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import gym |
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from gym import spaces |
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import numpy as np |
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import param_ |
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from settings import Settings |
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from playground import Playground |
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from team import BlueTeam, RedTeam |
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class SwarmEnv(gym.Env): |
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""" |
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Custom 3D-Environment that follows gym interface. |
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This is a 3D-env where the blue drones defend a circular GROUNDZONE from a red drones attack |
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""" |
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def __init__(self, blues=Settings.blues, reds=Settings.reds): |
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""" |
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:param distance: the distance to the other rim |
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""" |
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super(SwarmEnv, self).__init__() |
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self.nb_blues = blues |
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self.nb_reds = reds |
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self.blue_team = BlueTeam(number_of_drones=self.nb_blues) |
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self.red_team = RedTeam(number_of_drones=self.nb_reds) |
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self.playground = Playground(env=self, blue_drones=self.blue_team.drones, red_drones=self.red_team.drones) |
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self.steps = 0 |
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self.observation_space = spaces.Tuple(( |
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spaces.Box(low=0, high=1, shape=(self.nb_blues, 6), dtype=np.float32), |
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spaces.Box(low=0, high=1, shape=(self.nb_reds, 6), dtype=np.float32), |
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spaces.Box(low=0, high=1, shape=(self.nb_blues, self.nb_reds), dtype=np.float32), |
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spaces.Box(low=0, high=1, shape=(self.nb_reds, self.nb_blues), dtype=np.float32), |
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spaces.MultiBinary(self.nb_blues), |
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spaces.MultiBinary(self.nb_reds), |
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)) |
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self.action_space = spaces.Tuple(( |
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spaces.Box(low=0, high=1, shape=(self.nb_blues, 3), dtype=np.float32), |
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spaces.Box(low=0, high=1, shape=(self.nb_reds, 3), dtype=np.float32))) |
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def reset(self, obs=None): |
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""" |
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resets the environment as part of Gym interface |
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""" |
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if obs: |
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blue_obs, red_obs, blues_fire, reds_fire, blue_deads, red_deads = obs |
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else: |
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blue_obs, red_obs, blues_fire, reds_fire, blue_deads, red_deads = None, None, None, None, None, None |
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self.blue_team.reset(obs=blue_obs) |
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self.red_team.reset(obs=red_obs) |
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self.playground.reset() |
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self.steps = 0 |
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blue_obs, blue_deads = self.blue_team.get_observation() |
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red_obs, red_deads = self.red_team.get_observation() |
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blues_fire, reds_fire = self.playground.get_observation() |
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return blue_obs, red_obs, blues_fire, reds_fire, blue_deads, red_deads |
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def render(self, mode='human'): |
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pass |
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def step(self, action): |
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self.steps += 1 |
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blue_action, red_action = action |
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blue_obs, blue_reward, blue_done, blue_info = self.blue_team.step(blue_action) |
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red_obs, red_reward, red_done, red_info = self.red_team.step(red_action) |
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bf_obs, bf_reward, remaining_blues, blue_shots, rf_obs, rf_reward, remaining_reds, red_shots = \ |
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self.playground.step() |
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_, blue_deads = self.blue_team.get_observation() |
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_, red_deads = self.red_team.get_observation() |
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obs = blue_obs, red_obs, bf_obs, rf_obs, blue_deads, red_deads |
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reward = blue_reward + red_reward + bf_reward + rf_reward |
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done = False |
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info = {} |
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info['red_oob'] = red_info['oob'] |
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info['blue_oob'] = blue_info['oob'] |
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info['hits_target'] = red_info['hits_target'] |
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info['blue_shots'] = blue_shots |
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info['red_shots'] = red_shots |
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info['weighted_red_distance'] = red_info['delta_distance'] |
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info['remaining blues'] = len(blue_deads)-sum(blue_deads) |
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info['remaining reds'] = len(red_deads)-sum(red_deads) |
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info['ttl'] = red_info['ttl'] |
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info['distance_to_straight_action'] = red_info['distance_to_straight_action'] |
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if red_info['oob'] + blue_info['oob'] + red_info['hits_target'] + blue_shots + red_shots > 0: |
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print('something happened') |
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return obs, reward, done, info |
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