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from gym_minigrid.minigrid import *
from gym_minigrid.register import register
class simpleWizard(NPC):
"""
A simple NPC that wants an agent to go to an object (randomly chosen among object_pos list)
"""
def __init__(self, color, name, env):
super().__init__(color)
self.name = name
self.env = env
self.has_spoken = False # wizards only speak once
# Select a random target object as mission
obj_idx = self.env._rand_int(0, len(self.env.door_pos))
self.target_pos = self.env.door_pos[obj_idx]
self.target_color = self.env.door_colors[obj_idx]
# Generate the mission string
self.wizard_mission = 'go to the %s door' % self.target_color
def listen(self, utterance):
if not self.has_spoken:
self.has_spoken = True
return self.wizard_mission
return None
def is_satisfied(self):
ax, ay = self.env.agent_pos
tx, ty = self.target_pos
if (ax == tx and abs(ay - ty) == 1) or (ay == ty and abs(ax - tx) == 1):
return True
return False
def is_near_agent(self):
ax, ay = self.env.agent_pos
wx, wy = self.cur_pos
if (ax == wx and abs(ay - wy) == 1) or (ay == wy and abs(ax - wx) == 1):
return True
return False
class GoToDoorWizard(MiniGridEnv):
"""
Environment in which the agent is instructed to "please the wizard",
i.e. to go ask him for a quest (which is goto door)
"""
def __init__(
self,
size=5,
hear_yourself=False,
):
assert size >= 5
super().__init__(
grid_size=size,
max_steps=5*size**2,
# Set this to True for maximum speed
see_through_walls=True,
actions=MiniGridEnv.Actions,
action_space=spaces.MultiDiscrete([
len(MiniGridEnv.Actions),
*Grammar.grammar_action_space.nvec
])
)
self.hear_yourself = hear_yourself
def _gen_grid(self, width, height):
# Create the grid
self.grid = Grid(width, height)
# Randomly vary the room width and height
width = self._rand_int(5, width+1)
height = self._rand_int(5, height+1)
# Generate the surrounding walls
self.grid.wall_rect(0, 0, width, height)
# Generate the 4 doors at random positions
self.door_pos = []
self.door_front_pos = [] # Remembers positions in front of door to avoid setting wizard here
self.door_pos.append((self._rand_int(2, width-2), 0))
self.door_front_pos.append((self.door_pos[-1][0], self.door_pos[-1][1]+1))
self.door_pos.append((self._rand_int(2, width-2), height-1))
self.door_front_pos.append((self.door_pos[-1][0], self.door_pos[-1][1] - 1))
self.door_pos.append((0, self._rand_int(2, height-2)))
self.door_front_pos.append((self.door_pos[-1][0] + 1, self.door_pos[-1][1]))
self.door_pos.append((width-1, self._rand_int(2, height-2)))
self.door_front_pos.append((self.door_pos[-1][0] - 1, self.door_pos[-1][1]))
# Generate the door colors
self.door_colors = []
while len(self.door_colors) < len(self.door_pos):
color = self._rand_elem(COLOR_NAMES)
if color in self.door_colors:
continue
self.door_colors.append(color)
# Place the doors in the grid
for idx, pos in enumerate(self.door_pos):
color = self.door_colors[idx]
self.grid.set(*pos, Door(color))
# Set a randomly coloured NPC at a random position
color = self._rand_elem(COLOR_NAMES)
self.wizard = simpleWizard(color, "Gandalf", self)
# Place it randomly, omitting front of door positions
self.place_obj(self.wizard,
size=(width, height),
reject_fn=lambda _, p: tuple(p) in self.door_front_pos)
# Randomize the agent start position and orientation
self.place_agent(size=(width, height))
# Generate the mission string
self.mission = 'please the wizard'
# Initialize the dialogue string
self.dialogue = "This is what you hear. "
def gen_obs(self):
obs = super().gen_obs()
# add dialogue to obs
obs["dialogue"] = self.dialogue
return obs
def step(self, action):
# dirty handle of action provided by manual_control todo improve
if type(action) == MiniGridEnv.Actions:
action = [action, None]
p_action = action[0]
utterance_action = action[1:]
obs, reward, done, info = super().step(p_action)
# check if near wizard
if self.wizard.is_near_agent():#p_action == self.actions.talk and self.near_wizard:
#utterance = Grammar.construct_utterance(utterance_action)
reply = self.wizard.listen("")
# if self.hear_yourself:
# self.dialogue += "YOU: " + utterance
if reply:
self.dialogue += "{}: {}".format(self.wizard.name, reply)
# Don't let the agent open any of the doors
if p_action == self.actions.toggle:
done = True
# Reward performing done action if pleasing the wizard
if p_action == self.actions.done:
if self.wizard.is_satisfied():
reward = self._reward()
done = True
return obs, reward, done, info
def render(self, *args, **kwargs):
obs = super().render(*args, **kwargs)
self.window.set_caption(self.dialogue, [
"Gandalf:",
"Jack:",
"John:",
"Where is the exit",
"Open sesame",
])
self.window.fig.gca().set_title("goal: "+self.mission)
return obs
class GoToDoorWizard5x5Env(GoToDoorWizard):
def __init__(self):
super().__init__(size=5)
class GoToDoorWizard7x7Env(GoToDoorWizard):
def __init__(self):
super().__init__(size=7)
class GoToDoorWizard8x8Env(GoToDoorWizard):
def __init__(self):
super().__init__(size=8)
register(
id='MiniGrid-GoToDoorWizard-5x5-v0',
entry_point='gym_minigrid.envs:GoToDoorWizard5x5Env'
)
register(
id='MiniGrid-GoToDoorWizard-7x7-v0',
entry_point='gym_minigrid.envs:GoToDoorWizard7x7Env'
)
register(
id='MiniGrid-GoToDoorWizard-8x8-v0',
entry_point='gym_minigrid.envs:GoToDoorWizard8x8Env'
) |