From c28e03089b5b845ef1250c79b4a73cbac68c68d7 Mon Sep 17 00:00:00 2001
From: fheinrich <fheinrich@techfak.uni-bielefeld.de>
Date: Mon, 18 Mar 2024 10:21:54 +0100
Subject: [PATCH] Cleaned a bit up, a bit of doc
---
.../configs/agents/random_agent.py | 6 +--
cooperative_cuisine/state_representation.py | 54 ++-----------------
2 files changed, 7 insertions(+), 53 deletions(-)
diff --git a/cooperative_cuisine/configs/agents/random_agent.py b/cooperative_cuisine/configs/agents/random_agent.py
index 4aa85d8a..99f8a238 100644
--- a/cooperative_cuisine/configs/agents/random_agent.py
+++ b/cooperative_cuisine/configs/agents/random_agent.py
@@ -23,7 +23,7 @@ from cooperative_cuisine.utils import custom_asdict_factory
TIME_TO_STOP_ACTION = 3.0
ADD_RANDOM_MOVEMENTS = False
-DIAGONAL_MOVEMENTS = False
+DIAGONAL_MOVEMENTS = True
AVOID_OTHER_PLAYERS = True
@@ -307,9 +307,7 @@ async def agent():
...
if not task_type:
- # task_type = random.choice(["GOTO"])
- task_type = random.choice(["GOTO", "PUT"])
- # task_type = random.choice(["GOTO", "PUT", "INTERACT"])
+ task_type = random.choice(["GOTO", "PUT", "INTERACT"])
threshold = datetime.now() + timedelta(seconds=TIME_TO_STOP_ACTION)
if task_type == "GOTO":
# counter_type = random.choice(list(counters.keys()))
diff --git a/cooperative_cuisine/state_representation.py b/cooperative_cuisine/state_representation.py
index fdf12218..7887d0f8 100644
--- a/cooperative_cuisine/state_representation.py
+++ b/cooperative_cuisine/state_representation.py
@@ -191,19 +191,19 @@ class StateRepresentation(BaseModel):
def astar_heuristic(x, y):
- """Heuristic distance function used in astart algorithm."""
+ """Heuristic distance function used in astar algorithm."""
return np.linalg.norm(np.array(x) - np.array(y))
def create_movement_graph(state: StateRepresentation, diagonal=True) -> Graph:
"""
- Creates a graph which represents the connections of empty kitchen tiles.
+ Creates a graph which represents the connections of empty kitchen tiles and such
+ possible coarse movements of an agent.
Args:
state: State representation to determine the graph to.
- diagonal: if True use 8 way connection, ie diagonal connections between the spaces.
+ diagonal: if True use 8 way connection, i.e. diagonal connections between the spaces.
Returns: Graph representing the connections between empty kitchen tiles.
-
"""
width, height = state["kitchen"]["width"], state["kitchen"]["height"]
free_space = np.ones((width, height), dtype=bool)
@@ -257,7 +257,7 @@ def restrict_movement_graph(
graph: Graph,
player_positions: list[tuple[float, float] | list[float]] | npt.NDArray[float],
) -> Graph:
- """Modifies a given connection graph. Removed the nodes of spaces on which a players stand.
+ """Modifies a given movement graph. Removed the nodes of spaces on which players stand.
Args:
graph: The graph to modify.
@@ -279,48 +279,4 @@ def create_json_schema() -> dict[str, Any]:
if __name__ == "__main__":
- # sample_state_path = ROOT_DIR / "pygame_2d_vis" / "sample_state.json"
- # with open(sample_state_path, "r") as f:
- # state = json.load(f)
- #
- # graph = create_movement_graph(state, diagonal=False)
- # width, height = state["kitchen"]["width"], state["kitchen"]["height"]
- # free_space = np.ones((width, height), dtype=bool)
- # for counter in state["counters"]:
- # grid_idx = np.array(counter["pos"]).round().astype(int)
- # free_space[grid_idx[0], grid_idx[1]] = False
- #
- # other_players = [[2, 2], [3, 3]]
- # restricted = restrict_movement_graph(graph, other_players)
- #
- # print(graph.nodes)
- #
- # source = (1, 1)
- # target = (10, 7)
- #
- # try:
- # path = networkx.astar_path(
- # G=restricted, source=source, target=target, heuristic=astar_heuristic
- # )
- # except networkx.exception.NetworkXNoPath:
- # print("NO PATH FOUND")
- # path = []
- #
- # width, height = free_space.shape
- # for i in range(width):
- # for j in range(height):
- # if (i, j) == source:
- # print(" S ", end="")
- # elif (i, j) == target:
- # print(" T ", end="")
- # elif (i, j) in path:
- # print(" x ", end="")
- # elif [i, j] in other_players:
- # print(" O ", end="")
- # elif free_space[i, j]:
- # print(" ", end="")
- # else:
- # print(" # ", end="")
- # print()
-
print(json.dumps(create_json_schema()))
--
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