From c6258faf13c1f35a941828b842c4fa227f5545b6 Mon Sep 17 00:00:00 2001
From: "Egli Adrian (IT-SCI-API-PFI)" <adrian.egli@sbb.ch>
Date: Tue, 1 Oct 2019 18:17:35 +0200
Subject: [PATCH] remove agent when they have reached their destinations
(target)
---
flatland/envs/rail_env.py | 33 ++++++++++++++++++---------------
1 file changed, 18 insertions(+), 15 deletions(-)
diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index f79ab504..b64716f5 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -24,7 +24,6 @@ from flatland.envs.schedule_generators import random_schedule_generator, Schedul
m.patch()
-DEPOT_POSITION = (-10, -10)
class RailEnvActions(IntEnum):
DO_NOTHING = 0 # implies change of direction in a dead-end!
@@ -110,6 +109,10 @@ class RailEnv(Environment):
stop_penalty = 0 # penalty for stopping a moving agent
start_penalty = 0 # penalty for starting a stopped agent
+ # Where the agent will be placed to when the reach their target destination
+ # (Remove the agents to free the cell)
+ DEPOT_POSITION = (-10, -10)
+
def __init__(self,
width,
height,
@@ -118,7 +121,8 @@ class RailEnv(Environment):
number_of_agents=1,
obs_builder_object: ObservationBuilder = TreeObsForRailEnv(max_depth=2),
max_episode_steps=None,
- stochastic_data=None
+ stochastic_data=None,
+ remove_agents_at_target=False
):
"""
Environment init.
@@ -149,6 +153,9 @@ class RailEnv(Environment):
ObservationBuilder-derived object that takes builds observation
vectors for each agent.
max_episode_steps : int or None
+ remove_agents_at_target : bool
+ If remove_agents_at_target is set to true then the agents will be removed by placing to
+ RailEnv.DEPOT_POSITION when the agent has reach it's target position.
"""
super().__init__()
@@ -159,6 +166,8 @@ class RailEnv(Environment):
self.width = width
self.height = height
+ self.remove_agents_at_target = remove_agents_at_target
+
self.rewards = [0] * number_of_agents
self.done = False
self.obs_builder = obs_builder_object
@@ -503,14 +512,16 @@ class RailEnv(Environment):
if np.equal(agent.position, agent.target).all():
self.dones[i_agent] = True
agent.moving = False
- # TODO: Moving agents to arbitrary position
- agent.position = DEPOT_POSITION
- agent.target = DEPOT_POSITION
+
+ if self.remove_agents_at_target:
+ agent.position = RailEnv.DEPOT_POSITION
+ agent.target = RailEnv.DEPOT_POSITION
else:
self.rewards_dict[i_agent] += self.step_penalty * agent.speed_data['speed']
else:
# step penalty if not moving (stopped now or before)
self.rewards_dict[i_agent] += self.step_penalty * agent.speed_data['speed']
+
def _check_action_on_agent(self, action: RailEnvActions, agent: EnvAgent):
"""
@@ -549,15 +560,7 @@ class RailEnv(Environment):
# Check the new position is not the same as any of the existing agent positions
# (including itself, for simplicity, since it is moving)
- # TODO: Revert to earlier version
- cell_free = True
- for agent2 in self.agents:
- if Vec2dOperations.is_equal(new_position, agent2.position) and not Vec2dOperations.is_equal(agent2.target,
- agent2.position):
- cell_free = False
- break
-
-
+ cell_free = not np.any(np.equal(new_position, [agent2.position for agent2 in self.agents]).all(1))
return cell_free, new_cell_valid, new_direction, new_position, transition_valid
def check_action(self, agent: EnvAgent, action: RailEnvActions):
@@ -605,7 +608,7 @@ class RailEnv(Environment):
return self.obs_dict
def get_valid_directions_on_grid(self, row: int, col: int) -> List[int]:
- return Grid4Transitions.get_entry_directions(self.rail.get_full_transitions(row,col))
+ return Grid4Transitions.get_entry_directions(self.rail.get_full_transitions(row, col))
def get_full_state_msg(self):
grid_data = self.rail.grid.tolist()
--
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