Spaces:
Sleeping
Sleeping
File size: 9,510 Bytes
be5548b |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 |
from gym_minigrid.minigrid import *
from gym_minigrid.register import register
class Room:
def __init__(self,
top,
size,
entryDoorPos,
exitDoorPos
):
self.top = top
self.size = size
self.entryDoorPos = entryDoorPos
self.exitDoorPos = exitDoorPos
class MultiRoomEnv(MiniGridEnv):
"""
Environment with multiple rooms (subgoals)
"""
def __init__(self,
minNumRooms,
maxNumRooms,
maxRoomSize=10
):
assert minNumRooms > 0
assert maxNumRooms >= minNumRooms
assert maxRoomSize >= 4
self.minNumRooms = minNumRooms
self.maxNumRooms = maxNumRooms
self.maxRoomSize = maxRoomSize
self.rooms = []
super(MultiRoomEnv, self).__init__(
grid_size=25,
max_steps=self.maxNumRooms * 20
)
def _gen_grid(self, width, height):
roomList = []
# Choose a random number of rooms to generate
numRooms = self._rand_int(self.minNumRooms, self.maxNumRooms+1)
while len(roomList) < numRooms:
curRoomList = []
entryDoorPos = (
self._rand_int(0, width - 2),
self._rand_int(0, width - 2)
)
# Recursively place the rooms
self._placeRoom(
numRooms,
roomList=curRoomList,
minSz=4,
maxSz=self.maxRoomSize,
entryDoorWall=2,
entryDoorPos=entryDoorPos
)
if len(curRoomList) > len(roomList):
roomList = curRoomList
# Store the list of rooms in this environment
assert len(roomList) > 0
self.rooms = roomList
# Create the grid
self.grid = Grid(width, height, nb_obj_dims=self.nb_obj_dims)
wall = Wall()
prevDoorColor = None
# For each room
for idx, room in enumerate(roomList):
topX, topY = room.top
sizeX, sizeY = room.size
# Draw the top and bottom walls
for i in range(0, sizeX):
self.grid.set(topX + i, topY, wall)
self.grid.set(topX + i, topY + sizeY - 1, wall)
# Draw the left and right walls
for j in range(0, sizeY):
self.grid.set(topX, topY + j, wall)
self.grid.set(topX + sizeX - 1, topY + j, wall)
# If this isn't the first room, place the entry door
if idx > 0:
# Pick a door color different from the previous one
doorColors = set(COLOR_NAMES)
if prevDoorColor:
doorColors.remove(prevDoorColor)
# Note: the use of sorting here guarantees determinism,
# This is needed because Python's set is not deterministic
doorColor = self._rand_elem(sorted(doorColors))
entryDoor = Door(doorColor)
self.grid.set(*room.entryDoorPos, entryDoor)
prevDoorColor = doorColor
prevRoom = roomList[idx-1]
prevRoom.exitDoorPos = room.entryDoorPos
# Randomize the starting agent position and direction
self.place_agent(roomList[0].top, roomList[0].size)
# Place the final goal in the last room
self.goal_pos = self.place_obj(Goal(), roomList[-1].top, roomList[-1].size)
self.mission = 'traverse the rooms to get to the goal'
def _placeRoom(
self,
numLeft,
roomList,
minSz,
maxSz,
entryDoorWall,
entryDoorPos
):
# Choose the room size randomly
sizeX = self._rand_int(minSz, maxSz+1)
sizeY = self._rand_int(minSz, maxSz+1)
# The first room will be at the door position
if len(roomList) == 0:
topX, topY = entryDoorPos
# Entry on the right
elif entryDoorWall == 0:
topX = entryDoorPos[0] - sizeX + 1
y = entryDoorPos[1]
topY = self._rand_int(y - sizeY + 2, y)
# Entry wall on the south
elif entryDoorWall == 1:
x = entryDoorPos[0]
topX = self._rand_int(x - sizeX + 2, x)
topY = entryDoorPos[1] - sizeY + 1
# Entry wall on the left
elif entryDoorWall == 2:
topX = entryDoorPos[0]
y = entryDoorPos[1]
topY = self._rand_int(y - sizeY + 2, y)
# Entry wall on the top
elif entryDoorWall == 3:
x = entryDoorPos[0]
topX = self._rand_int(x - sizeX + 2, x)
topY = entryDoorPos[1]
else:
assert False, entryDoorWall
# If the room is out of the grid, can't place a room here
if topX < 0 or topY < 0:
return False
if topX + sizeX > self.width or topY + sizeY >= self.height:
return False
# If the room intersects with previous rooms, can't place it here
for room in roomList[:-1]:
nonOverlap = \
topX + sizeX < room.top[0] or \
room.top[0] + room.size[0] <= topX or \
topY + sizeY < room.top[1] or \
room.top[1] + room.size[1] <= topY
if not nonOverlap:
return False
# Add this room to the list
roomList.append(Room(
(topX, topY),
(sizeX, sizeY),
entryDoorPos,
None
))
# If this was the last room, stop
if numLeft == 1:
return True
# Try placing the next room
for i in range(0, 8):
# Pick which wall to place the out door on
wallSet = set((0, 1, 2, 3))
wallSet.remove(entryDoorWall)
exitDoorWall = self._rand_elem(sorted(wallSet))
nextEntryWall = (exitDoorWall + 2) % 4
# Pick the exit door position
# Exit on right wall
if exitDoorWall == 0:
exitDoorPos = (
topX + sizeX - 1,
topY + self._rand_int(1, sizeY - 1)
)
# Exit on south wall
elif exitDoorWall == 1:
exitDoorPos = (
topX + self._rand_int(1, sizeX - 1),
topY + sizeY - 1
)
# Exit on left wall
elif exitDoorWall == 2:
exitDoorPos = (
topX,
topY + self._rand_int(1, sizeY - 1)
)
# Exit on north wall
elif exitDoorWall == 3:
exitDoorPos = (
topX + self._rand_int(1, sizeX - 1),
topY
)
else:
assert False
# Recursively create the other rooms
success = self._placeRoom(
numLeft - 1,
roomList=roomList,
minSz=minSz,
maxSz=maxSz,
entryDoorWall=nextEntryWall,
entryDoorPos=exitDoorPos
)
if success:
break
return True
class MultiRoomEnvN2S4(MultiRoomEnv):
def __init__(self):
super().__init__(
minNumRooms=2,
maxNumRooms=2,
maxRoomSize=4
)
class MultiRoomEnvN4S5(MultiRoomEnv):
def __init__(self):
super().__init__(
minNumRooms=4,
maxNumRooms=4,
maxRoomSize=5
)
class MultiRoomEnvN6(MultiRoomEnv):
def __init__(self):
super().__init__(
minNumRooms=6,
maxNumRooms=6
)
class MultiRoomEnvN7S4(MultiRoomEnv):
def __init__(self):
super().__init__(
minNumRooms=7,
maxNumRooms=7,
maxRoomSize=4
)
class MultiRoomEnvN7S8(MultiRoomEnv):
def __init__(self):
super().__init__(
minNumRooms=7,
maxNumRooms=7,
maxRoomSize=8
)
class MultiRoomEnvN10S4(MultiRoomEnv):
def __init__(self):
super().__init__(
minNumRooms=10,
maxNumRooms=10,
maxRoomSize=4
)
class MultiRoomEnvN10S10(MultiRoomEnv):
def __init__(self):
super().__init__(
minNumRooms=10,
maxNumRooms=10,
maxRoomSize=10
)
class MultiRoomEnvN12S10(MultiRoomEnv):
def __init__(self):
super().__init__(
minNumRooms=12,
maxNumRooms=12,
maxRoomSize=10
)
register(
id='MiniGrid-MultiRoom-N2-S4-v0',
entry_point='gym_minigrid.envs:MultiRoomEnvN2S4'
)
register(
id='MiniGrid-MultiRoom-N4-S5-v0',
entry_point='gym_minigrid.envs:MultiRoomEnvN4S5'
)
register(
id='MiniGrid-MultiRoom-N6-v0',
entry_point='gym_minigrid.envs:MultiRoomEnvN6'
)
register(
id='MiniGrid-MultiRoom-N7-S4-v0',
entry_point='gym_minigrid.envs:MultiRoomEnvN7S4'
)
register(
id='MiniGrid-MultiRoom-N7-S8-v0',
entry_point='gym_minigrid.envs:MultiRoomEnvN7S8'
)
register(
id='MiniGrid-MultiRoom-N10-S4-v0',
entry_point='gym_minigrid.envs:MultiRoomEnvN10S4'
)
register(
id='MiniGrid-MultiRoom-N10-S10-v0',
entry_point='gym_minigrid.envs:MultiRoomEnvN10S10'
)
register(
id='MiniGrid-MultiRoom-N12-S10-v0',
entry_point='gym_minigrid.envs:MultiRoomEnvN12S10'
) |