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human + rgb_array rendering modes #12

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merged 3 commits into from
Nov 7, 2023
Merged

human + rgb_array rendering modes #12

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357710b
human + rgb_array rendering modes
umutucak Nov 7, 2023
5d3a648
pygame window name update
umutucak Nov 7, 2023
0f3a0ef
dynamic 0th item fetching
umutucak Nov 7, 2023
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88 changes: 86 additions & 2 deletions momadm_benchmarks/envs/item_gathering/item_gathering.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,15 +15,18 @@
import functools
import random
from copy import deepcopy
from os import path

# from gymnasium.utils import EzPickle
from typing_extensions import override

import numpy as np
import pygame
from gymnasium.logger import warn
from gymnasium.spaces import Box, Discrete
from pettingzoo.utils import wrappers

from momadm_benchmarks.envs.item_gathering.asset_utils import del_colored, get_colored
from momadm_benchmarks.envs.item_gathering.map_utils import DEFAULT_MAP, randomise_map
from momadm_benchmarks.utils.conversions import mo_parallel_to_aec
from momadm_benchmarks.utils.env import MOParallelEnv
Expand Down Expand Up @@ -75,7 +78,7 @@ class MOItemGathering(MOParallelEnv):
These attributes should not be changed after initialization.
"""

metadata = {"render_modes": ["human"], "name": "moitemgathering_v0"}
metadata = {"render_modes": ["human", "rgb_array"], "name": "moitemgathering_v0", "render_fps": 50}

def __init__(
self,
Expand Down Expand Up @@ -117,7 +120,6 @@ def __init__(
self.terminations = {agent: False for agent in self.agents}
self.truncations = {agent: False for agent in self.agents}
self.action_spaces = dict(zip(self.agents, [Discrete(len(ACTIONS))] * len(self.agent_positions)))
print(self.action_spaces)

# observation space is a 2D array, the same size as the grid
# 0 for empty, 1 for the current agent, 2 for other agents, 3 for objective 1, 4 for objective 2, ...
Expand All @@ -141,6 +143,8 @@ def __init__(
self.item_dict = {}
for i, item in enumerate(all_map_entries[0][np.where(all_map_entries[0] > 2)]):
self.item_dict[item] = i

print(self.item_dict)
indices_of_items = np.argwhere(all_map_entries[0] > 2).flatten()
item_counts = np.take(all_map_entries[1], indices_of_items)
self.num_objectives = len(item_counts)
Expand All @@ -151,6 +155,19 @@ def __init__(
zip(self.agents, [Box(low=0, high=max(item_counts), shape=(self.num_objectives,))] * len(self.agent_positions))
)

# pygame
self.size = 5
self.cell_size = (64, 64)
self.window_size = (
self.env_map.shape[1] * self.cell_size[1],
self.env_map.shape[0] * self.cell_size[0],
)
self.clock = None
self.agent_imgs = []
self.item_imgs = []
self.map_bg_imgs = []
self.window = None

# this cache ensures that same space object is returned for the same agent
# allows action space seeding to work as expected
@functools.lru_cache(maxsize=None)
Expand All @@ -173,9 +190,76 @@ def render(self):
if self.render_mode is None:
warn("You are calling render method without specifying any render mode.")
return
if self.window is None:
pygame.init()
get_colored("item", len(self.item_dict))
get_colored("agent", len(self.agents))

if self.render_mode == "human":
pygame.display.init()
pygame.display.set_caption("Item Gathering")
self.window = pygame.display.set_mode(self.window_size)
else:
self.window = pygame.Surface(self.window_size)

if self.clock is None:
self.clock = pygame.time.Clock()

if not self.agent_imgs:
agents = [path.join(path.dirname(__file__), "assets/agent.png")]
for i in range(len(self.agents) - 1):
agents.append(path.join(path.dirname(__file__), f"assets/colored/agent{i}.png"))
self.agent_imgs = [pygame.transform.scale(pygame.image.load(f_name), self.cell_size) for f_name in agents]
if not self.map_bg_imgs:
map_bg_imgs = [
path.join(path.dirname(__file__), "assets/map_bg1.png"),
path.join(path.dirname(__file__), "assets/map_bg2.png"),
]
self.map_bg_imgs = [
pygame.transform.scale(pygame.image.load(f_name), self.cell_size) for f_name in map_bg_imgs
]
if not self.item_imgs:
items = [path.join(path.dirname(__file__), "assets/item.png")]
for i in range(len(self.item_dict) - 1):
items.append(path.join(path.dirname(__file__), f"assets/colored/item{i}.png"))
self.item_imgs = [
pygame.transform.scale(pygame.image.load(f_name), (0.6 * self.cell_size[0], 0.6 * self.cell_size[1]))
for f_name in items
]

for i in range(self.env_map.shape[0]):
for j in range(self.env_map.shape[1]):
# background
check_board_mask = i % 2 ^ j % 2
self.window.blit(
self.map_bg_imgs[check_board_mask],
np.array([j, i]) * self.cell_size[0],
)

# agents
if [i, j] in self.agent_positions.tolist():
ind = self.agent_positions.tolist().index([i, j])
self.window.blit(self.agent_imgs[ind], tuple(np.array([j, i]) * self.cell_size[0]))

# items
elif int(self.env_map[i, j]) > 2:
ind = (
int(self.env_map[i, j]) - list(self.item_dict.keys())[0]
) # item n will have will have 0th (n-n) index
self.window.blit(self.item_imgs[ind], tuple(np.array([j + 0.22, i + 0.25]) * self.cell_size[0]))

if self.render_mode == "human":
pygame.event.pump()
pygame.display.update()
self.clock.tick(self.metadata["render_fps"])
elif self.render_mode == "rgb_array": # rgb_array
return np.transpose(np.array(pygame.surfarray.pixels3d(self.window)), axes=(1, 0, 2))

@override
def close(self):
if self.render_mode is not None:
del_colored("item", len(self.item_dict))
del_colored("agent", len(self.possible_agents))
pass

@override
Expand Down
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