Tomato featurization

[nathan-miller23]

Updates in featurize_state to account for both tomatoes and variable length pots

• featurize_state now takes a num_pots parameter. The state of the closest num_pots pots is encoded into higher dimensional features
  • Before, closest pot of every "type" (empty, 1 onion, 2 onion, full) was encoded
  • Now, there are exponentially more "states" a pot can be in, so fully encode the state of the closest num_pots pots intead
  • Support for tomatoes!
  • Symmetric encodings to onions are added for tomatoes (closest, closest dispenser, etc)
  • Added corresponding tests to verify encoding works across plethora of tomato and non-tomato layouts

[nathan-miller23]

• Fixed bug where calls to OvercookedEnv.featurize_state_mdp were passing in self.horizon as the num_pots param, resulting in massive featurized vector sizes
• Added overcooked_ai_py/mdp/overcooked_trajectory.py file
  • Codified the 'overcooked trajectory' schema
  • Only has one util function so far
  • Primitive precursor to full-fledged object-oriented trajectory handling (this has been a want-to-have on the backlog for almost a year)

[nathan-miller23]

• Fixed bug in featurize_state that caused pots to be incorrectly encoded when num_pots != 2
• Added more robust tests for featurize_state that iterate over num_pots
• Deprecated mdp.featurize_state_shape (and mdp.lossless_state_encoding) property
  • New use is mdp.get_featurize_state_shape (and mdp.get_lossless_state_encoding_shape)
  • This is so num_pots can be passed into the featurize_shape method, as num_pots impacts encoding shape
  • Old properties still supported (for now) they just raise a deprecation warning

[codecov[bot]]

Codecov Report

Merging #76 (26f82c6) into master (242c24d) will decrease coverage by 0.68%. The diff coverage is n/a.

@@            Coverage Diff             @@
##           master      #76      +/-   ##
==========================================
- Coverage   82.70%   82.01%   -0.69%     
==========================================
  Files          10       16       +6     
  Lines        3035     3636     +601     
==========================================
+ Hits         2510     2982     +472     
- Misses        525      654     +129     

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Impacted Files	Coverage Δ
overcooked_ai_py/agents/benchmarking.py	56.90% <0.00%> (-9.39%)	:arrow_down:
overcooked_ai_py/planning/planners.py	84.99% <0.00%> (-0.85%)	:arrow_down:
overcooked_ai_py/mdp/overcooked_mdp.py	92.00% <0.00%> (-0.81%)	:arrow_down:
overcooked_ai_py/static.py	100.00% <0.00%> (ø)
...rcooked_ai_py/visualization/visualization_utils.py	41.66% <0.00%> (ø)
overcooked_ai_py/visualization/pygame_utils.py	69.01% <0.00%> (ø)
overcooked_ai_py/mdp/overcooked_trajectory.py	76.00% <0.00%> (ø)
overcooked_ai_py/__init__.py	100.00% <0.00%> (ø)
overcooked_ai_py/utils.py	58.97% <0.00%> (ø)
overcooked_ai_py/visualization/state_visualizer.py	95.97% <0.00%> (ø)
... and 3 more

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