diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml deleted file mode 100644 index 955dc30..0000000 --- a/.github/workflows/docs.yml +++ /dev/null @@ -1,29 +0,0 @@ -name: docs - -on: - push: - branches: - - develop - - master - pull_request: - -jobs: - run: - runs-on: ${{ matrix.os }} - - strategy: - matrix: - os: [ubuntu-latest] - python-version: [3.7] - - timeout-minutes: 30 - - steps: - - uses: actions/checkout@master - - uses: actions/setup-python@master - with: - python-version: ${{ matrix.python-version }} - - name: Install dependencies - run: pip install tox - - name: Generate Documentation - run: tox -e docs diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index 470be65..a9c74fe 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -14,7 +14,7 @@ jobs: strategy: matrix: os: [ubuntu-latest] - python-version: [3.7] + python-version: [3.9] timeout-minutes: 30 diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index bc8bf31..799bf2b 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -14,7 +14,7 @@ jobs: strategy: matrix: os: [ubuntu-latest, macos-latest, windows-latest] - python-version: [3.7, 3.8] + python-version: [3.9] timeout-minutes: 30 @@ -27,7 +27,7 @@ jobs: run: pip install tox poetry - name: Unit tests and coverage run: | - tox -e py${{ matrix.python-version }} + tox -e py${{ matrix.python-version }} -- --ci - name: Upload coverage to Codecov uses: codecov/codecov-action@v1 with: diff --git a/.gitignore b/.gitignore index 2299c99..6c18a93 100644 --- a/.gitignore +++ b/.gitignore @@ -835,6 +835,9 @@ Sessionx.vim # Ignore all local history of files .history +# Vim configs +/.vim/ + # End of https://www.toptal.com/developers/gitignore/api/tex,vim,tags,latex,linux,macos,python,textmate,sublimetext,pycharm+all,intellij+all,visualstudiocode diff --git a/HISTORY.md b/HISTORY.md index e9002f5..4bd292a 100644 --- a/HISTORY.md +++ b/HISTORY.md @@ -1,5 +1,10 @@ # History +## 0.4.0 (2023-11-10) + +* Updated from gym to gymnasium +* Many other package updates + ## 0.2.0 (2020-10-11) * Add support for a multi-agent scenario diff --git a/README.md b/README.md index b1f7be1..3c8ffb8 100644 --- a/README.md +++ b/README.md @@ -54,51 +54,55 @@

-OpenAI Gym Sapientino environment using Pygame. -

## Description -The environment is inspired by a game for kids called -[_Sapientino_](https://it.wikipedia.org/wiki/Sapientino). - -A robot moves on a gridworld-like environment, -where each cell can be coloured. -When a robot is on a coloured cell, it can -run a _beep_, meaning it has visited the cell. +This is a configurable Gynmasium environment that implements one or more agents moving in a plane. +The software was originally inspired by a game for kids called +[_Sapientino_](https://it.wikipedia.org/wiki/Sapientino), but it has been extended in various ways. -The environment is compliant with the -[OpenAI Gym](https://github.com/openai/gym/) APIs. -The idea is that the designer of the experiment -should implement the actual reward by wrapping the environment. +Each agent moves on a 2D environment, +where each cell can be coloured or blank. +When a robot is on a coloured cell, it can +execute a _beep_ action, meaning it has visited the cell (this is meant to represent any interaction with the current location). -## Dependencies +### Features -The environment is implemented using Pygame. +The environment is compliant with the `Gymnasium` APIs. -On Ubuntu, you need the following libraries: -``` -sudo apt-get install python3-dev \ - libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsmpeg-dev \ - libsdl1.2-dev libportmidi-dev libswscale-dev libavformat-dev libavcodec-dev libfreetype6-dev -``` +**Agents** There can be one or more agents in the same map. Each agent has its own action space. + +**Actions** There are three default action spaces. The first allows the agent to move in the four cardinal directions. The second requires the agent to rotate by 90°, then move in discrete steps. The third instead allows the agent to accellerate and decelerate both in the angular and linear coordinates. This last modality does not implement a grid-world environment. For these actions, and how to implement your own, you can see `gym_sapientino/core/actions.py`. + +**Observations** The `Sapientino` class has a dictionary observation space that contains all the current information. For personalizing the observation space you can subclass the `Features` class in `gym_sapientino/wrappers/observations.py`. We provide discrete and continuous features wrappers. + +**Rewards** It is possible to specify per-step rewards, but for general reward functions, the user should wrap this environment. + +**Map** The map can be easily configured using ASCII strings. For example, combining + + |P bB g | + | bp G r| + |G pg | + | rpG PB| + |rP Bg b| + +with `ContinuousCommand` generates: + +![continuous control gif](/docs/continuous.gif) + +For a more complete documentation of how to use the environment, and the available options see this [notebook](docs/quickstart.ipynb). -On MacOS (not tested): -``` -brew install sdl sdl_ttf sdl_image sdl_mixer portmidi # brew or use equivalent means -conda install -c https://conda.binstar.org/quasiben pygame # using Anaconda -``` ## Install Install with `pip`: pip install gym_sapientino - -Or, install from source: + +Or, for a more updated version, install from github: git clone https://github.com/whitemech/gym-sapientino.git cd gym-sapientino @@ -106,52 +110,40 @@ Or, install from source: ## Development -- clone the repo: +- Clone the repo: ```bash git clone https://github.com/whitemech/gym-sapientino.git cd gym-sapientino ``` - -- Create/activate the virtual environment: + +- Install [Poetry](https://python-poetry.org/) +- Optionally select the Python version: ```bash -poetry shell --python=python3.7 +poetry env use python3.9 ``` -- Install development dependencies: +- Install with development dependencies: ```bash poetry install ``` - + ## Tests To run tests: `tox` -To run only the code tests: `tox -e py3.7` - -To run only the linters: -- `tox -e flake8` -- `tox -e mypy` -- `tox -e black-check` -- `tox -e isort-check` - -Please look at the `tox.ini` file for the full list of supported commands. - -## Docs - -To build the docs: `mkdocs build` +Please look at the `tox.ini` file for the full list of supported commands and tests. -To view documentation in a browser: `mkdocs serve` -and then go to [http://localhost:8000](http://localhost:8000) ## License gym-sapientino is released under the GNU General Public License v3.0 or later (GPLv3+). -Copyright 2019-2020 Marco Favorito, Luca Iocchi +Copyright 2019-2020 Marco Favorito, Roberto Cipollone, Luca Iocchi ## Authors - [Luca Iocchi](https://sites.google.com/a/dis.uniroma1.it/iocchi/home) +- [Roberto Cipollone](https://cipollone.github.io/) - [Marco Favorito](https://marcofavorito.github.io/) ## Credits diff --git a/docs/continuous.gif b/docs/continuous.gif new file mode 100644 index 0000000..9e59cad Binary files /dev/null and b/docs/continuous.gif differ diff --git a/docs/quickstart.ipynb b/docs/quickstart.ipynb index ac52175..1f470e2 100644 --- a/docs/quickstart.ipynb +++ b/docs/quickstart.ipynb @@ -4,6 +4,9 @@ "cell_type": "markdown", "metadata": { "collapsed": true, + "jupyter": { + "outputs_hidden": true + }, "pycharm": { "name": "#%% md\n" } @@ -18,20 +21,9 @@ "The reward should be customized before using the environment." ] }, - { - "cell_type": "markdown", - "metadata": { - "pycharm": { - "name": "#%% md\n" - } - }, - "source": [ - "## Using Gym registry\n" - ] - }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 1, "metadata": { "pycharm": { "name": "#%%\n" @@ -39,24 +31,8 @@ }, "outputs": [], "source": [ - "import gym\n", - "import gym_sapientino\n", - "env = gym.make(\"Sapientino-v0\")" - ] - }, - { - "cell_type": "markdown", - "metadata": { - "pycharm": { - "name": "#%% md\n" - } - }, - "source": [ - "The initial state is:\n", - "\n", - "
\n", - " \n", - "
\n" + "import gymnasium as gym\n", + "import gym_sapientino as sapientino" ] }, { @@ -67,14 +43,14 @@ } }, "source": [ - "## Building the environment programmatically\n", + "## Building the environment\n", "\n", "First, we set up an agent configuration:" ] }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 2, "metadata": { "pycharm": { "name": "#%%\n" @@ -82,9 +58,11 @@ }, "outputs": [], "source": [ - "from gym_sapientino.core.configurations import SapientinoAgentConfiguration\n", - "\n", - "agent_config = SapientinoAgentConfiguration(differential=False)" + "agent_config = sapientino.configurations.SapientinoAgentConfiguration(\n", + " initial_position=[1,1],\n", + " commands=sapientino.actions.GridCommand,\n", + " # Other agent parameters here\n", + ")" ] }, { @@ -108,15 +86,13 @@ }, "outputs": [], "source": [ - "from gym_sapientino.core.configurations import SapientinoConfiguration\n", - "from gym_sapientino import SapientinoDictSpace\n", - "\n", "agent_configs = [agent_config,]\n", - "environment_configuration = SapientinoConfiguration(\n", + "environment_config = sapientino.configurations.SapientinoConfiguration(\n", " agent_configs=agent_configs,\n", " reward_outside_grid=-1.0,\n", " reward_duplicate_beep=-1.0,\n", - " reward_per_step=-0.01\n", + " reward_per_step=-0.01,\n", + " #grid_map= ascii_str,\n", ")" ] }, @@ -151,14 +127,14 @@ "name": "stdout", "output_type": "stream", "text": [ - "Observation space: Tuple(Dict(beep:Discrete(2), color:Discrete(8), x:Discrete(7), y:Discrete(5)))\n", + "Observation space: Tuple(Dict('angle': Box(0.0, 360.0, (1,), float32), 'beep': Discrete(2), 'color': Discrete(11), 'discrete_x': Discrete(7), 'discrete_y': Discrete(5), 'theta': Discrete(4), 'velocity': Box(-0.1, 0.2, (1,), float32), 'x': Box(0.0, 7.0, (1,), float32), 'y': Box(0.0, 5.0, (1,), float32)))\n", "Action space: Tuple(Discrete(6))\n", - "Initial state: ({'x': 1, 'y': 2, 'theta': 1, 'beep': 0, 'color': 0},)\n" + "Initial state: (({'discrete_x': 1, 'discrete_y': 1, 'x': array([1.], dtype=float32), 'y': array([1.], dtype=float32), 'velocity': array([0.], dtype=float32), 'theta': 1, 'angle': array([90.], dtype=float32), 'beep': 0, 'color': 4},), {})\n" ] } ], "source": [ - "env = SapientinoDictSpace(environment_configuration)\n", + "env = sapientino.Sapientino(environment_config)\n", "print(f\"Observation space: {env.observation_space}\")\n", "print(f\"Action space: {env.action_space}\")\n", "initial_state = env.reset()\n", @@ -173,19 +149,23 @@ } }, "source": [ - "The observation space of the wrapper `SapientinoDictSpace`\n", - "is a tuple of dictionaries of the following form:\n", + "The observation space\n", + "is a tuple of dictionaries (one for each agent) of the following form:\n", "\n", "- `x`, the $x$-coordinate of the robot in the grid\n", "- `y`, the $y$-coordinate of the robot in the grid\n", + "- `discrete_x`, the $x$-coordinate of the robot in the grid, discretized.\n", + "- `discrete_y`, the $y$-coordinate of the robot in the grid, discretized.\n", + "- `velocity`, the module of the velocity of the robot.\n", + "- `angle`, the direction of the robot.\n", "- `theta`, the orientation of the robot in the grid\n", " (that is, either $0^\\circ$, $90^\\circ$, $180^\\circ$ or $270^\\circ$, discretized so to be between $0$ and $3$).\n", " This attribute is only present in the `differential` mode (see below).\n", "- `beep`, a boolean that tells whether the last action was a beep.\n", "- `color`, the currently observed color (blank color is $0$).\n", "\n", - "In the multi-agent configuration,\n", - "there would be a tuple of such observations.\n", + "In the single-agent configuration,\n", + "there would be a tuple of only one such observation.\n", "\n", "The action space is either \"directional\" (up, down, left, right)\n", "or \"differential\" (\"turn left\", \"turn right\", \"forward\", \"backward\"),\n", @@ -196,83 +176,31 @@ "Example of directional agent:\n", "\n", "
\n", - " \n", + " \n", "
\n", "\n", "Exmaple of differential agent:\n", "\n", "
\n", - " \n", + " \n", "
\n", "\n", + "With `continuous=True`, you can enable continuous\n", + "state space, i.e.:\n", + "\n", + "
\n", + " \n", + "
\n", "\n", "## Multiagent setup\n", "\n", - "It is possible to have multiple agents in the same grid." + "It is possible to have multiple agents in the same grid by passing more than one `agent_config`." ] - }, - { - "cell_type": "code", - "execution_count": 6, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Observation space: Tuple(Dict(beep:Discrete(2), color:Discrete(8), x:Discrete(7), y:Discrete(5)), Dict(beep:Discrete(2), color:Discrete(8), theta:Discrete(4), x:Discrete(7), y:Discrete(5)), Dict(beep:Discrete(2), color:Discrete(8), theta:Discrete(4), x:Discrete(7), y:Discrete(5)))\n", - "Action space: Tuple(Discrete(6), Discrete(6), Discrete(6))\n", - "Initial state: ({'x': 1, 'y': 2, 'theta': 1, 'beep': 0, 'color': 0}, {'x': 3, 'y': 2, 'theta': 1, 'beep': 0, 'color': 0}, {'x': 5, 'y': 2, 'theta': 1, 'beep': 0, 'color': 2})\n" - ] - } - ], - "source": [ - "a1 = SapientinoAgentConfiguration(differential=False)\n", - "a2 = SapientinoAgentConfiguration(differential=True)\n", - "a3 = SapientinoAgentConfiguration(differential=True)\n", - "agent_configs = [a1, a2, a3]\n", - "environment_configuration = SapientinoConfiguration(\n", - " agent_configs=agent_configs,\n", - ")\n", - "env = SapientinoDictSpace(environment_configuration)\n", - "print(f\"Observation space: {env.observation_space}\")\n", - "print(f\"Action space: {env.action_space}\")\n", - "initial_state = env.reset()\n", - "print(f\"Initial state: {initial_state}\")" - ], - "metadata": { - "collapsed": false, - "pycharm": { - "name": "#%%\n" - } - } - }, - { - "cell_type": "markdown", - "source": [ - "Here an example of a random run:\n", - "\n", - "
\n", - " \n", - "
" - ], - "metadata": { - "collapsed": false, - "pycharm": { - "name": "#%% md\n" - } - } - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [] } ], "metadata": { "kernelspec": { - "display_name": "Python 3", + "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, @@ -286,9 +214,9 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.7.6" + "version": "3.9.18" } }, "nbformat": 4, - "nbformat_minor": 1 -} \ No newline at end of file + "nbformat_minor": 4 +} diff --git a/gym_sapientino/__init__.py b/gym_sapientino/__init__.py index 9ba7bdc..605ad0b 100644 --- a/gym_sapientino/__init__.py +++ b/gym_sapientino/__init__.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # @@ -22,14 +22,8 @@ """The 'Sapientino' OpenAI Gym Environment.""" -__version__ = "0.2.0" +__version__ = "0.4.0" -import gym - -from .wrappers import SapientinoDictSpace - -gym.register( - "Sapientino-v0", - entry_point="gym_sapientino:SapientinoDictSpace", - max_episode_steps=100, -) +from .core import actions, configurations +from .sapientino_env import Sapientino +from .wrappers import observations diff --git a/gym_sapientino/__main__.py b/gym_sapientino/__main__.py index 3edf205..be50cfc 100644 --- a/gym_sapientino/__main__.py +++ b/gym_sapientino/__main__.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # @@ -25,13 +25,12 @@ import argparse -from gym.wrappers import Monitor +from gymnasium import Env -from gym_sapientino import play +from gym_sapientino import Sapientino, play from gym_sapientino.core.configurations import SapientinoAgentConfiguration from gym_sapientino.play import FrameCapture from gym_sapientino.sapientino_env import SapientinoConfiguration -from gym_sapientino.wrappers.dict_space import SapientinoDictSpace def parse_arguments(): @@ -40,6 +39,9 @@ def parse_arguments(): parser.add_argument( "--differential", action="store_true", help="Differential action space." ) + parser.add_argument( + "--continuous", action="store_true", help="Continuous action space." + ) parser.add_argument("--record", action="store_true", help="Record the play.") parser.add_argument("--frames", action="store_true", help="Record single frames.") @@ -48,13 +50,14 @@ def parse_arguments(): if __name__ == "__main__": args = parse_arguments() - c = SapientinoAgentConfiguration(args.differential) + c = SapientinoAgentConfiguration(args.differential, args.continuous) agent_configs = (c,) - env = SapientinoDictSpace(SapientinoConfiguration(agent_configs)) + env: Env = Sapientino(SapientinoConfiguration(agent_configs)) if args.frames: env = FrameCapture("frames", env) if args.record: - env = Monitor(env, "recordings", force=True) - env.metadata["video.frames_per_second"] = 2 # type: ignore + raise NotImplementedError( + "Recordings changed in new gymnasium. Not implemented yet" + ) play.play(env) diff --git a/gym_sapientino/assets/.gitkeep b/gym_sapientino/assets/.gitkeep deleted file mode 100644 index e69de29..0000000 diff --git a/gym_sapientino/assets/__init__.py b/gym_sapientino/assets/__init__.py new file mode 100644 index 0000000..61c92d4 --- /dev/null +++ b/gym_sapientino/assets/__init__.py @@ -0,0 +1,22 @@ +# -*- coding: utf-8 -*- +# +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi +# +# ------------------------------ +# +# This file is part of gym-sapientino. +# +# gym-sapientino is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# gym-sapientino is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with gym-sapientino. If not, see . +# +"""Assets and resources only in this package.""" diff --git a/gym_sapientino/assets/default_map.txt b/gym_sapientino/assets/default_map.txt new file mode 100644 index 0000000..b4d4bda --- /dev/null +++ b/gym_sapientino/assets/default_map.txt @@ -0,0 +1,5 @@ +|P bB g | +| bp G r| +|G pg | +| rpG PB| +|rP Bg b| \ No newline at end of file diff --git a/gym_sapientino/assets/map1.txt b/gym_sapientino/assets/map1.txt new file mode 100644 index 0000000..254214c --- /dev/null +++ b/gym_sapientino/assets/map1.txt @@ -0,0 +1,5 @@ +|## # b| +|# r # | +| # | +| g # | +| | diff --git a/gym_sapientino/core/__init__.py b/gym_sapientino/core/__init__.py index dd3e55e..3606f07 100644 --- a/gym_sapientino/core/__init__.py +++ b/gym_sapientino/core/__init__.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # diff --git a/gym_sapientino/core/actions.py b/gym_sapientino/core/actions.py new file mode 100644 index 0000000..491f6d9 --- /dev/null +++ b/gym_sapientino/core/actions.py @@ -0,0 +1,261 @@ +# -*- coding: utf-8 -*- +# +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi +# +# ------------------------------ +# +# This file is part of gym-sapientino. +# +# gym-sapientino is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# gym-sapientino is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with gym-sapientino. If not, see . +# +"""Everithing concerning the various action spaces.""" + +from enum import Enum +from typing import TYPE_CHECKING + +import numpy as np + +from gym_sapientino.core.objects import Robot +from gym_sapientino.utils import set_to_zero_if_small + +if TYPE_CHECKING: + from gym_sapientino.core.configurations import SapientinoAgentConfiguration + + +class Command(Enum): + """Base class for command classes. + + Subclasses need to define the actual enum values. + Do not instantiate directly. + """ + + def step(self, _robot: Robot) -> Robot: + """Move a robot according to the command.""" + raise NotImplementedError + + @staticmethod + def nop() -> "Command": + """Get the NO-OP action.""" + raise NotImplementedError + + @staticmethod + def beep() -> "Command": + """Get the "Beep" action.""" + raise NotImplementedError + + +class GridCommand(Command): + """Action space to move the agent on a grid. + + The agent moves as a point on a grid on the cardinal directions. + """ + + LEFT = 0 + UP = 1 + RIGHT = 2 + DOWN = 3 + BEEP = 4 + NOP = 5 + + def __str__(self) -> str: + """Get the string representation.""" + if self == self.LEFT: + return "<" + elif self == self.RIGHT: + return ">" + elif self == self.UP: + return "^" + elif self == self.DOWN: + return "v" + elif self == self.BEEP: + return "o" + elif self == self.NOP: + return "_" + else: + raise ValueError("Shouldn't be here...") + + def step(self, robot: Robot) -> Robot: + """Move a robot according to the command.""" + x, y = robot.x, robot.y + if self == self.DOWN: + y += 1 + elif self == self.UP: + y -= 1 + elif self == self.RIGHT: + x += 1 + elif self == self.LEFT: + x -= 1 + + r = Robot(robot.config, x, y, robot.velocity, robot.direction.theta, robot.id) + + return r if not r._on_wall() else robot + + @staticmethod + def nop() -> "GridCommand": + """Get the NO-OP action.""" + return GridCommand.NOP + + @staticmethod + def beep() -> "GridCommand": + """Get the "Beep" action.""" + return GridCommand.BEEP + + +class DifferentialGridCommand(Command): + """Action space to move the agent on a grid. + + Like GridCommand but with one difference: the agent has now a direction and + it can go forward backward. Motion is relative to the current orientation. + Orientations span by 90°. + """ + + LEFT = 0 + FORWARD = 1 + RIGHT = 2 + BACKWARD = 3 + BEEP = 4 + NOP = 5 + + def __str__(self) -> str: + """Get the string representation.""" + if self == self.LEFT: + return "<" + elif self == self.RIGHT: + return ">" + elif self == self.FORWARD: + return "^" + elif self == self.BACKWARD: + return "v" + elif self == self.BEEP: + return "o" + elif self == self.NOP: + return "_" + else: + raise ValueError("Shouldn't be here...") + + def step(self, robot: Robot) -> Robot: + """Move a robot according to the command.""" + dx = ( + 1 + if robot.direction.theta == 0 + else -1 if robot.direction.theta == 180 else 0 + ) + dy = ( + -1 + if robot.direction.theta == 90 + else +1 if robot.direction.theta == 270 else 0 + ) + x, y = robot.x, robot.y + direction = robot.direction + if self == self.LEFT: + direction = direction.rotate_90_left() + elif self == self.RIGHT: + direction = direction.rotate_90_right() + elif self == self.FORWARD: + x += dx + y += dy + elif self == self.BACKWARD: + x -= dx + y -= dy + + r = Robot(robot.config, x, y, robot.velocity, direction.theta, robot.id) + + return r if not r._on_wall() else robot + + @staticmethod + def nop() -> "DifferentialGridCommand": + """Get the NO-OP action.""" + return DifferentialGridCommand.NOP + + @staticmethod + def beep() -> "DifferentialGridCommand": + """Get the "Beep" action.""" + return DifferentialGridCommand.BEEP + + +class ContinuousCommand(Command): + """Action space to move the agent on the plane. + + With these actions, the robot moves on the plane continuously. + The agent can accelerate, decelerate, rotate right, left. + """ + + LEFT = 0 + FORWARD = 1 + RIGHT = 2 + BACKWARD = 3 + BEEP = 4 + NOP = 5 + + def __str__(self) -> str: + """Get the string representation.""" + cmd = ContinuousCommand(self.value) + if cmd == ContinuousCommand.LEFT: + return "<" + elif cmd == ContinuousCommand.RIGHT: + return ">" + elif cmd == ContinuousCommand.FORWARD: + return "^" + elif cmd == ContinuousCommand.BACKWARD: + return "v" + elif cmd == ContinuousCommand.BEEP: + return "o" + elif cmd == ContinuousCommand.NOP: + return "_" + else: + raise ValueError("Shouldn't be here...") + + def step(self, robot: Robot) -> Robot: + """Move a robot according to the command.""" + velocity = robot.velocity + direction = robot.direction + x, y = robot.x, robot.y + if self in {self.LEFT, self.RIGHT}: + sign = 1.0 if self == self.LEFT else -1.0 + delta_theta = sign * robot.robot_config.angular_speed + direction = robot.direction.rotate(delta_theta) + elif self in {self.FORWARD, self.BACKWARD}: + sign = -1.0 if self == self.BACKWARD else 1.0 + velocity += sign * robot.robot_config.acceleration + velocity = set_to_zero_if_small(velocity) + velocity = self.clip_velocity(velocity, robot_config=robot.robot_config) + + # Move + r = Robot(robot.config, x, y, velocity, direction.theta, robot.id) + r = r.apply_velocity() + + # Wall? + if not r._on_wall(): + return r + else: + return Robot(robot.config, x, y, 0.0, direction.theta, robot.id) + + @staticmethod + def clip_velocity( + velocity: float, robot_config: "SapientinoAgentConfiguration" + ) -> float: + """Clip velocity.""" + return float( + np.clip(velocity, robot_config.min_velocity, robot_config.max_velocity) + ) + + @staticmethod + def nop() -> "ContinuousCommand": + """Get the NO-OP action.""" + return ContinuousCommand.NOP + + @staticmethod + def beep() -> "ContinuousCommand": + """Get the "Beep" action.""" + return ContinuousCommand.BEEP diff --git a/gym_sapientino/core/configurations.py b/gym_sapientino/core/configurations.py index 11f1c19..3cda03a 100644 --- a/gym_sapientino/core/configurations.py +++ b/gym_sapientino/core/configurations.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # @@ -22,42 +22,46 @@ """Classes for the environment configurations.""" from dataclasses import dataclass -from typing import Tuple +from importlib import resources +from typing import Sequence, Type -import gym -from gym.spaces import Discrete, MultiDiscrete -from gym.spaces import Tuple as GymTuple +from gymnasium.spaces import Discrete, Tuple -from gym_sapientino.core.types import ( - ACTION_TYPE, - COMMAND_TYPES, - DifferentialCommand, - Direction, - NormalCommand, - color2int, -) +import gym_sapientino.assets as assets +from gym_sapientino.core.actions import Command, GridCommand +from gym_sapientino.core.constants import DEFAULT_MAP_NAME +from gym_sapientino.core.grid import SapientinoGrid, from_map +from gym_sapientino.core.types import color2int @dataclass(frozen=True) class SapientinoAgentConfiguration: - """Configuration for a single agent.""" - - differential: bool = False + """Configuration for a single agent. + + We can set its initial position and the type of commands (action space) + it accepts. The default set of action is GridCommand. But we can use any + other class of the core.actions module or subclasses of Command. + Most arguments have intuitive meaning. angle_parts is the number of + parts in which the orientations are subdivided (for example, angle_parts=4 + creates one unit per each 90°). + """ + + initial_position: tuple[float, float] + commands: Type[Command] = GridCommand + angular_speed: float = 20.0 + acceleration: float = 0.02 + max_velocity: float = 0.20 + min_velocity: float = -0.10 + angle_parts: int = 4 @property - def action_space(self) -> gym.spaces.Discrete: + def action_space(self) -> Discrete: """Get the action space..""" - if self.differential: - return Discrete(len(DifferentialCommand)) - else: - return Discrete(len(NormalCommand)) + return Discrete(len(self.commands)) - def get_action(self, action: int) -> COMMAND_TYPES: + def get_action(self, action: int) -> Command: """Get the action.""" - if self.differential: - return DifferentialCommand(action) - else: - return NormalCommand(action) + return self.commands(action) @dataclass(frozen=True) @@ -65,15 +69,36 @@ class SapientinoConfiguration: """A class to represent Sapientino configurations.""" # game configurations - agent_configs: Tuple[SapientinoAgentConfiguration, ...] = ( - SapientinoAgentConfiguration(), - ) - rows: int = 5 - columns: int = 7 + agent_configs: tuple[SapientinoAgentConfiguration, ...] + grid_map: str = resources.read_text(assets, DEFAULT_MAP_NAME) reward_outside_grid: float = -1.0 reward_duplicate_beep: float = -1.0 reward_per_step: float = -0.01 + def __post_init__(self): + """ + Post init. + + Load the map. + """ + grid = from_map(self.grid_map) + object.__setattr__(self, "_grid", grid) + + @property + def grid(self) -> SapientinoGrid: + """Return the grid.""" + return self._grid # type: ignore + + @property + def rows(self) -> int: + """Get the number of rows.""" + return self.grid.rows + + @property + def columns(self) -> int: + """Get the number of columns.""" + return self.grid.columns + @property def nb_robots(self) -> int: """Get the number of robots.""" @@ -82,39 +107,21 @@ def nb_robots(self) -> int: @property def agent_config(self) -> "SapientinoAgentConfiguration": """Get the agent configuration.""" - assert self.nb_robots == 1, "Can be called only in single-agent mode." + if self.nb_robots != 1: + raise ValueError("Can be called only in single-agent mode.") return self.agent_configs[0] @property - def observation_space(self) -> gym.spaces.Tuple: - """Get the observation space.""" - - def get_observation_space(agent_config): - postfix = 2, self.nb_colors - if agent_config.differential: - return MultiDiscrete( - (self.columns, self.rows, Direction.nb_directions()) + postfix - ) - return MultiDiscrete((self.columns, self.rows) + postfix) - - return GymTuple(tuple(map(get_observation_space, self.agent_configs))) - - @property - def action_space(self) -> gym.spaces.Tuple: + def action_space(self) -> Tuple: """Get the action space of the robots.""" spaces = tuple(Discrete(ac.action_space.n) for ac in self.agent_configs) - return gym.spaces.Tuple(spaces) - - @property - def nb_theta(self): - """Get the number of orientations.""" - return Direction.nb_directions() + return Tuple(spaces) @property def nb_colors(self): """Get the number of colors.""" return len(color2int) - def get_action(self, action) -> ACTION_TYPE: + def get_action(self, actions: Sequence[int]) -> Sequence[Command]: """Get the action.""" - return [ac.get_action(a) for a, ac in zip(action, self.agent_configs)] + return [ac.get_action(a) for a, ac in zip(actions, self.agent_configs)] diff --git a/gym_sapientino/core/constants.py b/gym_sapientino/core/constants.py index b307809..13d635d 100644 --- a/gym_sapientino/core/constants.py +++ b/gym_sapientino/core/constants.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # @@ -22,34 +22,10 @@ """Constants of the game.""" -from gym_sapientino.core.types import Colors - -TOKENS = [ - ["r1", Colors.RED.value, 0, 0], - ["r2", Colors.RED.value, 1, 1], - ["r3", Colors.RED.value, 6, 3], - ["g1", Colors.GREEN.value, 4, 0], - ["g2", Colors.GREEN.value, 5, 2], - ["g3", Colors.GREEN.value, 5, 4], - ["b1", Colors.BLUE.value, 1, 3], - ["b2", Colors.BLUE.value, 2, 4], - ["b3", Colors.BLUE.value, 6, 0], - ["p1", Colors.PINK.value, 2, 1], - ["p2", Colors.PINK.value, 2, 3], - ["p3", Colors.PINK.value, 4, 2], - ["n1", Colors.BROWN.value, 3, 0], - ["n2", Colors.BROWN.value, 3, 4], - ["n3", Colors.BROWN.value, 6, 1], - ["y1", Colors.GRAY.value, 0, 2], - ["y2", Colors.GRAY.value, 3, 1], - ["y3", Colors.GRAY.value, 4, 3], - ["u1", Colors.PURPLE.value, 0, 4], - ["u2", Colors.PURPLE.value, 1, 0], - ["u3", Colors.PURPLE.value, 5, 1], -] - black = [0, 0, 0] white = [255, 255, 255] grey = [180, 180, 180] orange = [180, 100, 20] red = [180, 0, 0] + +DEFAULT_MAP_NAME = "default_map.txt" diff --git a/gym_sapientino/core/grid.py b/gym_sapientino/core/grid.py new file mode 100644 index 0000000..ba26d07 --- /dev/null +++ b/gym_sapientino/core/grid.py @@ -0,0 +1,140 @@ +# -*- coding: utf-8 -*- +# +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi +# +# ------------------------------ +# +# This file is part of gym-sapientino. +# +# gym-sapientino is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# gym-sapientino is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with gym-sapientino. If not, see . +# + +"""Classes to represent a Sapientino map.""" +from typing import Dict, Iterator, List + +from gym_sapientino.core.types import Colors, color2int, id2color + + +class Cell: + """A class to represent a cell on the grid.""" + + def __init__(self, x: int, y: int, color: Colors): + """Initialize the cell.""" + self.x = x + self.y = y + self.color = color + + @property + def encoded_color(self) -> int: + """Encode the color.""" + return color2int[self.color] + + +class SapientinoGrid: + """The grid of the Sapientino environment.""" + + def __init__(self, cells: List[List[Cell]]): + """Initialize the grid.""" + self.cells: List[List[Cell]] = cells + self.color_count: Dict[Colors, int] = {} + self.counts: List[List[int]] = [] + self.reset() + + def reset(self): + """Reset the state of the grid.""" + self.color_count: Dict[Colors, int] = {} + self.counts = [[0] * self.columns for _ in range(self.rows)] + + def get_bip_counts(self, c: Cell): + """Get counts.""" + return self.counts[c.y][c.x] + + def do_beep(self, c: Cell): + """Do a beep for a cell.""" + self.counts[c.y][c.x] += 1 + + @property + def rows(self): + """Get the number of rows.""" + return len(self.cells) + + @property + def columns(self): + """Get the number of columns.""" + return len(self.cells[0]) + + def iter_cells(self) -> Iterator[Cell]: + """Iterate over cells.""" + for i in range(len(self.cells)): + for j in range(len(self.cells[i])): + yield self.cells[i][j] + + +def _from_character_to_color(char: str) -> Colors: + """From character to cell.""" + if len(char) != 1: + raise ValueError("only single character are accepted.") + return id2color[char] + + +def from_map(map_str: str) -> SapientinoGrid: + """ + Get a grid from a map. + + The function expects a string representation of a map. + Each rows of characters correspond to a row of cells in the grid of the environment. + The allowed characters are: + - ' ', the empty cell; + - '#', a wall; + - 'r', a cell with color red; + - 'g', a cell with color green; + - 'b', a cell with color blue; + - 'y', a cell with color yellow; + - 'p', a cell with color pink; + - 'o', a cell with color orange; + - 'B', a cell with color brown; + - 'G', a cell with color gray; + - 'P', a cell with color purple; + + The character '|' will be ignored. It is useful as a separator of rows + during the editing (some text editors might remove trailing spaces of a row). + + An example of grid map is: + + |P bB g | + | bp G r| + |G pg | + | rpG PB| + |rP Bg b| + + """ + content = map_str.replace("|", "") + cells_str = content.splitlines(keepends=False) + if len(cells_str) <= 0: + raise ValueError("No row found.") + if len(cells_str[0]) <= 0: + raise ValueError("No column found.") + nb_rows, nb_columns = len(cells_str), len(cells_str[0]) + cells = [] + for i in range(nb_rows): + row = [] + for j in range(nb_columns): + if len(cells_str[i]) != nb_columns: + raise ValueError("Got rows of different size") + cell = cells_str[i][j] + color = _from_character_to_color(cell) + row.append(Cell(j, i, color)) + cells.append(row) + grid = SapientinoGrid(cells) + return grid diff --git a/gym_sapientino/core/objects.py b/gym_sapientino/core/objects.py index a02e7ac..f9f74b7 100644 --- a/gym_sapientino/core/objects.py +++ b/gym_sapientino/core/objects.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # @@ -22,33 +22,37 @@ """Objects of the game.""" -import itertools -from typing import Dict, Tuple +from typing import TYPE_CHECKING, Tuple -from gym_sapientino.core.configurations import SapientinoConfiguration -from gym_sapientino.core.constants import TOKENS -from gym_sapientino.core.types import ( - COMMAND_TYPES, - Colors, - DifferentialCommand, - Direction, - NormalCommand, - color2int, -) +import numpy as np + +from gym_sapientino.core.types import Colors, Direction + +if TYPE_CHECKING: + from gym_sapientino.core.actions import Command + from gym_sapientino.core.configurations import SapientinoConfiguration class Robot: """A class to represent a robot.""" def __init__( - self, config: SapientinoConfiguration, x: int, y: int, th: Direction, id_: int + self, + config: "SapientinoConfiguration", + x: float, + y: float, + velocity: float, + theta: float, + id_: int, ): """Initialize the robot.""" self.config = config + self.robot_config = config.agent_configs[id_] self._id = id_ self.x = x self.y = y - self.direction = th + self.velocity = velocity + self.direction = Direction(theta) @property def id(self) -> int: @@ -56,113 +60,54 @@ def id(self) -> int: return self._id @property - def position(self) -> Tuple[int, int]: + def discrete_x(self) -> int: + """Get the discrete x coordinate.""" + rounded_x = int(np.round(self.x)) + x = min(rounded_x, self.config.columns - 1) + return x + + @property + def discrete_y(self) -> int: + """Get the discrete y coordinate.""" + rounded = int(np.round(self.y)) + y = min(rounded, self.config.rows - 1) + return y + + @property + def position(self) -> Tuple[float, float]: """Get the position.""" return self.x, self.y - def move(self, x: int, y: int) -> "Robot": + def move(self, x: float, y: float) -> "Robot": """Move to a location.""" - return Robot(self.config, x, y, self.direction, self.id) - - def step(self, command: COMMAND_TYPES) -> "Robot": + return Robot(self.config, x, y, self.velocity, self.direction.theta, self.id) + + def apply_velocity(self) -> "Robot": + """Apply the velocity to change position.""" + new_x, new_y = self.x, self.y + sin, cos = self.direction.sincos() + new_x += self.velocity * cos + new_y += -self.velocity * sin + return Robot( + self.config, new_x, new_y, self.velocity, self.direction.theta, self.id + ) + + def step(self, command: "Command") -> "Robot": """Compute the next location.""" - if isinstance(command, NormalCommand): - return self._step_normal(command) - elif isinstance(command, DifferentialCommand): - return self._step_differential(command) - else: - raise ValueError("Command not recognized.") - - def _step_normal(self, command: NormalCommand) -> "Robot": - x, y = self.x, self.y - if command == command.DOWN: - y -= 1 - elif command == command.UP: - y += 1 - elif command == command.RIGHT: - x += 1 - elif command == command.LEFT: - x -= 1 - return Robot(self.config, x, y, self.direction, self.id) - - def _step_differential(self, command: DifferentialCommand) -> "Robot": - dx = 1 if self.direction.th == 0 else -1 if self.direction.th == 180 else 0 - dy = 1 if self.direction.th == 90 else -1 if self.direction.th == 270 else 0 - x, y = self.x, self.y - direction = self.direction - if command == command.LEFT: - direction = direction.rotate_left() - elif command == command.RIGHT: - direction = direction.rotate_right() - elif command == command.FORWARD: - x += dx - y += dy - elif command == command.BACKWARD: - x -= dx - y -= dy - return Robot(self.config, x, y, direction, self.id) + return command.step(self) @property def encoded_theta(self) -> int: """Encode the theta.""" - return self.direction.th // 90 - - -class Cell: - """A class to represent a cell on the grid.""" - - def __init__(self, config: SapientinoConfiguration, x: int, y: int, color: Colors): - """Initialize the cell.""" - self.config = config - self.x = x - self.y = y - self.color = color - self.bip_count = 0 - - @property - def encoded_color(self) -> int: - """Encode the color.""" - return color2int[self.color] - - def beep(self) -> None: - """Do a beep.""" - self.bip_count += 1 - - -class BlankCell(Cell): - """A blank cell.""" - - def __init__(self, config: SapientinoConfiguration, x: int, y: int): - """Initialize the blank cell.""" - super().__init__(config, x, y, Colors.BLANK) - - -class SapientinoGrid: - """The grid of the Sapientino environment.""" - - def __init__(self, config: SapientinoConfiguration): - """Initialize the grid.""" - self.config = config - - self.rows = config.rows - self.columns = config.columns - - self.cells: Dict[Tuple[int, int], Cell] = {} - self.color_count: Dict[Colors, int] = {} - - self._populate_token_grid() - - def _populate_token_grid(self): - # add color cells - for t in TOKENS: - x, y = t[2], t[3] - color = t[1] - color_cell = Cell(self.config, x, y, Colors(color)) - self.cells[(x, y)] = color_cell - - # add blank cells - for x, y in itertools.product( - range(self.config.columns), range(self.config.rows) - ): - if (x, y) not in self.cells: - self.cells[(x, y)] = BlankCell(self.config, x, y) + angle_step = 360 / self.robot_config.angle_parts + return int(self.direction.theta / angle_step) + + def _on_wall(self) -> bool: + """Check if the coordinate correspond to a wall or outside the map.""" + x, y = self.discrete_x, self.discrete_y + if x < 0 or x >= self.config.columns: + return True + if y < 0 or y >= self.config.rows: + return True + cell = self.config.grid.cells[y][x] + return cell.color == Colors.WALL diff --git a/gym_sapientino/core/states.py b/gym_sapientino/core/states.py index a61dcb5..199fe2e 100644 --- a/gym_sapientino/core/states.py +++ b/gym_sapientino/core/states.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # @@ -21,24 +21,19 @@ # """State representiations for different Sapientino game.""" - -from abc import ABC from typing import Dict, List, Sequence, Tuple +import numpy as np from numpy import clip +from gym_sapientino.core.actions import Command from gym_sapientino.core.configurations import SapientinoConfiguration -from gym_sapientino.core.objects import Cell, Robot, SapientinoGrid -from gym_sapientino.core.types import ( - COMMAND_TYPES, - Colors, - DifferentialCommand, - Direction, - NormalCommand, -) +from gym_sapientino.core.grid import Cell, SapientinoGrid +from gym_sapientino.core.objects import Robot +from gym_sapientino.core.types import Colors -class SapientinoState(ABC): +class SapientinoState: """Abstract class to represent a Sapientino state.""" def __init__(self, config: "SapientinoConfiguration"): @@ -46,14 +41,14 @@ def __init__(self, config: "SapientinoConfiguration"): self.config = config self.score = 0 - self._grid = SapientinoGrid(config) + self._grid = self.config.grid + self._grid.reset() self._robots: List[Robot] = [ - Robot(config, 1 + 2 * i, 2, Direction.UP, i) - for i in range(config.nb_robots) + Robot(config, c.initial_position[0], c.initial_position[1], 0.0, 90.0, i) + for i, c in enumerate(self.config.agent_configs) ] - self._last_commands: List[COMMAND_TYPES] = [ - NormalCommand.NOP if ac.differential else DifferentialCommand.NOP - for ac in self.config.agent_configs + self._last_commands: List[Command] = [ + ac.commands.nop() for ac in self.config.agent_configs ] @property @@ -66,12 +61,13 @@ def robots(self) -> Tuple[Robot, ...]: """Get the list of robots.""" return tuple(self._robots) - def step(self, commands: Sequence[COMMAND_TYPES]) -> float: + def step(self, commands: Sequence[Command]) -> float: """Do a step.""" - assert len(commands) == len(self.robots), "Some commands are missing." + if len(commands) != len(self.robots): + raise ValueError("Some commands are missing.") total_reward = 0.0 - next_robots = [r.step(c) for c, r in zip(commands, self.robots)] + next_robots = [c.step(r) for c, r in zip(commands, self.robots)] self._last_commands = list(commands) for i in range(len(next_robots)): @@ -96,10 +92,13 @@ def is_finished(self) -> bool: @property def current_cells(self) -> Sequence[Cell]: """Get the current cell.""" - return [self.grid.cells[r.position] for r in self._robots] + result = [] + for r in self._robots: + result.append(self.grid.cells[r.discrete_y][r.discrete_x]) + return result @property - def last_commands(self) -> Sequence[COMMAND_TYPES]: + def last_commands(self) -> Sequence[Command]: """Get the list of last commands.""" return self._last_commands @@ -107,10 +106,14 @@ def to_dict(self) -> Tuple[Dict, ...]: """Encode into a dictionary.""" return tuple( { - "x": r.x, - "y": r.y, + "discrete_x": round(r.x), + "discrete_y": round(r.y), + "x": np.array((r.x,), dtype=np.float32), + "y": np.array((r.y,), dtype=np.float32), + "velocity": np.array((r.velocity,), dtype=np.float32), "theta": r.encoded_theta, - "beep": int(self.last_commands[i] == self.last_commands[i].BEEP), + "angle": np.array((r.direction.theta,), dtype=np.float32), + "beep": int(self.last_commands[i] == self.last_commands[i].beep()), "color": self.current_cells[i].encoded_color, } for i, r in enumerate(self.robots) @@ -119,25 +122,26 @@ def to_dict(self) -> Tuple[Dict, ...]: def _force_border_constraints(self, r: Robot) -> Tuple[float, Robot]: reward = 0.0 x, y = r.x, r.y - if not (0 <= r.x < self.config.columns): + if not (0 <= r.x < self.config.columns - 1): reward += self.config.reward_outside_grid x = int(clip(r.x, 0, self.config.columns - 1)) - if not (0 <= r.y < self.config.rows): + r.velocity = 0.0 + if not (0 <= r.y < self.config.rows - 1): reward += self.config.reward_outside_grid y = int(clip(r.y, 0, self.config.rows - 1)) + r.velocity = 0.0 return reward, r.move(x, y) - def _do_beep(self, robot: Robot, command: COMMAND_TYPES) -> float: + def _do_beep(self, robot: Robot, command: Command) -> float: reward = 0.0 - if command == command.BEEP: - position = robot.x, robot.y - cell = self.grid.cells[position] - cell.beep() + if command == command.beep(): + cell = self.grid.cells[robot.discrete_y][robot.discrete_x] + self.grid.do_beep(cell) if cell.color != Colors.BLANK: if cell.color not in self.grid.color_count: self.grid.color_count[cell.color] = 0 self.grid.color_count[cell.color] += 1 - if cell.bip_count >= 2: + if self.grid.get_bip_counts(cell) >= 2: reward += self.config.reward_duplicate_beep return reward diff --git a/gym_sapientino/core/types.py b/gym_sapientino/core/types.py index a049772..8a7b19d 100644 --- a/gym_sapientino/core/types.py +++ b/gym_sapientino/core/types.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # @@ -21,114 +21,72 @@ # """Define basic types.""" - +from dataclasses import dataclass from enum import Enum -from typing import Dict, Sequence, Union +from typing import Dict, Tuple +import numpy as np -class NormalCommand(Enum): - """Enumeration for normal commands.""" +from gym_sapientino.utils import set_to_zero_if_small - LEFT = 0 - UP = 1 - RIGHT = 2 - DOWN = 3 - BEEP = 4 - NOP = 5 - def __str__(self) -> str: - """Get the string representation.""" - cmd = NormalCommand(self.value) - if cmd == NormalCommand.LEFT: - return "<" - elif cmd == NormalCommand.RIGHT: - return ">" - elif cmd == NormalCommand.UP: - return "^" - elif cmd == NormalCommand.DOWN: - return "v" - elif cmd == NormalCommand.BEEP: - return "o" - elif cmd == NormalCommand.NOP: - return "_" - else: - raise ValueError("Shouldn't be here...") - - -class DifferentialCommand(Enum): - """Enumeration for differential commands.""" - - LEFT = 0 - FORWARD = 1 - RIGHT = 2 - BACKWARD = 3 - BEEP = 4 - NOP = 5 +@dataclass +class Direction: + """A class to represent the direction.""" - def __str__(self) -> str: - """Get the string representation.""" - cmd = DifferentialCommand(self.value) - if cmd == DifferentialCommand.LEFT: - return "<" - elif cmd == DifferentialCommand.RIGHT: - return ">" - elif cmd == DifferentialCommand.FORWARD: - return "^" - elif cmd == DifferentialCommand.BACKWARD: - return "v" - elif cmd == DifferentialCommand.BEEP: - return "o" - elif cmd == DifferentialCommand.NOP: - return "_" - else: - raise ValueError("Shouldn't be here...") - - -COMMAND_TYPES = Union[NormalCommand, DifferentialCommand] - - -class Direction(Enum): - """A class to represent the four directions (up, down, left, right).""" - - RIGHT = 0 - UP = 90 - LEFT = 180 - DOWN = 270 - - def rotate_left(self) -> "Direction": - """Rotate the direction to the left.""" - th = (self.th + 90) % 360 - return Direction(th) + theta: float - def rotate_right(self) -> "Direction": - """Rotate the direction to the right.""" - th = (self.th - 90) % 360 - if th == -90: - th = 270 + def rotate(self, delta_theta: float): + """Rotate of a certain amount.""" + th = self.theta + delta_theta + if th < 0: + th = 360.0 + th + elif th >= 360.0: + th = th % 360.0 return Direction(th) - @staticmethod - def nb_directions() -> int: - """Get the number of allowed directions.""" - return len(Direction) + def rotate_left(self, delta_theta: float) -> "Direction": + """Rotate left of a certain amount.""" + if delta_theta < 0.0: + raise ValueError("Only positive values are allowed.") + return self.rotate(delta_theta) - @property - def th(self): - """Get the theta value of the direction.""" - return self.value + def rotate_90_left(self) -> "Direction": + """Rotate the direction to the left.""" + return self.rotate_left(90.0) + + def rotate_right(self, delta_theta: float) -> "Direction": + """Rotate right of a certain amount.""" + if delta_theta < 0.0: + raise ValueError("Only positive values are allowed.") + return self.rotate(-delta_theta) + + def rotate_90_right(self) -> "Direction": + """Rotate the direction to the right.""" + return self.rotate_right(90.0) + + def sincos(self) -> Tuple[float, float]: + """Return the pair (sin(theta), cos(theta).""" + rad_theta = np.deg2rad(self.theta) + sin_theta = set_to_zero_if_small(np.sin(rad_theta)) + cos_theta = set_to_zero_if_small(np.cos(rad_theta)) + return sin_theta, cos_theta class Colors(Enum): """Enumeration for colors.""" BLANK = "blank" + WALL = "wall" RED = "red" GREEN = "green" BLUE = "blue" + YELLOW = "yellow" PINK = "pink" BROWN = "brown" GRAY = "gray" PURPLE = "purple" + ORANGE = "orange" def __str__(self) -> str: """Get the string representation.""" @@ -140,5 +98,17 @@ def __int__(self) -> int: color2int: Dict[Colors, int] = {c: i for i, c in enumerate(list(Colors))} - -ACTION_TYPE = Sequence[COMMAND_TYPES] +id2color: Dict[str, Colors] = { + " ": Colors.BLANK, + "#": Colors.WALL, + "r": Colors.RED, + "g": Colors.GREEN, + "b": Colors.BLUE, + "y": Colors.YELLOW, + "p": Colors.PINK, + "o": Colors.ORANGE, + "B": Colors.BROWN, + "G": Colors.GRAY, + "P": Colors.PURPLE, +} +color2id = dict(map(reversed, id2color.items())) # type: ignore diff --git a/gym_sapientino/play.py b/gym_sapientino/play.py index efacb46..1fa72c2 100644 --- a/gym_sapientino/play.py +++ b/gym_sapientino/play.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # @@ -24,11 +24,15 @@ import shutil from pathlib import Path +from typing import cast -import gym +import gymnasium as gym import pygame +from numpy.typing import ArrayLike from PIL import Image +from .sapientino_env import SapientinoBase + class FrameCapture(gym.Wrapper): """Capture frames from the game.""" @@ -54,7 +58,9 @@ def save_frame(self) -> None: :return: None """ - rgb_array = self.render(mode="rgb_array") + if self.env.render_mode != "rgb_array": + raise NotImplementedError("Only rgb_array is supported") + rgb_array = cast(ArrayLike, self.render()) img = Image.fromarray(rgb_array) step = self.current_episode_step episode = self.current_episode @@ -80,9 +86,9 @@ def reset(self, **kwargs): def play(env: gym.Env) -> None: """Play interactively with the environment.""" print("Press 'Q' to quit.") - assert env.unwrapped.configuration.nb_robots == 1, "Can only play with one robot." + if cast(SapientinoBase, env.unwrapped).configuration.nb_robots != 1: + raise ValueError("Can only play with one robot.") env.reset() - env.render() quitted = False while not quitted: event = pygame.event.wait() @@ -102,6 +108,4 @@ def play(env: gym.Env) -> None: cmd = 4 env.step([cmd]) - env.render() - env.render() env.close() diff --git a/gym_sapientino/rendering/__init__.py b/gym_sapientino/rendering/__init__.py index 2da50fd..3aafe76 100644 --- a/gym_sapientino/rendering/__init__.py +++ b/gym_sapientino/rendering/__init__.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # diff --git a/gym_sapientino/rendering/base.py b/gym_sapientino/rendering/base.py index f1a693c..4e10a55 100644 --- a/gym_sapientino/rendering/base.py +++ b/gym_sapientino/rendering/base.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # diff --git a/gym_sapientino/rendering/pygame.py b/gym_sapientino/rendering/pygame.py index 75917f5..3495772 100644 --- a/gym_sapientino/rendering/pygame.py +++ b/gym_sapientino/rendering/pygame.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # @@ -19,6 +19,7 @@ # You should have received a copy of the GNU General Public License # along with gym-sapientino. If not, see . # +# TODO: rendering changed """Pygame-based rendering.""" from typing import Any, Callable, Dict, Type @@ -26,7 +27,8 @@ import pygame from gym_sapientino.core.constants import white -from gym_sapientino.core.objects import Cell, Robot, SapientinoGrid +from gym_sapientino.core.grid import Cell, SapientinoGrid +from gym_sapientino.core.objects import Robot from gym_sapientino.core.states import SapientinoState from gym_sapientino.core.types import Colors from gym_sapientino.rendering.base import Renderer @@ -79,7 +81,7 @@ def win_height(self) -> int: """Get the window height.""" return self.size_square * self.config.rows + self.offy + (self.offy // 2) - def render(self, mode="human") -> None: + def render(self, mode="human"): """Render.""" self._fill_screen() self._draw_score_label() @@ -87,6 +89,7 @@ def render(self, mode="human") -> None: self._draw_game_objects() if mode == "human": + pygame.event.pump() pygame.display.update() elif mode == "rgb_array": screen = pygame.surfarray.array3d(self._screen) @@ -107,14 +110,14 @@ def _fill_screen(self): def _draw_score_label(self): score_label = self.myfont.render( - str(self.state.score), 100, pygame.color.THECOLORS["black"] + str(self.state.score), True, pygame.color.THECOLORS["black"] ) self._screen.blit(score_label, (20, 10)) def _draw_last_command(self): cmds = self.state.last_commands s = "".join(f"{str(c)}" for c in cmds) - count_label = self.myfont.render(s, 100, pygame.color.THECOLORS["brown"]) + count_label = self.myfont.render(s, True, pygame.color.THECOLORS["brown"]) self._screen.blit(count_label, (60, 10)) def _draw_game_objects(self): @@ -134,7 +137,7 @@ def draw(self, arg) -> None: def _draw_robot(self, r: Robot) -> None: """Draw a robot.""" dx = int(self.offx + r.x * self.size_square) - dy = int(self.offy + (self.config.rows - r.y - 1) * self.size_square) + dy = int(self.offy + r.y * self.size_square) pygame.draw.circle( self._screen, ROBOT_COLORS[r.id], @@ -142,21 +145,13 @@ def _draw_robot(self, r: Robot) -> None: 2 * self.radius, 0, ) - ox = 0 - oy = 0 - if r.direction.th == 0: # right - ox = self.radius - elif r.direction.th == 90: # up - oy = -self.radius - elif r.direction.th == 180: # left - ox = -self.radius - elif r.direction.th == 270: # down - oy = self.radius + sin, cos = r.direction.sincos() + ox, oy = self.radius * cos, self.radius * sin pygame.draw.circle( self._screen, pygame.color.THECOLORS["black"], - [dx + self.size_square // 2 + ox, dy + self.size_square // 2 + oy], + [dx + self.size_square // 2 + ox, dy + self.size_square // 2 - oy], 5, 0, ) @@ -181,23 +176,24 @@ def _draw_grid(self, g: SapientinoGrid): [self.offx + g.columns * self.size_square, oy], ) - for cell in g.cells.values(): - self._draw_cell(cell) + for cell in g.iter_cells(): + self._draw_cell(cell, g.get_bip_counts(cell)) - def _draw_cell(self, c: Cell) -> None: + def _draw_cell(self, c: Cell, counts: int) -> None: """Draw a cell.""" if c.color == Colors.BLANK: return dx = int(self.offx + c.x * self.size_square) - dy = int(self.offy + (self.config.rows - c.y - 1) * self.size_square) + dy = int(self.offy + c.y * self.size_square) sqsz = ( dx + 5, dy + 5, self.size_square - 10, self.size_square - 10, ) - pygame.draw.rect(self._screen, pygame.color.THECOLORS[str(c.color)], sqsz) - if c.bip_count >= 1: + cellcolor = str(c.color) if c.color != Colors.WALL else "black" + pygame.draw.rect(self._screen, pygame.color.THECOLORS[cellcolor], sqsz) + if counts >= 1: pygame.draw.rect( self._screen, pygame.color.THECOLORS["black"], diff --git a/gym_sapientino/sapientino_env.py b/gym_sapientino/sapientino_env.py index 6d21790..ee8a4fe 100644 --- a/gym_sapientino/sapientino_env.py +++ b/gym_sapientino/sapientino_env.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # @@ -22,62 +22,77 @@ """Sapientino environment with OpenAI Gym interface.""" +import random +import sys from abc import ABC, abstractmethod -from typing import Any, Dict, Optional +from typing import Optional -import gym as gym +from gymnasium import Env, Space +from gymnasium.spaces import Box, Dict, Discrete, Tuple from gym_sapientino.core.configurations import SapientinoConfiguration from gym_sapientino.core.states import SapientinoState, make_state -from gym_sapientino.rendering.base import Renderer from gym_sapientino.rendering.pygame import PygameRenderer -class Sapientino(gym.Env, ABC): - """The Sapientino Gym environment.""" +class SapientinoBase(Env, ABC): + """The base class for the sapientino Gym environment. - metadata = {"render.modes": ["human", "rgb_array"]} + Subclasses must define an observation_space. + """ - def __init__(self, configuration: Optional[SapientinoConfiguration] = None): - """Initialize the environment.""" + metadata = {"render_modes": ["human", "rgb_array"]} + + def __init__( + self, + configuration: Optional[SapientinoConfiguration] = None, + render_mode: Optional[str] = None, + *args, + **kwargs, + ): + """ + Initialize the environment. + + :param configuration: the configuration object. + :param render_mode: see metadata["render_modes"]. If None, rendering is off (default). + """ self.configuration = ( - configuration if configuration is not None else SapientinoConfiguration() + configuration + if configuration is not None + else SapientinoConfiguration(*args, **kwargs) ) + self.render_mode = render_mode self.state = make_state(self.configuration) - self.viewer: Optional[Renderer] = None - - @property - def action_space(self) -> gym.Space: - """Get the action space.""" - return self.configuration.action_space - - @property - def observation_space(self) -> gym.Space: - """Get the observation space.""" - return self.configuration.observation_space + self.viewer = PygameRenderer(self.state) if render_mode else None + self.action_space = self.configuration.action_space - def step(self, action: Any): + def step(self, action): """Execute an action.""" command = self.configuration.get_action(action) reward = self.state.step(command) obs = self.observe(self.state) is_finished = self.state.is_finished - info: Dict = {} - return obs, reward, is_finished, info + if self.render_mode == "human": + self.render() + return obs, reward, is_finished, False, {} - def reset(self): + def reset(self, *, seed=None, options=None): """Reset the environment.""" + if seed: + self.rng = random.Random(seed) # nosec self.state = make_state(self.configuration) if self.viewer is not None: self.viewer.reset(self.state) - return self.observe(self.state) + self.render() + return self.observe(self.state), {} - def render(self, mode="human") -> None: + def render(self): """Render the environment.""" + if not self.render_mode: + return if self.viewer is None: self.viewer = PygameRenderer(self.state) - - return self.viewer.render(mode=mode) + return self.viewer.render(mode=self.render_mode) def close(self) -> None: """Close the environment.""" @@ -85,7 +100,7 @@ def close(self) -> None: self.viewer.close() @abstractmethod - def observe(self, state: SapientinoState) -> gym.Space: + def observe(self, state: SapientinoState) -> Space: """ Extract observation from the state of the game. @@ -105,3 +120,61 @@ def __setstate__(self, state): # Restore instance attributes (i.e., filename and lineno). self.__dict__.update(state) self.viewer = None + + +class Sapientino(SapientinoBase): + """A Sapientino environment with a dictionary state space. + + The components of the space are: + - Robot x coordinate (Discrete) + - Robot y coordinate (Discrete) + - The orientation (Discrete) + - A boolean to check whether the last action was a beep (Discrete) + - The color of the current cell (Discrete) + """ + + def __init__( + self, + configuration: Optional[SapientinoConfiguration] = None, + **kwargs, + ): + """Initialize the dictionary space.""" + super().__init__(configuration=configuration, **kwargs) # type: ignore + + self._discrete_x_space = Discrete(self.configuration.columns) + self._discrete_y_space = Discrete(self.configuration.rows) + self._x_space = Box(0.0, self.configuration.columns, shape=[1]) + self._y_space = Box(0.0, self.configuration.rows, shape=[1]) + self._velocity_space = lambda m, M: Box(m, M, shape=[1]) + self._theta_space = lambda n: Discrete(n) + self._angle_space = Box(0.0, 360.0 - sys.float_info.epsilon, shape=[1]) + self._beep_space = Discrete(2) + self._color_space = Discrete(self.configuration.nb_colors) + + self.observation_space = Tuple( + [ + Dict( + { + "discrete_x": self._discrete_x_space, + "discrete_y": self._discrete_y_space, + "x": self._x_space, + "y": self._y_space, + "velocity": self._velocity_space( + self.configuration.agent_configs[i].min_velocity, + self.configuration.agent_configs[i].max_velocity, + ), + "theta": self._theta_space( + self.configuration.agent_configs[i].angle_parts, + ), + "angle": self._angle_space, + "beep": self._beep_space, + "color": self._color_space, + } + ) + for i in range(self.configuration.nb_robots) + ] + ) + + def observe(self, state: SapientinoState): + """Observe the state.""" + return state.to_dict() diff --git a/gym_sapientino/utils.py b/gym_sapientino/utils.py index ed14e67..94d80a7 100644 --- a/gym_sapientino/utils.py +++ b/gym_sapientino/utils.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # @@ -22,10 +22,13 @@ """This module contains utility functions.""" from functools import reduce -from typing import List +import numpy as np +from gymnasium import spaces -def encode(obs: List[int], spaces: List[int]) -> int: + +# TODO: maybe prefer numpy functions for encode decode +def encode(obs: list[int], spaces: list[int]) -> int: """ Encode an observation from a list of gym.Discrete spaces in one number. @@ -33,7 +36,8 @@ def encode(obs: List[int], spaces: List[int]) -> int: :param spaces: the list of gym.Discrete spaces from where the observation is observed. :return: the encoded observation. """ - assert len(obs) == len(spaces) + if len(obs) != len(spaces): + raise ValueError("Wrong input length") sizes = spaces result = obs[0] shift = sizes[0] @@ -44,7 +48,7 @@ def encode(obs: List[int], spaces: List[int]) -> int: return result -def decode(obs: int, spaces: List[int]) -> List[int]: +def decode(obs: int, spaces: list[int]) -> list[int]: """ Decode an observation from a list of gym.Discrete spaces in a list of integers. @@ -65,3 +69,26 @@ def decode(obs: int, spaces: List[int]) -> List[int]: result.append(obs) return result[::-1] + + +def set_to_zero_if_small(x) -> float: + """Set to zero if it is a small number.""" + return 0.0 if np.isclose(x, 0.0) else x + + +def combine_boxes(*boxes: spaces.Box) -> spaces.Box: + """Combine a list of gym.Box spaces into one. + + It merges a list of unidimensional boxes to one unidimensional box by + combining along the only dimension. Limits are kept separate. + Output type is np.float32. + """ + # Unidimensional spaces + if not all(len(space.shape) == 1 for space in boxes): + raise ValueError("Unexpected shape") + + # Concat + lows = np.concatenate([space.low for space in boxes]) + highs = np.concatenate([space.high for space in boxes]) + + return spaces.Box(lows, highs) diff --git a/gym_sapientino/wrappers/__init__.py b/gym_sapientino/wrappers/__init__.py index a93ccfe..105b2e7 100644 --- a/gym_sapientino/wrappers/__init__.py +++ b/gym_sapientino/wrappers/__init__.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # @@ -21,5 +21,3 @@ # """This package contains wrappers for the Sapientino environment.""" - -from .dict_space import SapientinoDictSpace # noqa diff --git a/gym_sapientino/wrappers/dict_space.py b/gym_sapientino/wrappers/dict_space.py deleted file mode 100644 index 92a6190..0000000 --- a/gym_sapientino/wrappers/dict_space.py +++ /dev/null @@ -1,76 +0,0 @@ -# -*- coding: utf-8 -*- -# -# Copyright 2019-2020 Marco Favorito, Luca Iocchi -# -# ------------------------------ -# -# This file is part of gym-sapientino. -# -# gym-sapientino is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. -# -# gym-sapientino is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. -# -# You should have received a copy of the GNU General Public License -# along with gym-sapientino. If not, see . -# - -"""Sapientino environments using a "dict" state space.""" - -import gym -from gym.spaces import Dict, Discrete - -from gym_sapientino.core.states import SapientinoState -from gym_sapientino.sapientino_env import Sapientino - - -class SapientinoDictSpace(Sapientino): - """ - A Sapientino environment with a dictionary state space. - - The components of the space are: - - Robot x coordinate (Discrete) - - Robot y coordinate (Discrete) - - The orientation (Discrete) - - A boolean to check whether the last action was a beep (Discrete) - - The color of the current cell (Discrete) - """ - - def __init__(self, *args, **kwargs): - """Initialize the dictionary space.""" - super().__init__(*args, **kwargs) - - self._x_space = Discrete(self.configuration.columns) - self._y_space = Discrete(self.configuration.rows) - self._theta_space = Discrete(self.configuration.nb_theta) - self._beep_space = Discrete(2) - self._color_space = Discrete(self.configuration.nb_colors) - - @property - def observation_space(self) -> gym.spaces.Tuple: - """Get the observation space.""" - - def get_agent_dict_space(i: int): - agent_config = self.configuration.agent_configs[i] - d = { - "x": self._x_space, - "y": self._y_space, - "beep": self._beep_space, - "color": self._color_space, - } - if agent_config.differential: - d["theta"] = self._theta_space - return Dict(d) - - return gym.spaces.Tuple( - tuple(map(get_agent_dict_space, range(self.configuration.nb_robots))) - ) - - def observe(self, state: SapientinoState): - """Observe the state.""" - return state.to_dict() diff --git a/gym_sapientino/wrappers/gym.py b/gym_sapientino/wrappers/gym.py new file mode 100644 index 0000000..94b3108 --- /dev/null +++ b/gym_sapientino/wrappers/gym.py @@ -0,0 +1,61 @@ +# -*- coding: utf-8 -*- +# +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi +# +# ------------------------------ +# +# This file is part of gym-sapientino. +# +# gym-sapientino is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# gym-sapientino is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with gym-sapientino. If not, see . +# +"""Useful gym wrappers.""" + +from gymnasium import Wrapper +from gymnasium.spaces import Tuple + + +class SingleAgentWrapper(Wrapper): + """Wrapper for multi-agent gym environment to make it single-agent. + + It adapts a multi-agent gym environment with just one agent + to be used as a single agent environment. + In particular, this means that if the observation space and the + action space are tuples of one space, the new + spaces will remove the tuples and return the unique space. + """ + + def __init__(self, *args, **kwargs): + """Initialize the wrapper.""" + super().__init__(*args, **kwargs) + + self.observation_space = self._transform_tuple_space(self.observation_space) + self.action_space = self._transform_tuple_space(self.action_space) + + def _transform_tuple_space(self, space): + """Transform a Tuple space with one element into that element.""" + if not isinstance(space, Tuple): + raise TypeError("The space is not an instance of gym.spaces.tuples.Tuple.") + if len(space.spaces) != 1: + raise ValueError("The tuple space has more than one subspaces.") + return space.spaces[0] + + def step(self, action): + """Do a step.""" + obs, rew, term, trun, info = super().step([action]) + return obs[0], rew, term, trun, info + + def reset(self, **kwargs): + """Do a step.""" + obs, info = super().reset(**kwargs) + return obs[0], info diff --git a/gym_sapientino/wrappers/observations.py b/gym_sapientino/wrappers/observations.py new file mode 100644 index 0000000..2c3559a --- /dev/null +++ b/gym_sapientino/wrappers/observations.py @@ -0,0 +1,227 @@ +# -*- coding: utf-8 -*- +# +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi +# +# ------------------------------ +# +# This file is part of gym-sapientino. +# +# gym-sapientino is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# gym-sapientino is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with gym-sapientino. If not, see . +# +"""Definitions of observations spaces. + +Sapientino is the most generic class, which returns all +the information in form of a dictionary. +The features classes in this module define a specific observation +space and extract information accordingly. +""" + +from abc import ABC, abstractmethod +from typing import Any, Sequence, Type, cast + +import numpy as np +from gymnasium import ObservationWrapper, Space, spaces + +from gym_sapientino import Sapientino, utils + +DictObs = dict[str, Any] + + +class Features(ABC): + """Base class for all observation spaces. + + By subclassing from this class, we can define any observation space + computed over Sapientino. + The member "dict_state" stores last observation received from + Sapientino. UseFeatures is a wrapper useful to apply features + to the environment. + """ + + def __init__(self, dict_space: spaces.Dict): + """Initialize. + + :param dict_space: the input observation space. + """ + self.dict_space = dict_space + self.observation_space = self.compute_space() + + @abstractmethod + def compute_space(self) -> Space: + """Compute observation space.""" + pass + + @abstractmethod + def compute_observation(self, observation: DictObs) -> Any: + """Transform according to observation space.""" + pass + + +class UseFeatures(ObservationWrapper): + """Choose a set of features for each robot in the environment. + + The feature classes of this module define the observation space for one + agent only. Use this class to apply one feature space for each robot. + It also remember last unprocessed tuple of features. + """ + + def __init__(self, env: Sapientino, features: Sequence[Type[Features]]): + """Initialize. + + :param features: one feature for each robot. + """ + # Check + if len(features) != env.configuration.nb_robots: + raise ValueError( + f"Wrong number of features: expected {env.configuration.nb_robots}" + ) + + # Store + super().__init__(env) + self.features = [ + features[i](cast(spaces.Dict, cast(spaces.Tuple, env.observation_space)[i])) + for i in range(len(features)) + ] + + # Obs space + self.observation_space = spaces.Tuple( + [self.features[i].compute_space() for i in range(len(features))] + ) + + def observation(self, observation): + """Compute an observation with features.""" + if len(observation) != len(self.features): + raise RuntimeError( + "Wrong observation length. Expected " + str(len(self.features)) + ) + self.last_dict_observation = cast(Sequence[Any], observation) + return [ + self.features[i].compute_observation(observation[i]) + for i in range(len(observation)) + ] + + +class DiscreteFeatures(Features): + """Discrete features. + + Discrete positions on the grid. + """ + + def compute_space(self) -> spaces.MultiDiscrete: + """Compute observation space.""" + x_space = cast(spaces.Discrete, self.dict_space.spaces["discrete_x"]) + y_space = cast(spaces.Discrete, self.dict_space.spaces["discrete_y"]) + beep_space = cast(spaces.Discrete, self.dict_space.spaces["beep"]) + return spaces.MultiDiscrete( + [x_space.n.item(), y_space.n.item(), beep_space.n.item()] + ) + + def compute_observation(self, observation: DictObs): + """Transform according to observation space.""" + new_state = np.array( + [ + observation["discrete_x"], + observation["discrete_y"], + observation["beep"], + ], + dtype=int, + ) + return new_state + + +class DiscreteAngleFeatures(Features): + """Discrete features with orientation. + + Discrete positions on the grid and discrete orientation. + """ + + def compute_space(self) -> spaces.MultiDiscrete: + """Compute observation space.""" + x_space = cast(spaces.Discrete, self.dict_space.spaces["discrete_x"]) + y_space = cast(spaces.Discrete, self.dict_space.spaces["discrete_y"]) + theta_space = cast(spaces.Discrete, self.dict_space.spaces["theta"]) + beep_space = cast(spaces.Discrete, self.dict_space.spaces["beep"]) + return spaces.MultiDiscrete( + [ + x_space.n.item(), + y_space.n.item(), + theta_space.n.item(), + beep_space.n.item(), + ] + ) + + def compute_observation(self, observation: DictObs): + """Transform according to observation space.""" + new_state = np.array( + [ + observation["discrete_x"], + observation["discrete_y"], + observation["theta"], + observation["beep"], + ], + dtype=int, + ) + return new_state + + +class ContinuousFeatures(Features): + """Continuous features with orientation on the plane.""" + + def compute_space(self) -> spaces.Box: + """Compute observation space.""" + # Position on plane + x_space = cast(spaces.Box, self.dict_space.spaces["x"]) + y_space = cast(spaces.Box, self.dict_space.spaces["y"]) + + # Try with cos, sin, instead of angle + cos_space = spaces.Box(-1, 1, shape=[1]) + sin_space = spaces.Box(-1, 1, shape=[1]) + + # Try with derivative in components + dx_space = spaces.Box(-float("inf"), float("inf"), shape=[1]) + dy_space = spaces.Box(-float("inf"), float("inf"), shape=[1]) + + # Beep as real + beep_space = spaces.Box(0.0, 1.0, shape=[1]) + + # Join sapientino features + merged = utils.combine_boxes( + x_space, + y_space, + cos_space, + sin_space, + dx_space, + dy_space, + beep_space, + ) + return merged + + def compute_observation(self, observation: DictObs): + """Transform according to observation space.""" + # Deg to radians + cos = np.reshape(np.cos(observation["angle"] / 180 * np.pi), [1]) + sin = np.reshape(np.sin(observation["angle"] / 180 * np.pi), [1]) + + new_state = np.concatenate( + [ + observation["x"], + observation["y"], + cos, + sin, + observation["velocity"] * cos, + observation["velocity"] * sin, + np.reshape(observation["beep"], [1]), + ], + dtype=np.float32, + ) + return new_state diff --git a/mkdocs.yml b/mkdocs.yml deleted file mode 100644 index 1411d4f..0000000 --- a/mkdocs.yml +++ /dev/null @@ -1,28 +0,0 @@ -site_name: Gym Sapientino -repo_name: 'whitemech/gym-sapientino' -repo_url: https://github.com/whitemech/gym-sapientino - -nav: -- Home: index.md -- Quickstart: "quickstart.ipynb" -- Authors: authors.md -- How to contribute: contributing.md -- Release History: history.md - - -plugins: -- mkdocs-jupyter: - execute: false -- search - -theme: - name: material - -markdown_extensions: -- codehilite -- pymdownx.arithmatex -- markdown_include.include: - base_path: docs - -extra_javascript: - - 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"^3.9" +content-hash = "9d7d888c649c72c6cfb676d1d7b23a4281fc99c3d9b2902ae648b876527f5666" diff --git a/pyproject.toml b/pyproject.toml index a07d466..a4f178b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,17 +1,22 @@ [tool.poetry] name = "gym_sapientino" -version = "0.2.0" +version = "0.4.0" description = "Gym Sapientino environment using Pygame." -authors = ["Marco Favorito ", "Luca Iocchi "] +authors = [ + "Marco Favorito ", + "Luca Iocchi ", + "Roberto Cipollone ", +] license = "GPL-3.0-or-later" readme = "README.md" homepage = "https://whitemech.github.io/gym-sapientino" repository = "https://github.com/whitemech/gym-sapientino.git" documentation = "https://whitemech.github.io/gym-sapientino" keywords = [ - "sapientino", + "grid-world", + "continuous state", "reinforcement learning", - "openai gym", + "gymnasium", ] classifiers = [ 'Development Status :: 2 - Pre-Alpha', @@ -19,8 +24,7 @@ classifiers = [ 'License :: OSI Approved :: GNU General Public License v3 or later (GPLv3+)', 'Natural Language :: English', 'Programming Language :: Python :: 3', - 'Programming Language :: Python :: 3.7', - 'Programming Language :: Python :: 3.8', + 'Programming Language :: Python :: 3.9', ] #packages = [] include = [] @@ -33,39 +37,31 @@ include = [] "Pull Requests" = "https://github.com/whitemech/gym-sapientino/pulls" [tool.poetry.dependencies] -python = "^3.7" -gym = "^0.17.2" -numpy = "^1.19.2" -matplotlib = "^3.3.2" -seaborn = "^0.11.0" -pandas = "^1.1.2" -pygame = ">=2.0.0.dev6" +python = "^3.9" +gymnasium = ">=0.26.1,<0.30" +numpy = "^1.21.0" +pygame = "^2.2.0" +pillow = "^10.1.0" +markdown-include = "^0.8.1" -[tool.poetry.dev-dependencies] -pytest = "^6.0.1" -pytest-cov = "^2.10.1" -pytest-randomly = "^3.4.1" -tox = "^3.19.0" -codecov = "^2.1.9" -black = "==20.8b1" -mypy = "^0.782" -isort = "^5.4.2" -flake8 = "^3.8.3" -flake8-docstrings = "^1.5.0" -flake8-bugbear = "^20.1.4" -flake8-eradicate = "^0.4.0" -flake8-isort = "^4.0.0" -pylint = "^2.6.0" -safety = "^1.9.0" -vulture = "^2.1" -bandit = "^1.6.2" -mkdocs = "^1.1.2" -markdown_include = "^0.6.0" -mkdocs-material = "^5.5.11" -ipython = "^7.18.1" -jupyter = "^1.0.0" -mkdocs-jupyter = "^0.15.1" +[tool.poetry.group.dev.dependencies] +pytest = "^7.4.3" +black = "^23.11.0" +pytest-cov = "^4.1.0" +pytest-randomly = "^3.15.0" +tox = "^4.9.0" +codecov = "^2.1.13" +isort = "^5.12.0" +bandit = "^1.7.5" +mypy = "^1.7.0" +safety = "^2.3.1" +ipython = "^8.17.2" +notebook = "^7.0.6" +flake8 = "^6.1.0" +mkdocs = "^1.5.3" +ruff-lsp = "^0.0.45" +pyright = "^1.1.335" [build-system] -requires = ["poetry>=0.12"] -build-backend = "poetry.masonry.api" +requires = ["poetry-core"] +build-backend = "poetry.core.masonry.api" diff --git a/scripts/check_copyright.py b/scripts/check_copyright.py index a397441..c3afa6c 100644 --- a/scripts/check_copyright.py +++ b/scripts/check_copyright.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # @@ -40,7 +40,7 @@ HEADER_REGEX = r"""(#!/usr/bin/env python3 )?# -\*- coding: utf-8 -\*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # diff --git a/scripts/whitelist.py b/scripts/whitelist.py index fa58df6..1ff4927 100644 --- a/scripts/whitelist.py +++ b/scripts/whitelist.py @@ -1,12 +1,18 @@ -# type: ignore -black # unused variable (gym_sapientino/sapientino_env.py:36) -grey # unused variable (gym_sapientino/sapientino_env.py:38) -orange # unused variable (gym_sapientino/sapientino_env.py:39) -red # unused variable (gym_sapientino/sapientino_env.py:40) -_.observation_space # unused property (gym_sapientino/sapientino_env.py:322) -metadata # unused variable (gym_sapientino/sapientino_env.py:650) -_.observation_space # unused property (gym_sapientino/sapientino_env.py:665) -encode # unused function (gym_sapientino/utils.py:28) -decode # unused function (gym_sapientino/utils.py:47) -_.observation_space # unused property (gym_sapientino/wrappers/dict_space.py:52) -Robot.id # unuser property +_.agent_config # unused property (/home/roberto/repos/gym-sapientino/gym_sapientino/core/configurations.py:107) +black # unused variable (/home/roberto/repos/gym-sapientino/gym_sapientino/core/constants.py:25) +grey # unused variable (/home/roberto/repos/gym-sapientino/gym_sapientino/core/constants.py:27) +orange # unused variable (/home/roberto/repos/gym-sapientino/gym_sapientino/core/constants.py:28) +red # unused variable (/home/roberto/repos/gym-sapientino/gym_sapientino/core/constants.py:29) +_.position # unused property (/home/roberto/repos/gym-sapientino/gym_sapientino/core/objects.py:76) +color2id # unused variable (/home/roberto/repos/gym-sapientino/gym_sapientino/core/types.py:114) +metadata # unused variable (/home/roberto/repos/gym-sapientino/gym_sapientino/sapientino_env.py:42) +options # unused variable (/home/roberto/repos/gym-sapientino/gym_sapientino/sapientino_env.py:77) +_.rng # unused attribute (/home/roberto/repos/gym-sapientino/gym_sapientino/sapientino_env.py:80) +encode # unused function (/home/roberto/repos/gym-sapientino/gym_sapientino/utils.py:31) +decode # unused function (/home/roberto/repos/gym-sapientino/gym_sapientino/utils.py:51) +SingleAgentWrapper # unused class (/home/roberto/repos/gym-sapientino/gym_sapientino/wrappers/gym.py:28) +UseFeatures # unused class (/home/roberto/repos/gym-sapientino/gym_sapientino/wrappers/observations.py:70) +_.last_dict_observation # unused attribute (/home/roberto/repos/gym-sapientino/gym_sapientino/wrappers/observations.py:107) +DiscreteFeatures # unused class (/home/roberto/repos/gym-sapientino/gym_sapientino/wrappers/observations.py:114) +DiscreteAngleFeatures # unused class (/home/roberto/repos/gym-sapientino/gym_sapientino/wrappers/observations.py:142) +ContinuousFeatures # unused class (/home/roberto/repos/gym-sapientino/gym_sapientino/wrappers/observations.py:177) diff --git a/setup.cfg b/setup.cfg index bc28393..754d80d 100644 --- a/setup.cfg +++ b/setup.cfg @@ -38,7 +38,7 @@ exclude = "scripts/whitelist.py [mypy] -python_version = 3.7 +python_version = 3.9 strict_optional = True # Per-module options: diff --git a/tests/__init__.py b/tests/__init__.py index 946278a..51aeab2 100644 --- a/tests/__init__.py +++ b/tests/__init__.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # diff --git a/tests/conftest.py b/tests/conftest.py new file mode 100644 index 0000000..df78c14 --- /dev/null +++ b/tests/conftest.py @@ -0,0 +1,28 @@ +# -*- coding: utf-8 -*- +# +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi +# +# ------------------------------ +# +# This file is part of gym-sapientino. +# +# gym-sapientino is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# gym-sapientino is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with gym-sapientino. If not, see . +# + +"""Conftest module.""" + + +def pytest_addoption(parser): + """Add options to pytest parser.""" + parser.addoption("--ci", action="store_true", default=False, help="Run on CI.") diff --git a/tests/test_gym_sapientino.py b/tests/test_gym_sapientino.py index 66734ac..2455681 100644 --- a/tests/test_gym_sapientino.py +++ b/tests/test_gym_sapientino.py @@ -1,6 +1,6 @@ # -*- coding: utf-8 -*- # -# Copyright 2019-2020 Marco Favorito, Luca Iocchi +# Copyright 2019-2023 Marco Favorito, Roberto Cipollone, Luca Iocchi # # ------------------------------ # @@ -21,9 +21,301 @@ # """Tests for the Sapientino Gym environment.""" -from gym_sapientino import __version__ +import logging +from importlib import resources +from typing import Tuple, cast + +import gymnasium as gym +import numpy as np +import pytest +from gymnasium import spaces + +import gym_sapientino.assets +from gym_sapientino import Sapientino, __version__ +from gym_sapientino.core import actions +from gym_sapientino.core.actions import Command +from gym_sapientino.core.configurations import ( + SapientinoAgentConfiguration, + SapientinoConfiguration, +) +from gym_sapientino.core.objects import Robot +from gym_sapientino.wrappers import observations +from gym_sapientino.wrappers.gym import SingleAgentWrapper + +NB_ROLLOUT_STEPS = 20 + +map_str = resources.read_text(gym_sapientino.assets, "map1.txt") +rendering = False # NOTE: enable this to see agents move def test_version(): """Test version.""" - assert __version__ == "0.2.0" + assert __version__ == "0.4.0" + + +def sapientino_dict( + agents_conf: Tuple[SapientinoAgentConfiguration, ...], + **kwargs, +) -> Sapientino: + """Create a sapientino instance from agents configurations.""" + conf = SapientinoConfiguration( + agents_conf, + grid_map=map_str, + reward_per_step=0.0, + reward_outside_grid=0.0, + reward_duplicate_beep=0.0, + ) + env = Sapientino(conf, **kwargs) + return env + + +@pytest.fixture(autouse=True, scope="session") +def with_rendering(request): + """Return true if not on CI - Pygame rendering not supported.""" + result = not request.config.getoption("--ci") + if not result: + logging.info("Skipping rendering, because executing the test on CI.") + return result + + +def test_rendering_rollout(with_rendering): + """Test rendering of the environment (if allowed).""" + agent_conf = SapientinoAgentConfiguration(initial_position=(3, 3)) + env = sapientino_dict((agent_conf,), render_mode="rgb_array") + + env.reset() + for _ in range(NB_ROLLOUT_STEPS): + env.step(env.action_space.sample()) + out = env.render() + assert isinstance(out, np.ndarray) + + env.close() + + +def rollout(env: gym.Env): + """Perform rollout.""" + observation_space = cast(gym.Space, env.observation_space) + logging.debug(observation_space) + env.reset() + for _ in range(NB_ROLLOUT_STEPS): + action = cast(gym.Space, env.action_space).sample() + ret = env.step(action) + logging.debug(ret) + assert observation_space.contains(ret[0]) + + +def test_one(): + """Tests the initialization with one agent.""" + agent_conf = SapientinoAgentConfiguration(initial_position=(3, 3)) + env = sapientino_dict((agent_conf,)) + rollout(env) + + +def test_two(): + """Test with two agents.""" + agents_conf = ( + SapientinoAgentConfiguration(initial_position=(3, 3)), + SapientinoAgentConfiguration(initial_position=(3, 4)), + ) + env = sapientino_dict(agents_conf) + rollout(env) + + +def test_single_agent(): + """Test a simplified observation space for one agent only.""" + env = sapientino_dict( + agents_conf=(SapientinoAgentConfiguration(initial_position=(3, 3)),) + ) + env = SingleAgentWrapper(env) + assert isinstance(env.action_space, spaces.Discrete) + assert isinstance(env.observation_space, spaces.Dict) + rollout(env) + + +def test_discrete_default(): + """Test the discrete action space (default).""" + agent_conf = SapientinoAgentConfiguration(initial_position=(3, 3)) + env = sapientino_dict(agents_conf=(agent_conf,)) + assert agent_conf.commands == actions.GridCommand, "Wrong default" + rollout(env) + + +def test_discrete_differential(): + """Test the differential command action space.""" + agent_conf = SapientinoAgentConfiguration( + initial_position=(3, 3), + commands=actions.DifferentialGridCommand, + ) + env = sapientino_dict(agents_conf=(agent_conf,)) + rollout(env) + + +def test_continuous(): + """Test continuous motions.""" + agent_conf = SapientinoAgentConfiguration( + initial_position=(3, 3), + commands=actions.ContinuousCommand, + ) + env = sapientino_dict(agents_conf=(agent_conf,)) + rollout(env) + + +def test_different_action_spaces(): + """Test agents with different action spaces.""" + agents_conf = ( + SapientinoAgentConfiguration( + initial_position=(3, 3), + commands=actions.GridCommand, + ), + SapientinoAgentConfiguration( + initial_position=(3, 4), + commands=actions.DifferentialGridCommand, + ), + SapientinoAgentConfiguration( + initial_position=(3, 2), + commands=actions.ContinuousCommand, + ), + ) + env = sapientino_dict(agents_conf) + rollout(env) + + +def test_discrete_features(): + """Test discrete features.""" + agent_conf = SapientinoAgentConfiguration( + initial_position=(3, 3), + commands=actions.ContinuousCommand, + ) + env = sapientino_dict(agents_conf=(agent_conf,)) + env = observations.UseFeatures( + env=env, + features=[observations.DiscreteFeatures], + ) + assert isinstance(env.observation_space, spaces.Tuple) + assert len(env.observation_space) == 1 + assert isinstance(env.observation_space[0], spaces.MultiDiscrete) + rollout(env) + + +def test_differential_features(): + """Test differential features.""" + agent_conf = SapientinoAgentConfiguration( + initial_position=(3, 3), + commands=actions.ContinuousCommand, + ) + env = sapientino_dict(agents_conf=(agent_conf,)) + env = observations.UseFeatures( + env=env, + features=[observations.DiscreteAngleFeatures], + ) + assert isinstance(env.observation_space, spaces.Tuple) + assert len(env.observation_space) == 1 + assert isinstance(env.observation_space[0], spaces.MultiDiscrete) + rollout(env) + + +def test_continuous_features(): + """Test continuous features.""" + agent_conf = SapientinoAgentConfiguration( + initial_position=(3, 3), + commands=actions.ContinuousCommand, + ) + env = sapientino_dict(agents_conf=(agent_conf,)) + env = observations.UseFeatures( + env=env, + features=[observations.ContinuousFeatures], + ) + assert isinstance(env.observation_space, spaces.Tuple) + assert len(env.observation_space) == 1 + assert isinstance(env.observation_space[0], spaces.Box) + rollout(env) + + +def test_all_features(): + """Test all features.""" + agents_conf = ( + SapientinoAgentConfiguration( + initial_position=(3, 3), + commands=actions.GridCommand, + ), + SapientinoAgentConfiguration( + initial_position=(3, 4), + commands=actions.DifferentialGridCommand, + ), + SapientinoAgentConfiguration( + initial_position=(3, 2), + commands=actions.ContinuousCommand, + ), + ) + env = sapientino_dict(agents_conf) + env = observations.UseFeatures( + env=env, + features=[ + observations.DiscreteFeatures, + observations.DiscreteAngleFeatures, + observations.ContinuousFeatures, + ], + ) + assert isinstance(env.observation_space, spaces.Tuple) + assert len(env.observation_space) == 3 + assert isinstance(env.observation_space[0], spaces.MultiDiscrete) + assert isinstance(env.observation_space[1], spaces.MultiDiscrete) + assert isinstance(env.observation_space[2], spaces.Box) + rollout(env) + + +class Differential45Command(Command): + """Command with rotations fo 45 degrees.""" + + LEFT = 0 + FORWARD = 1 + RIGHT = 2 + BEEP = 3 + NOP = 4 + + def step(self, robot: Robot) -> Robot: + """Move a robot according to the command.""" + sin, cos = robot.direction.sincos() + dx = 1 if cos > 0.1 else -1 if cos < -0.1 else 0 + dy = -1 if sin > 0.1 else 1 if sin < -0.1 else 0 + x, y = robot.x, robot.y + direction = robot.direction + if self == self.LEFT: + direction = direction.rotate(45.0) + elif self == self.RIGHT: + direction = direction.rotate(-45.0) + elif self == self.FORWARD: + x += dx + y += dy + + r = Robot(robot.config, x, y, robot.velocity, direction.theta, robot.id) + + return r if not r._on_wall() else robot + + @staticmethod + def nop() -> "Differential45Command": + """Get the NO-OP action.""" + return Differential45Command.NOP + + @staticmethod + def beep() -> "Differential45Command": + """Get the "Beep" action.""" + return Differential45Command.BEEP + + +def test_45_deg(): + """Test action space of 45 degrees.""" + agents_conf = ( + SapientinoAgentConfiguration( + initial_position=(3, 3), + commands=Differential45Command, + angle_parts=8, + ), + SapientinoAgentConfiguration( + initial_position=(3, 4), + commands=actions.DifferentialGridCommand, + angle_parts=4, + ), + ) + env = sapientino_dict(agents_conf) + rollout(env) diff --git a/tox.ini b/tox.ini index fffaea2..fd0ec4e 100644 --- a/tox.ini +++ b/tox.ini @@ -1,6 +1,6 @@ [tox] isolated_build = True -envlist = bandit, safety, check-copyright, black-check, isort-check, vulture, flake8, mypy, py3.8, py3.7, docs +envlist = bandit, safety, check-copyright, black-check, isort-check, vulture, flake8, mypy, py3.9, docs ; pylint TODO add [tox:.package] @@ -27,16 +27,14 @@ commands = --cov=gym_sapientino \ --cov-report=xml \ --cov-report=html \ - --cov-report=term + --cov-report=term \ + {posargs} -[testenv:py3.6] -basepython = python3.6 +[testenv:py3.9] +basepython = python3.9 -[testenv:py3.7] -basepython = python3.7 - -[testenv:py3.8] -basepython = python3.8 +[testenv:py3.10] +basepython = python3.10 [testenv:flake8] skip_install = True @@ -44,8 +42,6 @@ deps = flake8 flake8-bugbear flake8-docstrings - flake8-eradicate - flake8-isort pydocstyle commands = flake8 gym_sapientino tests scripts @@ -54,8 +50,9 @@ commands = skip_install = True deps = mypy + gymnasium commands = - mypy gym_sapientino tests scripts + mypy --exclude scripts/whitelist.py gym_sapientino tests scripts [testenv:pylint] skipdist = True @@ -64,12 +61,12 @@ commands = pylint gym_sapientino tests scripts [testenv:black] skip_install = True -deps = black==20.8b1 +deps = black commands = black gym_sapientino tests scripts [testenv:black-check] skip_install = True -deps = black==20.8b1 +deps = black commands = black gym_sapientino tests scripts --check --verbose [testenv:isort] @@ -86,13 +83,13 @@ commands = isort --check-only gym_sapientino tests scripts skipsdist = True skip_install = True deps = bandit -commands = bandit gym_sapientino tests scripts +commands = bandit -r gym_sapientino scripts [testenv:safety] skipsdist = True skip_install = True deps = safety -commands = safety +commands = safety check [testenv:docs] skip_install = True @@ -101,7 +98,6 @@ deps = mkdocs-material markdown-include pymdown-extensions - mkdocs-jupyter mkdocs-bibtex commands = mkdocs build --clean @@ -113,7 +109,6 @@ deps = mkdocs-material markdown-include pymdown-extensions - mkdocs-jupyter mkdocs-bibtex commands = mkdocs build --clean