update

.gitignore

@@ -0,0 +1,3 @@
+/video
+*/__pycache__*
+/__pycache__

common/agent.py

@@ -455,6 +455,7 @@ class TileNode:
         self.agent_id = agent_id
         self.is_city = is_city
         self.team_id = -1
+        self.faction_id = -1
         
     def reset(self):
         self.chaotic_value = 0
@@ -462,6 +463,7 @@ class TileNode:
         self.occupied_by = None
         self.agent_id = None
         self.team_id = -1
+        self.faction_id = -1
 
     def __lt__(self, other):
         return self.pos < other.pos

common/renderer.py

@@ -25,18 +25,18 @@ team_colors = [
 icons_path = "./tianqiong/envs/icons"
 
 unit_icons: Dict[str, Dict[int, pygame.Surface]] = {
-    AgentType.AntiAir: {0: pygame.image.load(f"{icons_path}/AntiAir_b.png"), 1: pygame.image.load(f"{icons_path}/AntiAir_r.png")},
-    AgentType.Airport: {0: pygame.image.load(f"{icons_path}/Airport_b.png"), 1: pygame.image.load(f"{icons_path}/Airport_r.png")},
-    AgentType.Artillery: {0: pygame.image.load(f"{icons_path}/Artillery_b.png"), 1: pygame.image.load(f"{icons_path}/Artillery_r.png")},
-    AgentType.Bomber: {0: pygame.image.load(f"{icons_path}/Bomber_b.png"), 1: pygame.image.load(f"{icons_path}/Bomber_r.png")},
-    AgentType.Carrier: {0: pygame.image.load(f"{icons_path}/Carrier_b.png"), 1: pygame.image.load(f"{icons_path}/Carrier_r.png")},
-    AgentType.Fighter: {0: pygame.image.load(f"{icons_path}/Fighter_b.png"), 1: pygame.image.load(f"{icons_path}/Fighter_r.png")},
-    AgentType.Helicopter: {0: pygame.image.load(f"{icons_path}/Helicopter_b.png"), 1: pygame.image.load(f"{icons_path}/Helicopter_r.png")},
-    AgentType.Infantry: {0: pygame.image.load(f"{icons_path}/Infantry_b.png"), 1: pygame.image.load(f"{icons_path}/Infantry_r.png")},
-    AgentType.Tank: {0: pygame.image.load(f"{icons_path}/Tank_b.png"), 1: pygame.image.load(f"{icons_path}/Tank_r.png")},
-    AgentType.TransportHelicopter: {0: pygame.image.load(f"{icons_path}/TransportHelicopter_b.png"), 1: pygame.image.load(f"{icons_path}/TransportHelicopter_r.png")},
-    AgentType.TransportShip: {0: pygame.image.load(f"{icons_path}/TransportShip_b.png"), 1: pygame.image.load(f"{icons_path}/TransportShip_r.png")},
-    AgentType.CombatShip: {0: pygame.image.load(f"{icons_path}/CombatShip_b.png"), 1: pygame.image.load(f"{icons_path}/CombatShip_r.png")},
+    # AgentType.AntiAir: {0: pygame.image.load(f"{icons_path}/AntiAir_b.png"), 1: pygame.image.load(f"{icons_path}/AntiAir_r.png")},
+    # AgentType.Airport: {0: pygame.image.load(f"{icons_path}/Airport_b.png"), 1: pygame.image.load(f"{icons_path}/Airport_r.png")},
+    # AgentType.Artillery: {0: pygame.image.load(f"{icons_path}/Artillery_b.png"), 1: pygame.image.load(f"{icons_path}/Artillery_r.png")},
+    # AgentType.Bomber: {0: pygame.image.load(f"{icons_path}/Bomber_b.png"), 1: pygame.image.load(f"{icons_path}/Bomber_r.png")},
+    # AgentType.Carrier: {0: pygame.image.load(f"{icons_path}/Carrier_b.png"), 1: pygame.image.load(f"{icons_path}/Carrier_r.png")},
+    # AgentType.Fighter: {0: pygame.image.load(f"{icons_path}/Fighter_b.png"), 1: pygame.image.load(f"{icons_path}/Fighter_r.png")},
+    # AgentType.Helicopter: {0: pygame.image.load(f"{icons_path}/Helicopter_b.png"), 1: pygame.image.load(f"{icons_path}/Helicopter_r.png")},
+    # AgentType.Infantry: {0: pygame.image.load(f"{icons_path}/Infantry_b.png"), 1: pygame.image.load(f"{icons_path}/Infantry_r.png")},
+    # AgentType.Tank: {0: pygame.image.load(f"{icons_path}/Tank_b.png"), 1: pygame.image.load(f"{icons_path}/Tank_r.png")},
+    # AgentType.TransportHelicopter: {0: pygame.image.load(f"{icons_path}/TransportHelicopter_b.png"), 1: pygame.image.load(f"{icons_path}/TransportHelicopter_r.png")},
+    # AgentType.TransportShip: {0: pygame.image.load(f"{icons_path}/TransportShip_b.png"), 1: pygame.image.load(f"{icons_path}/TransportShip_r.png")},
+    # AgentType.CombatShip: {0: pygame.image.load(f"{icons_path}/CombatShip_b.png"), 1: pygame.image.load(f"{icons_path}/CombatShip_r.png")},
 }
 
 class Renderer:

data/test/AgentsInfo.json

@@ -319,6 +319,7 @@
         "type": 16,
         "team_id": 2,
         "faction_id": 1,
+        "move_type": 1,
         "defense": 5.0,
         "mobility": 0.0,
         "info_level": 6,

requirements.txt

@@ -0,0 +1,5 @@
+numpy
+pygame
+gymnasium
+imageio
+imageio_ffmpeg

tests/test_yes_cmdr_env.py

@@ -7,29 +7,32 @@ from yes_cmdr.common.agent import Action, Command, ActionType
 def test_action_id_transform(env):
     print("Testing action id transform")
     env.reset()
-    for idx in range(env.action_space_size):
-        assert env.action_to_id(env.id_to_action(idx)) == idx, f"Expected {env.id_to_action(idx)} as {idx} but got {env.action_to_id(env.id_to_action(idx))}"
+    
+    for team_id in range(env.max_team):
+        for idx in range(env.action_space_size):
+            assert env.action_to_id(env.id_to_action(idx)) == idx, f"Expected {env.id_to_action(idx)} as {idx} but got {env.action_to_id(env.id_to_action(idx))}"
 
-    env.step(0)
-
-    for idx in range(env.action_space_size):
-        assert env.action_to_id(env.id_to_action(idx)) == idx, f"Expected {env.id_to_action(idx)} as {idx} but got {env.action_to_id(env.id_to_action(idx))}"
+        env.step(0)
 
 def test_random_action(env):
     print("Testing random action")
     env.reset()
     for i in range(100):
         action = env.random_action()
-        assert env.check_validity(action)[0], f"Action {action} is not valid"
+        validity, reason = env.check_validity(action)
+        assert validity, f"Action {action} is not valid: {reason}"
         env.step(action)
+    env.save_replay()
 
 def test_bot_action(env):
     print("Testing bot action")
     env.reset()
     for i in range(100):
         action = env.bot_action()
-        assert env.check_validity(action)[0], f"Action {action} is not valid"
+        validity, reason = env.check_validity(action)
+        assert validity, f"Action {action} is not valid: {reason}"
         env.step(action)
+    env.save_replay()
 
 def test_command(env):
     env.reset()
@@ -79,7 +82,8 @@ if __name__ == "__main__":
         data_path="./data/test",
         max_team=5,
         max_faction=4,
-        war_fog=False
+        war_fog=False,
+        replay_path="./video"
     )
 
     test_action_id_transform(env)

yes_cmdr_env.py

@@ -54,15 +54,17 @@ class YesCmdrEnv(gym.Env):
                     assert agent.pos in self.map.nodes, f"Invalid agent position: {agent.pos}"
                     self.map.nodes[agent.pos].agent_id = agent_id
                     self.map.nodes[agent.pos].team_id = team.team_id
+                    self.map.nodes[agent.pos].faction_id = team.faction_id
         if self.replay_path is not None:
-            self._frames = [[], []]
+            self._frames = [[] for _ in range(self.max_team)]
         self._legal_actions = None
         self._legal_action_ids = None
         self._spotted_enemy_ids = None
+        self._spotted_enemy_agents = None
         self._team_id = self.init_team_id
         self._spotted_agents = None
         self.episode_steps = 0
-        self._cumulative_rewards = np.zeros(2)
+        self._cumulative_rewards = np.zeros(self.max_team)
         
         obs = self.observe()
         info = {
@@ -110,6 +112,7 @@ class YesCmdrEnv(gym.Env):
         self._legal_actions = None
         self._legal_action_ids = None
         self._spotted_enemy_ids = None
+        self._spotted_enemy_agents = None
 
         obs = self.observe()
         truncated = self.episode_steps >= self.max_episode_steps
@@ -124,7 +127,7 @@ class YesCmdrEnv(gym.Env):
 
         if terminated or truncated:
             # The eval_episode_return is calculated from Player 1's perspective
-            info["eval_episode_return"] = reward if self.team_id == 0 else -reward
+            info["eval_episode_return"] = reward if self.faction_id == self.teams[self.init_team_id].faction_id else -reward
             info["done_reason"] = "Terminated" if terminated else "Truncated"
         
             if self.replay_path is not None:
@@ -134,8 +137,7 @@ class YesCmdrEnv(gym.Env):
     
     def render(self, mode="human", attack_agent=None, defend_agent=None):
         if mode == "rgb_array":
-            player_agents = self.teams[self.team_id].agents.values()
-            return self._renderer.render(self.current_agents, self.spotted_enemy_agents, attack_agent, defend_agent)
+            return self._renderer.render(self.union_agents, self.spotted_enemy_agents, attack_agent, defend_agent)
         elif mode == "human":
             return self.observe()
         else:
@@ -237,7 +239,7 @@ class YesCmdrEnv(gym.Env):
                     pos: node
                     for pos in adj_pos if pos in map_data and 
                     (
-                        (node := map_data[pos]).team_id != self.enemy_id 
+                        (node := map_data[pos]).faction_id == self.faction_id
                         or 
                         node.agent_id not in spotted_enemy_ids
                     )
@@ -247,14 +249,14 @@ class YesCmdrEnv(gym.Env):
                     if des == pos:
                         continue
                     node = map_data[des]
-                    if node.team_id != self.team_id and node.agent_id not in spotted_enemy_ids:
+                    if node.faction_id != self.faction_id and node.agent_id not in spotted_enemy_ids:
                         # 一个格子只能有一个单位
                         _legal_actions.append(Action(
                             agent_id=agent_id,
                             des=des,
                             action_type=ActionType.MOVE
                         ))
-                    elif node.team_id == self.team_id and agent.agent_type in (target := self.get_agent(node.agent_id)).available_types \
+                    elif node.faction_id == self.faction_id and agent.agent_type in (target := self.get_agent(node.agent_id)).available_types \
                             and len(target.parked_agents) < target.capacity:
                         # 除非终点有可以停靠的单位
                         _legal_actions.append(Action(
@@ -282,7 +284,7 @@ class YesCmdrEnv(gym.Env):
                 if des not in map_data:
                     continue
                 node = map_data[des]
-                if node.team_id == self.team_id and agent.agent_type in (target :=self.get_agent(node.agent_id)).available_types \
+                if node.faction_id == self.faction_id and agent.agent_type in (target :=self.get_agent(node.agent_id)).available_types \
                     and len(target.parked_agents) < target.capacity:
                     _legal_actions.append(Action(
                         agent_id=agent_id,
@@ -313,7 +315,7 @@ class YesCmdrEnv(gym.Env):
                     if des not in map_data:
                         continue
                     node = map_data[des]
-                    if node.team_id == self.team_id and self.get_agent(node.agent_id).has_supply:
+                    if node.faction_id == self.faction_id and self.get_agent(node.agent_id).has_supply:
                         for weapon_idx, weapon in enumerate(agent.switchable_weapons):
                             if not agent.weapon or weapon.name != agent.weapon.name:
                                 _legal_actions.append(Action(
@@ -337,17 +339,17 @@ class YesCmdrEnv(gym.Env):
     @property
     def spotted_enemy_ids(self) -> List[str]:
         if not self.war_fog:
-            return self.teams[self.enemy_id].alive_ids
+            return [enemy_id for enemy_id, enemy_agent in self.enemy_agents_dict.items() if enemy_agent.alive]
         
         if self._spotted_enemy_ids is not None:
             return self._spotted_enemy_ids
 
-        player_agents = self.current_agents
+        current_agents = self.current_agents
         enemy_data = self.enemy_agents_dict
         map_data = self.map.nodes
         _spotted_enemy_ids = []
 
-        for agent in player_agents:
+        for agent in current_agents:
             info_level = agent.info_level
             for des in get_adj_pos(agent.pos, agent.info_level):
                 if des not in map_data:
@@ -356,7 +358,7 @@ class YesCmdrEnv(gym.Env):
                 dis = get_axial_dis(agent.pos, des)
                 if dis == 1: # Adjacent agents are always spotted
                     dis = -1e9
-                if node.team_id == self.enemy_id \
+                if node.faction_id != self.faction_id \
                     and enemy_data[node.agent_id].stealth_level < info_level - dis + 1:
                     _spotted_enemy_ids.append(node.agent_id)
 
@@ -409,7 +411,7 @@ class YesCmdrEnv(gym.Env):
         _teams = [
             Team(
                 team_id=_team_id, 
-                faction_id=_agents[_team_id][0].faction_id, 
+                faction_id=agents_dict_lists[_team_id][0]["faction_id"], 
                 agents=_agents[_team_id]
             ) 
             for _team_id in range(self.max_team)
@@ -422,6 +424,7 @@ class YesCmdrEnv(gym.Env):
                 assert agent.pos in _nodes, f"Invalid agent position: {agent.pos}"
                 _nodes[agent.pos].agent_id = agent_id
                 _nodes[agent.pos].team_id = team.team_id
+                _nodes[agent.pos].faction_id = team.faction_id
 
         _map = Map(_nodes)
         self.map = _map
@@ -512,6 +515,14 @@ class YesCmdrEnv(gym.Env):
     def current_agents_dict(self):
         return self.teams[self._team_id].agents
     
+    @property
+    def union_agents(self):
+        return self._union_agents[self.faction_id]
+    
+    @property
+    def union_agents_dict(self):
+        return self._union_agents_dict[self.faction_id]
+    
     @property
     def enemy_agents(self):
         return self._enemy_agents[self.faction_id]
@@ -543,6 +554,7 @@ class YesCmdrEnv(gym.Env):
             return self._spotted_enemy_agents
         _spotted_enemy_agents = [self.enemy_agents_dict[enemy_id] for enemy_id in self.spotted_enemy_ids]
         self._spotted_enemy_agents = _spotted_enemy_agents
+        return self._spotted_enemy_agents
     
     @property
     def faction_id(self):
@@ -612,7 +624,7 @@ class YesCmdrEnv(gym.Env):
         
         for agent in self.current_agents:
             for pos in get_adj_pos(agent.pos, 1):
-                if pos in self.map.nodes and self.map.nodes[pos].team_id == self.team_id:
+                if pos in self.map.nodes and self.map.nodes[pos].faction_id == self.faction_id:
                     adj_agent = self.get_agent(self.map.nodes[pos].agent_id)
                     if not adj_agent.has_supply:
                         continue
@@ -642,6 +654,7 @@ class YesCmdrEnv(gym.Env):
         node = map_data[agent.pos]
         node.agent_id = None
         node.team_id = -1
+        node.faction_id = -1
 
         mobility = min(agent.mobility, agent.fuel)
         adj_pos = get_adj_pos(agent.pos, int(mobility))
@@ -649,7 +662,7 @@ class YesCmdrEnv(gym.Env):
             pos: node
             for pos in adj_pos if pos in map_data and 
             (
-                (node := map_data[pos]).team_id != self.enemy_id
+                (node := map_data[pos]).faction_id == self.faction_id
                 or 
                 node.agent_id not in spotted_enemy_ids
             )
@@ -660,7 +673,7 @@ class YesCmdrEnv(gym.Env):
         exception = False
 
         for cur, nxt in zip(path[:-1], path[1:]):
-            if self.war_fog and map_data[nxt].team_id == self.enemy_id: # 前进方向遇到敌军，停下
+            if self.war_fog and map_data[nxt].faction_id != self.faction_id: # 前进方向遇到敌军，停下
                 exception = True
                 break
             if self.replay_path is not None:
@@ -675,9 +688,10 @@ class YesCmdrEnv(gym.Env):
         if map_data[cur].team_id == -1:
             map_data[cur].agent_id = agent_id
             map_data[cur].team_id = self.team_id
+            map_data[cur].faction_id = self.faction_id
         elif map_data[cur].agent_id == target_id:
             carry_agent = self.get_agent(target_id)
-            assert agent.team_id == carry_agent.team_id
+            assert agent.faction_id == carry_agent.faction_id
             assert agent.agent_type in carry_agent.available_types, f"{agent} not in {carry_agent.available_types} (id: {carry_agent.agent_id[:8]}). "
             assert len(carry_agent.parked_agents) < carry_agent.capacity, f"Agent {carry_agent[:8]} is available but full"
             carry_agent.parked_agents.append(agent)
@@ -688,8 +702,8 @@ class YesCmdrEnv(gym.Env):
         return 0
 
     def _attack(self, attack_id, target_id):
-        agent = self.current_agents[attack_id]
-        target_agent = self.teams[self.enemy_id].agents[target_id]
+        agent = self.get_agent(attack_id)
+        target_agent = self.get_agent(target_id)
 
         if self.replay_path is not None:
             self._frames[self.team_id].extend([self.render(mode="rgb_array", attack_agent=agent, defend_agent=target_agent)] * 4)
@@ -705,8 +719,9 @@ class YesCmdrEnv(gym.Env):
             node = self.get_node(target_agent.pos)
             node.agent_id = None
             node.team_id = -1
+            node.faction_id = -1
 
-            if self.teams[self.enemy_id].alive_count == 0:
+            if sum(self.teams[team_id].alive_count for team_id in range(self.max_team) if self.teams[team_id].faction_id != self.faction_id) == 0:
                 return damage, True
 
         return damage, False
@@ -724,6 +739,7 @@ class YesCmdrEnv(gym.Env):
         agent_to_release.pos = des
         node = self.get_node(des)
         node.team_id = agent_to_release.team_id
+        node.faction_id = agent_to_release.faction_id
         node.agent_id = agent_to_release.agent_id
 
         for module in agent.modules:
@@ -751,7 +767,7 @@ class YesCmdrEnv(gym.Env):
         return 0
 
     def observe(self):
-        player_agents = self.current_agents
+        union_agents = self.union_agents
         spotted_enemy_agents = self.spotted_enemy_agents
 
         obs = {}
@@ -764,16 +780,16 @@ class YesCmdrEnv(gym.Env):
         for action_id in legal_actions_ids:
             obs["action_mask"][action_id] = 1
 
-        for agent in player_agents:
+        for agent in union_agents:
             pos = agent.pos
-            obs["player_info_level"][pos[0], pos[1]] = agent.info_level
-            obs["player_stealth_level"][pos[0], pos[1]] = agent.stealth_level
-            obs["player_mobility"][pos[0], pos[1]] = agent.mobility
-            obs["player_defense"][pos[0], pos[1]] = agent.defense
-            obs["player_damage"][pos[0], pos[1]] = agent.damage
-            obs["player_fuel"][pos[0], pos[1]] = agent.fuel
-            obs["player_ammo"][pos[0], pos[1]] = agent.ammo
-            obs["player_endurance"][pos[0], pos[1]] = agent.endurance
+            obs["union_info_level"][pos[0], pos[1]] = agent.info_level
+            obs["union_stealth_level"][pos[0], pos[1]] = agent.stealth_level
+            obs["union_mobility"][pos[0], pos[1]] = agent.mobility
+            obs["union_defense"][pos[0], pos[1]] = agent.defense
+            obs["union_damage"][pos[0], pos[1]] = agent.damage
+            obs["union_fuel"][pos[0], pos[1]] = agent.fuel
+            obs["union_ammo"][pos[0], pos[1]] = agent.ammo
+            obs["union_endurance"][pos[0], pos[1]] = agent.endurance
 
         for agent in spotted_enemy_agents:
             pos = agent.pos
@@ -803,7 +819,7 @@ class YesCmdrEnv(gym.Env):
             pos: node
             for pos in adj_pos if pos in map_data and 
             (
-                (node := map_data[pos]).team_id != self.enemy_id
+                (node := map_data[pos]).faction_id == self.faction_id
                 or 
                 node.agent_id not in spotted_enemy_ids
             )
@@ -892,7 +908,7 @@ class YesCmdrEnv(gym.Env):
             pos for pos in get_adj_pos(target_agent.pos, int(agent.attack_range)) 
             if pos in map_data and 
             (
-                (node := map_data[pos]).team_id != self.enemy_id
+                (node := map_data[pos]).faction_id == self.faction_id
                 or 
                 node.agent_id not in spotted_enemy_ids
             )
@@ -939,13 +955,13 @@ class YesCmdrEnv(gym.Env):
         需要补给的单位移动至有补给模块的单位附近
         """
         agent = self.get_agent(agent_id)
-        player_agents = self.teams[agent.team_id].agents.values()
+        current_agents = self.current_agents
         map_data = self.map.nodes
         origin_todo_length = len(agent.todo) # 记录原 todo 的长度
 
         possible_des = []
     
-        for _agent in player_agents:
+        for _agent in current_agents:
             if _agent.has_supply:
                 for pos in get_adj_pos(_agent.pos, 1):
                     if pos in map_data:
@@ -957,7 +973,7 @@ class YesCmdrEnv(gym.Env):
         
         des = agent.todo[-1].des if agent.todo else agent.pos
         for pos in get_adj_pos(des, 1):
-            if pos in map_data and map_data[pos].team_id == agent.team_id and self.get_agent(map_data[pos].agent_id).has_supply:
+            if pos in map_data and map_data[pos].faction_id == agent.faction_id and self.get_agent(map_data[pos].agent_id).has_supply:
                 supply_id = map_data[pos].agent_id
         supply_module = self.get_agent(supply_id).supply
 
@@ -1085,7 +1101,7 @@ class YesCmdrEnv(gym.Env):
         
         map_data = self.map.nodes
         spotted_enemy_ids = self.spotted_enemy_ids
-        if action.agent_id not in self.teams[self.player_id].agents:
+        if action.agent_id not in self.current_agents_dict:
             return False, f"Invalid agent id: {action.agent_id}"
         
         agent = self.get_agent(action.agent_id)
@@ -1098,7 +1114,7 @@ class YesCmdrEnv(gym.Env):
 
             node = map_data[des]
 
-            if node.team_id == agent.team_id and (not agent.agent_type in (target := self.get_agent(node.agent_id)).available_types or len(target.parked_agents) >= target.capacity):
+            if node.faction_id == agent.faction_id and (not agent.agent_type in (target := self.get_agent(node.agent_id)).available_types or len(target.parked_agents) >= target.capacity):
                 return False, f"{node.agent_id[:8]} at {des} is an ally but not available"
             
             if node.agent_id in spotted_enemy_ids:
@@ -1114,7 +1130,7 @@ class YesCmdrEnv(gym.Env):
                     pos: node
                     for pos in adj_pos if pos in map_data and 
                     (
-                        (node := map_data[pos]).team_id != self.enemy_id 
+                        (node := map_data[pos]).faction_id == self.faction_id
                         or 
                         node.agent_id not in spotted_enemy_ids
                     )
@@ -1135,8 +1151,8 @@ class YesCmdrEnv(gym.Env):
             
             des = action.des
 
-            if agent.team_id == target_agent.team_id:
-                return False, f"Cannot attack teammate. Attack: {action.agent_id}. Defend: {action.target_id}"
+            if agent.faction_id == target_agent.faction_id:
+                return False, f"Cannot attack allies. Attack: {action.agent_id}. Defend: {action.target_id}"
             if agent.weapon is None:
                 return False, "No weapon equipped"
             if agent.ammo <= 0:
@@ -1150,7 +1166,7 @@ class YesCmdrEnv(gym.Env):
             weapon_idx = action.weapon_idx
             around_supply = False
             for pos in get_adj_pos(agent.pos, 1):
-                if pos in map_data and map_data[pos].agent_id and (target_agent := self.get_agent(map_data[pos].agent_id)).team_id == agent.team_id and target_agent.has_supply:
+                if pos in map_data and map_data[pos].agent_id and (target_agent := self.get_agent(map_data[pos].agent_id)).faction_id == agent.faction_id and target_agent.has_supply:
                     around_supply = True
             if not around_supply:
                 return False, "Agent is not around a supply module"
@@ -1172,7 +1188,7 @@ class YesCmdrEnv(gym.Env):
             target_agent = self.get_agent(action.target_id)
             if get_axial_dis(agent.pos, target_agent.pos) > 1:
                 return False, "Target agent is out of range"
-            if agent.team_id != target_agent.team_id:
+            if agent.faction_id != target_agent.faction_id:
                 return False, "Cannot interact with enemy agent"
             if agent.agent_type not in target_agent.available_types:
                 return False, f"Target agent {target_agent.agent_id[:8]} is not interactable with agent {agent}"
@@ -1200,9 +1216,10 @@ class YesCmdrEnv(gym.Env):
                 if node.agent_id == agent_id:
                     node.agent_id = None
                     node.team_id = -1
+                    node.faction_id = -1
             agent.pos = (sync_agent['pos']['q'], sync_agent['pos']['r'])
             agent.fuel = sync_agent['fuel']
-            if agent.team_id == self.enemy_id:
+            if agent.faction_id != self.faction_id:
                 reward += agent.endurance - sync_agent['endurance']
             agent.endurance = sync_agent['endurance']
             agent.commenced_action = sync_agent['commenced_action']
@@ -1220,6 +1237,7 @@ class YesCmdrEnv(gym.Env):
                 node = map_data[agent.pos]
                 node.agent_id = agent_id
                 node.team_id = agent.team_id
+                node.faction_id = agent.faction_id
 
         for agent_id in self._spotted_enemy_ids:
             agent = self.get_agent(agent_id)
@@ -1229,6 +1247,7 @@ class YesCmdrEnv(gym.Env):
                 if node.agent_id == agent_id:
                     node.agent_id = None
                     node.team_id = -1
+                    node.faction_id = -1
 
         # 更新敌人感知
         self._spotted_enemy_ids = [enemy['agent_id'] for enemy in spotted_enemies]