:
- rail[r][0] = t_utils.rotate_transition(
- int('0010000000000000', 2), 270)
+ rail[r][0] = t_utils.rotate_transition(int('0010000000000000', 2), 270)
else:
rail[r][0] = int('0000000000000000', 2)
@@ -335,8 +328,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
neigh_trans = rail[r][-2]
if neigh_trans is not None:
for k in range(4):
- neigh_trans_from_direction = (neigh_trans >> ((3-k) * 4)) \
- & (2**4-1)
+ neigh_trans_from_direction = (neigh_trans >> ((3 - k) * 4)) & (2**4 - 1)
max_bit = max_bit | (neigh_trans_from_direction & (1 << 2))
if max_bit:
rail[r][-1] = t_utils.rotate_transition(int('0010000000000000', 2),
@@ -350,8 +342,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
neigh_trans = rail[1][c]
if neigh_trans is not None:
for k in range(4):
- neigh_trans_from_direction = (neigh_trans >> ((3-k) * 4)) \
- & (2**4-1)
+ neigh_trans_from_direction = (neigh_trans >> ((3 - k) * 4)) & (2**4 - 1)
max_bit = max_bit | (neigh_trans_from_direction & (1 << 3))
if max_bit:
rail[0][c] = int('0010000000000000', 2)
@@ -363,12 +354,10 @@ def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
neigh_trans = rail[-2][c]
if neigh_trans is not None:
for k in range(4):
- neigh_trans_from_direction = (neigh_trans >> ((3-k) * 4)) \
- & (2**4-1)
+ neigh_trans_from_direction = (neigh_trans >> ((3 - k) * 4)) & (2**4 - 1)
max_bit = max_bit | (neigh_trans_from_direction & (1 << 1))
if max_bit:
- rail[-1][c] = t_utils.rotate_transition(
- int('0010000000000000', 2), 180)
+ rail[-1][c] = t_utils.rotate_transition(int('0010000000000000', 2), 180)
else:
rail[-1][c] = int('0000000000000000', 2)
@@ -458,8 +447,8 @@ class RailEnv(Environment):
self.obs_builder = obs_builder_object
self.obs_builder._set_env(self)
- self.actions = [0]*self.number_of_agents
- self.rewards = [0]*self.number_of_agents
+ self.actions = [0] * self.number_of_agents
+ self.rewards = [0] * self.number_of_agents
self.done = False
self.dones = {"__all__": False}
@@ -507,14 +496,13 @@ class RailEnv(Environment):
# agents_direction must be a direction for which a solution is
# guaranteed.
- self.agents_direction = [0]*self.number_of_agents
+ self.agents_direction = [0] * self.number_of_agents
re_generate = False
for i in range(self.number_of_agents):
valid_movements = []
for direction in range(4):
position = self.agents_position[i]
- moves = self.rail.get_transitions(
- (position[0], position[1], direction))
+ moves = self.rail.get_transitions((position[0], position[1], direction))
for move_index in range(4):
if moves[move_index]:
valid_movements.append((direction, move_index))
@@ -608,8 +596,8 @@ class RailEnv(Environment):
reverse_direction = 1
valid_transition = self.rail.get_transition(
- (pos[0], pos[1], direction),
- reverse_direction)
+ (pos[0], pos[1], direction),
+ reverse_direction)
if valid_transition:
direction = reverse_direction
movement = reverse_direction
@@ -629,8 +617,8 @@ class RailEnv(Environment):
new_cell_isValid = False
transition_isValid = self.rail.get_transition(
- (pos[0], pos[1], direction),
- movement) or is_deadend
+ (pos[0], pos[1], direction),
+ movement) or is_deadend
cell_isFree = True
for j in range(self.number_of_agents):
@@ -663,20 +651,20 @@ class RailEnv(Environment):
if num_agents_in_target_position == self.number_of_agents:
self.dones["__all__"] = True
- self.rewards_dict = [r+global_reward for r in self.rewards_dict]
+ self.rewards_dict = [r + global_reward for r in self.rewards_dict]
# Reset the step actions (in case some agent doesn't 'register_action'
# on the next step)
- self.actions = [0]*self.number_of_agents
+ self.actions = [0] * self.number_of_agents
return self._get_observations(), self.rewards_dict, self.dones, {}
def _new_position(self, position, movement):
if movement == 0: # NORTH
- return (position[0]-1, position[1])
+ return (position[0] - 1, position[1])
elif movement == 1: # EAST
return (position[0], position[1] + 1)
elif movement == 2: # SOUTH
- return (position[0]+1, position[1])
+ return (position[0] + 1, position[1])
elif movement == 3: # WEST
return (position[0], position[1] - 1)
diff --git a/flatland/utils/graphics_layer.py b/flatland/utils/graphics_layer.py
index b199a3b2e4d71261a402254ccb60ec453e30469c..5ace85cf76514676e9fcac7d6a749051cd404226 100644
--- a/flatland/utils/graphics_layer.py
+++ b/flatland/utils/graphics_layer.py
@@ -18,16 +18,15 @@ class GraphicsLayer(object):
def show(self, block=False):
pass
-
+
def pause(self, seconds=0.00001):
pass
def clf(self):
pass
-
+
def beginFrame(self):
pass
-
+
def endFrame(self):
pass
-
diff --git a/flatland/utils/graphics_qt.py b/flatland/utils/graphics_qt.py
index a4abb5789b67cd15a58c4eaa426bcd88ef297800..09dc1fa4d7ea50629a4e1f9f91bb79a549b62ac8 100644
--- a/flatland/utils/graphics_qt.py
+++ b/flatland/utils/graphics_qt.py
@@ -214,13 +214,12 @@ class QtRenderer(object):
def takeSnapshot(self, sDir="./movie"):
oWidget = self.window.mainWidget
oPixmap = oWidget.grab()
-
+
if not os.path.isdir(sDir):
os.mkdir(sDir)
-
+
nRunIn = 30
if self.iFrame > nRunIn:
sfImage = "%s/frame%05d.jpg" % (sDir, self.iFrame - nRunIn)
oPixmap.save(sfImage, "jpg")
self.iFrame += 1
-
diff --git a/flatland/utils/render_qt.py b/flatland/utils/render_qt.py
index e2334d3e1a8a66c31139b848b1b9bbb2f0e0a590..34e198566fdd8df8cff7e1822934e1f04cf3945c 100644
--- a/flatland/utils/render_qt.py
+++ b/flatland/utils/render_qt.py
@@ -80,20 +80,20 @@ class QTGL(GraphicsLayer):
self.qtr.drawCircle(x, y, r)
def text(self, x, y, sText):
- self.qtr.drawText(x*self.cell_pixels, -y*self.cell_pixels, sText)
-
+ self.qtr.drawText(x * self.cell_pixels, -y * self.cell_pixels, sText)
+
def prettify(self, *args, **kwargs):
pass
def prettify2(self, width, height, cell_size):
pass
-
+
def show(self, block=False):
pass
def pause(self, seconds=0.00001):
pass
-
+
def clf(self):
pass
@@ -104,9 +104,7 @@ class QTGL(GraphicsLayer):
self.qtr.beginFrame()
self.qtr.push()
self.qtr.fillRect(0, 0, self.widthPx, self.heightPx, *self.tColBg)
-
+
def endFrame(self):
self.qtr.pop()
self.qtr.endFrame()
-
-
diff --git a/flatland/utils/rendertools.py b/flatland/utils/rendertools.py
index 985f2b6dff207aad75412387e2f604fb3a80a1b2..fd414a7cb320f21160c6ed0126cba18fa75f1108 100644
--- a/flatland/utils/rendertools.py
+++ b/flatland/utils/rendertools.py
@@ -24,11 +24,11 @@ class MPLGL(GraphicsLayer):
def text(self, *args, **kwargs):
plt.text(*args, **kwargs)
-
+
def prettify(self, *args, **kwargs):
ax = plt.gca()
- plt.xticks(range(int(ax.get_xlim()[1])+1))
- plt.yticks(range(int(ax.get_ylim()[1])+1))
+ plt.xticks(range(int(ax.get_xlim()[1]) + 1))
+ plt.yticks(range(int(ax.get_ylim()[1]) + 1))
plt.grid()
plt.xlabel("Euclidean distance")
plt.ylabel("Tree / Transition Depth")
@@ -41,28 +41,28 @@ class MPLGL(GraphicsLayer):
gLabels = np.arange(0, height)
plt.xticks(gTicks, gLabels)
- gTicks = np.arange(-height * cell_size, 0) + cell_size/2
- gLabels = np.arange(height-1, -1, -1)
+ gTicks = np.arange(-height * cell_size, 0) + cell_size / 2
+ gLabels = np.arange(height - 1, -1, -1)
plt.yticks(gTicks, gLabels)
plt.xlim([0, width * cell_size])
plt.ylim([-height * cell_size, 0])
-
+
def show(self, block=False):
plt.show(block=block)
def pause(self, seconds=0.00001):
plt.pause(seconds)
-
+
def clf(self):
plt.clf()
-
+
def get_cmap(self, *args, **kwargs):
return plt.get_cmap(*args, **kwargs)
def beginFrame(self):
pass
-
+
def endFrame(self):
pass
@@ -85,7 +85,7 @@ class RenderTool(object):
gCentres = xr.DataArray(gGrid,
dims=["xy", "p1", "p2"],
coords={"xy": ["x", "y"]}) + xyPixHalf
- gTheta = np.linspace(0, np.pi/2, 10)
+ gTheta = np.linspace(0, np.pi / 2, 10)
gArc = array([np.cos(gTheta), np.sin(gTheta)]).T # from [1,0] to [0,1]
def __init__(self, env, gl="MPL"):
@@ -196,6 +196,8 @@ class RenderTool(object):
rcDir = rt.gTransRC[iDir] # agent direction in RC
xyDir = np.matmul(rcDir, rt.grc2xy) # agent direction in xy
+ xyDirLine = array([xyPos, xyPos + xyDir / 2]).T # line for agent orient.
+ self.gl.plot(*xyDirLine, color=sColor, lw=5, ms=0, alpha=0.6)
xyPos = np.matmul(rcPos - rcDir / 2, rt.grc2xy) + rt.xyHalf
self.gl.scatter(*xyPos, color=color, size=40) # agent location
@@ -224,7 +226,7 @@ class RenderTool(object):
rt = self.__class__
xyPos = np.matmul(rcPos, rt.grc2xy) + rt.xyHalf
- gxyTrans = xyPos + np.matmul(gTransRCAg, rt.grc2xy/2.4)
+ gxyTrans = xyPos + np.matmul(gTransRCAg, rt.grc2xy / 2.4)
self.gl.scatter(*gxyTrans.T, color=color, marker="o", s=50, alpha=0.2)
if depth is not None:
for x, y in gxyTrans:
@@ -264,7 +266,7 @@ class RenderTool(object):
# print("Trans:", gTransRC2)
visitNext = rt.Visit(tuple(visit.rc + gTransRC2),
iTrans,
- visit.iDepth+1,
+ visit.iDepth + 1,
visit)
# print("node2: ", node2)
stack.append(visitNext)
@@ -303,7 +305,7 @@ class RenderTool(object):
xLoc = rDist + visit.iDir / 4
# point labelled with distance
- self.gl.scatter(xLoc, visit.iDepth, color="k", s=2)
+ self.gl.scatter(xLoc, visit.iDepth, color="k", s=2)
# plt.text(xLoc, visit.iDepth, sDist, color="k", rotation=45)
self.gl.text(xLoc, visit.iDepth, visit.rc, color="k", rotation=45)
@@ -321,8 +323,8 @@ class RenderTool(object):
# line from prev node
self.gl.plot([xLocPrev, xLoc],
- [visit.iDepth-1, visit.iDepth],
- color="k", alpha=0.5, lw=1)
+ [visit.iDepth - 1, visit.iDepth],
+ color="k", alpha=0.5, lw=1)
if rDist < 0.1:
visitDest = visit
@@ -335,8 +337,8 @@ class RenderTool(object):
rDist = np.linalg.norm(array(visit.rc) - array(xyTarg))
xLoc = rDist + visit.iDir / 4
if xLocPrev is not None:
- self.gl.plot([xLoc, xLocPrev], [visit.iDepth, visit.iDepth+1],
- color="r", alpha=0.5, lw=2)
+ self.gl.plot([xLoc, xLocPrev], [visit.iDepth, visit.iDepth + 1],
+ color="r", alpha=0.5, lw=2)
xLocPrev = xLoc
visit = visit.prev
# prev = prev.prev
@@ -369,13 +371,12 @@ class RenderTool(object):
self.gl.plot(*xyLine.T, color="r", alpha=0.5, lw=1)
- xyMid = np.sum(xyLine * [[1/4], [3/4]], axis=0)
+ xyMid = np.sum(xyLine * [[1 / 4], [3 / 4]], axis=0)
xyArrow = array([
- xyMid + [-dx-dy, +dx-dy],
+ xyMid + [-dx - dy, +dx - dy],
xyMid,
- xyMid + [-dx+dy, -dx-dy]
- ])
+ xyMid + [-dx + dy, -dx - dy]])
self.gl.plot(*xyArrow.T, color="r")
visit = visit.prev
@@ -420,13 +421,12 @@ class RenderTool(object):
self.gl.plot(*xyLine2.T, color=sColor)
if bArrow:
- xyMid = np.sum(xyLine2 * [[1/4], [3/4]], axis=0)
+ xyMid = np.sum(xyLine2 * [[1 / 4], [3 / 4]], axis=0)
xyArrow = array([
- xyMid + [-dx-dy, +dx-dy],
+ xyMid + [-dx - dy, +dx - dy],
xyMid,
- xyMid + [-dx+dy, -dx-dy]
- ])
+ xyMid + [-dx + dy, -dx - dy]])
self.gl.plot(*xyArrow.T, color=sColor)
else:
@@ -452,10 +452,9 @@ class RenderTool(object):
iArc = int(len(rt.gArc) / 2)
xyMid = xyCorner + rt.gArc[iArc] * dxy2
xyArrow = array([
- xyMid + [-dx-dy, +dx-dy],
+ xyMid + [-dx - dy, +dx - dy],
xyMid,
- xyMid + [-dx+dy, -dx-dy]
- ])
+ xyMid + [-dx + dy, -dx - dy]])
self.gl.plot(*xyArrow.T, color=sColor)
def renderEnv(
@@ -489,14 +488,14 @@ class RenderTool(object):
# Draw cells grid
grid_color = [0.95, 0.95, 0.95]
- for r in range(env.height+1):
- self.gl.plot([0, (env.width+1)*cell_size],
- [-r*cell_size, -r*cell_size],
- color=grid_color)
- for c in range(env.width+1):
- self.gl.plot([c*cell_size, c*cell_size],
- [0, -(env.height+1)*cell_size],
- color=grid_color)
+ for r in range(env.height + 1):
+ self.gl.plot([0, (env.width + 1) * cell_size],
+ [-r * cell_size, -r * cell_size],
+ color=grid_color)
+ for c in range(env.width + 1):
+ self.gl.plot([c * cell_size, c * cell_size],
+ [0, -(env.height + 1) * cell_size],
+ color=grid_color)
# Draw each cell independently
for r in range(env.height):
@@ -504,16 +503,16 @@ class RenderTool(object):
# bounding box of the grid cell
x0 = cell_size * c # left
- x1 = cell_size * (c+1) # right
+ x1 = cell_size * (c + 1) # right
y0 = cell_size * -r # top
- y1 = cell_size * -(r+1) # bottom
+ y1 = cell_size * -(r + 1) # bottom
# centres of cell edges
coords = [
- ((x0+x1)/2.0, y0), # N middle top
- (x1, (y0+y1)/2.0), # E middle right
- ((x0+x1)/2.0, y1), # S middle bottom
- (x0, (y0+y1)/2.0) # W middle left
+ ((x0 + x1) / 2.0, y0), # N middle top
+ (x1, (y0 + y1) / 2.0), # E middle right
+ ((x0 + x1) / 2.0, y1), # S middle bottom
+ (x0, (y0 + y1) / 2.0) # W middle left
]
# cell centre
@@ -585,18 +584,18 @@ class RenderTool(object):
if False:
for i in range(env.number_of_agents):
self._draw_square((
- env.agents_position[i][1] *
- cell_size+cell_size/2,
- -env.agents_position[i][0] *
- cell_size-cell_size/2),
- cell_size/8, cmap(i))
+ env.agents_position[i][1] *
+ cell_size + cell_size / 2,
+ -env.agents_position[i][0] *
+ cell_size - cell_size / 2),
+ cell_size / 8, cmap(i))
for i in range(env.number_of_agents):
self._draw_square((
- env.agents_target[i][1] *
- cell_size+cell_size/2,
- -env.agents_target[i][0] *
- cell_size-cell_size/2),
- cell_size/3, [c for c in cmap(i)])
+ env.agents_target[i][1] *
+ cell_size + cell_size / 2,
+ -env.agents_target[i][0] *
+ cell_size - cell_size / 2),
+ cell_size / 3, [c for c in cmap(i)])
# orientation is a line connecting the center of the cell to the
# side of the square of the agent
@@ -606,8 +605,8 @@ class RenderTool(object):
(new_position[1] + env.agents_position[i][1]) / 2 * cell_size)
self.gl.plot(
- [env.agents_position[i][1] * cell_size+cell_size/2, new_position[1]+cell_size/2],
- [-env.agents_position[i][0] * cell_size-cell_size/2, -new_position[0]-cell_size/2],
+ [env.agents_position[i][1] * cell_size + cell_size / 2, new_position[1] + cell_size / 2],
+ [-env.agents_position[i][0] * cell_size - cell_size / 2, -new_position[0] - cell_size / 2],
color=cmap(i),
linewidth=2.0)
@@ -616,7 +615,7 @@ class RenderTool(object):
if frames:
self.gl.text(0.1, yText[2], "Frame:{:}".format(self.iFrame))
self.iFrame += 1
-
+
if iEpisode is not None:
self.gl.text(0.1, yText[1], "Ep:{}".format(iEpisode))
@@ -643,8 +642,8 @@ class RenderTool(object):
return
def _draw_square(self, center, size, color):
- x0 = center[0]-size/2
- x1 = center[0]+size/2
- y0 = center[1]-size/2
- y1 = center[1]+size/2
+ x0 = center[0] - size / 2
+ x1 = center[0] + size / 2
+ y0 = center[1] - size / 2
+ y1 = center[1] + size / 2
self.gl.plot([x0, x1, x1, x0, x0], [y0, y0, y1, y1, y0], color=color)
diff --git a/tests/test_env_observation_builder.py b/tests/test_env_observation_builder.py
index db264c2975b75f32c2612aa19c0511076460ec6b..55c229e88e73c311ae8f8f4aeee01218cf1dd4cf 100644
--- a/tests/test_env_observation_builder.py
+++ b/tests/test_env_observation_builder.py
@@ -46,14 +46,14 @@ def test_global_obs():
double_switch_south_horizontal_straight, 180)
rail_map = np.array(
- [[empty] * 3 + [dead_end_from_south] + [empty] * 6] +
- [[empty] * 3 + [vertical_straight] + [empty] * 6] * 2 +
- [[dead_end_from_east] + [horizontal_straight] * 2 +
- [double_switch_north_horizontal_straight] +
- [horizontal_straight] * 2 + [double_switch_south_horizontal_straight] +
- [horizontal_straight] * 2 + [dead_end_from_west]] +
- [[empty] * 6 + [vertical_straight] + [empty] * 3] * 2 +
- [[empty] * 6 + [dead_end_from_north] + [empty] * 3], dtype=np.uint16)
+ [[empty] * 3 + [dead_end_from_south] + [empty] * 6] +
+ [[empty] * 3 + [vertical_straight] + [empty] * 6] * 2 +
+ [[dead_end_from_east] + [horizontal_straight] * 2 +
+ [double_switch_north_horizontal_straight] +
+ [horizontal_straight] * 2 + [double_switch_south_horizontal_straight] +
+ [horizontal_straight] * 2 + [dead_end_from_west]] +
+ [[empty] * 6 + [vertical_straight] + [empty] * 3] * 2 +
+ [[empty] * 6 + [dead_end_from_north] + [empty] * 3], dtype=np.uint16)
rail = GridTransitionMap(width=rail_map.shape[1],
height=rail_map.shape[0], transitions=transitions)
diff --git a/tests/test_environments.py b/tests/test_environments.py
index ea8748b8aa4b50a1371a013be98f3b42d0d01228..210f1c76c8fd9978141a48189d5bcf2e31e68611 100644
--- a/tests/test_environments.py
+++ b/tests/test_environments.py
@@ -30,8 +30,7 @@ def test_rail_environment_single_agent():
transitions = Grid4Transitions([])
vertical_line = cells[1]
south_symmetrical_switch = cells[6]
- north_symmetrical_switch = transitions.rotate_transition(
- south_symmetrical_switch, 180)
+ north_symmetrical_switch = transitions.rotate_transition(south_symmetrical_switch, 180)
# Simple turn not in the base transitions ?
south_east_turn = int('0100000000000010', 2)
south_west_turn = transitions.rotate_transition(south_east_turn, 90)
diff --git a/tests/test_rendertools.py b/tests/test_rendertools.py
index 528cc59bd8e66b9d383d093c7dd6363e9dc45f71..1f5c317965a3101c6232709ebb311959d5a566ed 100644
--- a/tests/test_rendertools.py
+++ b/tests/test_rendertools.py
@@ -11,7 +11,7 @@ import os
import matplotlib.pyplot as plt
import flatland.utils.rendertools as rt
-from flatland.core.env_observation_builder import GlobalObsForRailEnv, TreeObsForRailEnv
+from flatland.core.env_observation_builder import TreeObsForRailEnv
def checkFrozenImage(sFileImage):
@@ -31,7 +31,7 @@ def checkFrozenImage(sFileImage):
bytesFrozenImage = bytesImage
else:
assert(bytesFrozenImage.shape == bytesImage.shape)
- assert((np.sum(np.square(bytesFrozenImage-bytesImage)) / bytesFrozenImage.size) < 1e-3)
+ assert((np.sum(np.square(bytesFrozenImage - bytesImage)) / bytesFrozenImage.size) < 1e-3)
def test_render_env():
diff --git a/tests/test_transitions.py b/tests/test_transitions.py
index f68b836e58b87078ef8fcf799ca089df0d09d292..0f56e886071fd1d217be03b9a7e875c20d1a0e8a 100644
--- a/tests/test_transitions.py
+++ b/tests/test_transitions.py
@@ -15,65 +15,60 @@ def test_valid_railenv_transitions():
for i in range(2):
assert(rail_env_trans.get_transitions(
- int('1100110000110011', 2), i) == (1, 1, 0, 0))
+ int('1100110000110011', 2), i) == (1, 1, 0, 0))
assert(rail_env_trans.get_transitions(
- int('1100110000110011', 2), 2+i) == (0, 0, 1, 1))
+ int('1100110000110011', 2), 2 + i) == (0, 0, 1, 1))
no_transition_cell = int('0000000000000000', 2)
for i in range(4):
assert(rail_env_trans.get_transitions(
- no_transition_cell, i) == (0, 0, 0, 0))
+ no_transition_cell, i) == (0, 0, 0, 0))
# Facing south, going south
- north_south_transition = rail_env_trans.set_transitions(
- no_transition_cell, 2, (0, 0, 1, 0))
+ north_south_transition = rail_env_trans.set_transitions(no_transition_cell, 2, (0, 0, 1, 0))
assert(rail_env_trans.set_transition(
- north_south_transition, 2, 2, 0) == no_transition_cell)
+ north_south_transition, 2, 2, 0) == no_transition_cell)
assert(rail_env_trans.get_transition(
- north_south_transition, 2, 2))
+ north_south_transition, 2, 2))
# Facing north, going east
south_east_transition = \
- rail_env_trans.set_transition(
- no_transition_cell, 0, 1, 1)
+ rail_env_trans.set_transition(no_transition_cell, 0, 1, 1)
assert(rail_env_trans.get_transition(
- south_east_transition, 0, 1))
+ south_east_transition, 0, 1))
# The opposite transitions are not feasible
assert(not rail_env_trans.get_transition(
- north_south_transition, 2, 0))
+ north_south_transition, 2, 0))
assert(not rail_env_trans.get_transition(
- south_east_transition, 2, 1))
+ south_east_transition, 2, 1))
- east_west_transition = rail_env_trans.rotate_transition(
- north_south_transition, 90)
- north_west_transition = rail_env_trans.rotate_transition(
- south_east_transition, 180)
+ east_west_transition = rail_env_trans.rotate_transition(north_south_transition, 90)
+ north_west_transition = rail_env_trans.rotate_transition(south_east_transition, 180)
# Facing west, going west
assert(rail_env_trans.get_transition(
- east_west_transition, 3, 3))
+ east_west_transition, 3, 3))
# Facing south, going west
assert(rail_env_trans.get_transition(
- north_west_transition, 2, 3))
+ north_west_transition, 2, 3))
assert(south_east_transition == rail_env_trans.rotate_transition(
- south_east_transition, 360))
+ south_east_transition, 360))
def test_diagonal_transitions():
diagonal_trans_env = Grid8Transitions([])
# Facing north, going north-east
- south_northeast_transition = int('01000000' + '0'*8*7, 2)
+ south_northeast_transition = int('01000000' + '0' * 8 * 7, 2)
assert(diagonal_trans_env.get_transitions(
- south_northeast_transition, 0) == (0, 1, 0, 0, 0, 0, 0, 0))
+ south_northeast_transition, 0) == (0, 1, 0, 0, 0, 0, 0, 0))
# Allowing transition from north to southwest: Facing south, going SW
north_southwest_transition = \
- diagonal_trans_env.set_transitions(
- int('0' * 64, 2), 4, (0, 0, 0, 0, 0, 1, 0, 0))
+ diagonal_trans_env.set_transitions(int('0' * 64, 2), 4, (0, 0, 0, 0, 0, 1, 0, 0))
assert(diagonal_trans_env.rotate_transition(
- south_northeast_transition, 180) == north_southwest_transition)
+ south_northeast_transition, 180) == north_southwest_transition)