phyelds-vmas 7.1.0__tar.gz

phyelds_vmas-7.1.0/PKG-INFO

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+Metadata-Version: 2.1
+Name: phyelds-vmas
+Version: 7.1.0
+Summary: VMAS integration for phyelds
+Home-page: https://github.com/phyelds/phyelds
+License: Apache-2.0
+Author: Davide Domini
+Author-email: davide.domini@unibo.it
+Requires-Python: >=3.12,<3.14
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Requires-Dist: numpy (>=1.26)
+Requires-Dist: phyelds (>=7.0.0,<8.0.0)
+Requires-Dist: torch (>=2.0)
+Requires-Dist: vmas (==1.5.2)
+Project-URL: Repository, https://github.com/phyelds/phyelds
+Description-Content-Type: text/markdown
+
+# phyelds-vmas
+
+VMAS integration for [phyelds](https://pypi.org/project/phyelds/).
+
+## Installation
+
+```bash
+pip install phyelds-vmas
+```
+
+`phyelds-vmas` installs a compatible `phyelds` release and VMAS.
+
+## Usage
+
+```python
+from phyelds.simulator import Simulator
+from phyelds.simulator.runner import schedule_program_for_all
+from phyelds.vmas import VmasEnvironment, vmas_runner
+```
+
+The extension requires `phyelds >=7.0.0,<8.0.0`.
+
+## Release
+
+`phyelds-vmas` follows the same version as `phyelds`. The root semantic-release
+workflow calculates the release version, writes it to both package manifests,
+and publishes both distributions together.

phyelds_vmas-7.1.0/README.md

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+# phyelds-vmas
+
+VMAS integration for [phyelds](https://pypi.org/project/phyelds/).
+
+## Installation
+
+```bash
+pip install phyelds-vmas
+```
+
+`phyelds-vmas` installs a compatible `phyelds` release and VMAS.
+
+## Usage
+
+```python
+from phyelds.simulator import Simulator
+from phyelds.simulator.runner import schedule_program_for_all
+from phyelds.vmas import VmasEnvironment, vmas_runner
+```
+
+The extension requires `phyelds >=7.0.0,<8.0.0`.
+
+## Release
+
+`phyelds-vmas` follows the same version as `phyelds`. The root semantic-release
+workflow calculates the release version, writes it to both package manifests,
+and publishes both distributions together.

phyelds_vmas-7.1.0/pyproject.toml

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+[tool.poetry]
+name = "phyelds-vmas"
+version = "7.1.0"
+description = "VMAS integration for phyelds"
+license = "Apache-2.0"
+authors = [
+  "Davide Domini <davide.domini@unibo.it>",
+  "Gianluca Aguzzi <gianluca.aguzzi@unibo.it>"
+]
+homepage = "https://github.com/phyelds/phyelds"
+repository = "https://github.com/phyelds/phyelds"
+readme = "README.md"
+
+packages = [
+    { include = "phyelds/vmas", from = "src" },
+]
+
+classifiers = [
+    "Operating System :: OS Independent",
+    "Topic :: Software Development :: Libraries :: Python Modules",
+]
+
+[tool.poetry.dependencies]
+python = ">=3.12,<3.14"
+phyelds = ">=7.0.0,<8.0.0"
+vmas = "1.5.2"
+numpy = ">=1.26"
+torch = ">=2.0"
+
+[tool.poetry.group.dev.dependencies]
+pytest = "^8.0.0"
+pylint = "^3.0.0"
+flake8 = "^7.0.0"
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+
+[build-system]
+requires = ["poetry-core>=2.0.0,<3.0.0"]
+build-backend = "poetry.core.masonry.api"

phyelds_vmas-7.1.0/src/phyelds/vmas/__init__.py

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+"""VMAS integration for phyelds."""
+
+from phyelds.vmas.environment import VmasEnvironment
+from phyelds.vmas.runner import vmas_runner
+
+__all__ = ["VmasEnvironment", "vmas_runner"]

phyelds_vmas-7.1.0/src/phyelds/vmas/environment.py

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+"""Adapter between VMAS environments and the phyelds simulator."""
+
+from typing import Any, Callable, List
+
+import vmas.simulator.environment
+
+from phyelds.simulator import Environment, Node
+
+
+class VmasEnvironment(Environment):
+    """Wrap a VMAS environment as a phyelds simulator environment."""
+
+    def __init__(
+        self,
+        vmas_environment: vmas.simulator.environment.Environment,
+        neighborhood_function: Callable[[Node, Environment], List[Node]] = None,
+    ):
+        super().__init__(neighborhood_function)
+        self.vmas_environment = vmas_environment
+        self.initialize_nodes()
+
+    def initialize_nodes(self) -> None:
+        """Create phyelds nodes from the agents in the VMAS environment."""
+        observations = self.vmas_environment.reset()
+        for index, agent in enumerate(self.vmas_environment.agents):
+            data: dict[str, Any] = {
+                "observations": observations[index][0],
+                "rewards": 0.0,
+                "dones": False,
+                "infos": {},
+                "agent": agent,
+            }
+            node = Node(
+                position=(agent.state.pos[0][0].item(), agent.state.pos[0][1].item()),
+                data=data,
+                node_id=index,
+            )
+            self.add_node(node)
+
+    def update_nodes(self, observations, rewards, dones, infos) -> None:
+        """Synchronize phyelds nodes with the latest VMAS step result."""
+        for index, agent in enumerate(self.vmas_environment.agents):
+            node = self.nodes[index]
+            node.data["observations"] = observations[index][0]
+            node.position = (agent.state.pos[0][0].item(), agent.state.pos[0][1].item())
+            node.data["rewards"] = rewards[index][0]
+            node.data["dones"] = dones
+            node.data["infos"] = infos[index]
+            node.data["agent"] = agent

phyelds_vmas-7.1.0/src/phyelds/vmas/runner.py

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+"""VMAS-specific simulation runner."""
+
+import numpy as np
+import torch
+
+from phyelds.simulator import Simulator
+from phyelds.vmas.environment import VmasEnvironment
+
+
+def vmas_runner(simulator: Simulator, time_delta: float) -> None:
+    """Step VMAS from aggregate-program actions and schedule the next step."""
+    if not isinstance(simulator.environment, VmasEnvironment):
+        raise TypeError("vmas_runner requires a simulator with a VmasEnvironment")
+
+    environment = simulator.environment
+    actions = [
+        np.array(node.data["outputs"]["action"], dtype=np.float32)
+        for node in environment.node_list()
+    ]
+    actions_single_env = torch.tensor(
+        np.stack(actions), device=environment.vmas_environment.device
+    )
+    actions_batch = actions_single_env.expand(
+        environment.vmas_environment.num_envs, -1, -1
+    )
+    actions_per_agent = list(actions_batch.unbind(dim=1))
+    observations, rewards, dones, infos = environment.vmas_environment.step(actions_per_agent)
+    environment.update_nodes(observations, rewards, dones, infos)
+    simulator.schedule_event(time_delta, vmas_runner, simulator, time_delta)