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| from gym_minigrid.minigrid import * | |
| from gym_minigrid.register import register | |
| class GoToObjectEnv(MiniGridEnv): | |
| """ | |
| Environment in which the agent is instructed to go to a given object | |
| named using an English text string | |
| """ | |
| def __init__( | |
| self, | |
| size=6, | |
| numObjs=2 | |
| ): | |
| self.numObjs = numObjs | |
| super().__init__( | |
| grid_size=size, | |
| max_steps=5*size**2, | |
| # Set this to True for maximum speed | |
| see_through_walls=True | |
| ) | |
| def _gen_grid(self, width, height): | |
| self.grid = Grid(width, height) | |
| # Generate the surrounding walls | |
| self.grid.wall_rect(0, 0, width, height) | |
| # Types and colors of objects we can generate | |
| types = ['key', 'ball', 'box'] | |
| objs = [] | |
| objPos = [] | |
| # Until we have generated all the objects | |
| while len(objs) < self.numObjs: | |
| objType = self._rand_elem(types) | |
| objColor = self._rand_elem(COLOR_NAMES) | |
| # If this object already exists, try again | |
| if (objType, objColor) in objs: | |
| continue | |
| if objType == 'key': | |
| obj = Key(objColor) | |
| elif objType == 'ball': | |
| obj = Ball(objColor) | |
| elif objType == 'box': | |
| obj = Box(objColor) | |
| pos = self.place_obj(obj) | |
| objs.append((objType, objColor)) | |
| objPos.append(pos) | |
| # Randomize the agent start position and orientation | |
| self.place_agent() | |
| # Choose a random object to be picked up | |
| objIdx = self._rand_int(0, len(objs)) | |
| self.targetType, self.target_color = objs[objIdx] | |
| self.target_pos = objPos[objIdx] | |
| descStr = '%s %s' % (self.target_color, self.targetType) | |
| self.mission = 'go to the %s' % descStr | |
| #print(self.mission) | |
| def step(self, action): | |
| obs, reward, done, info = MiniGridEnv.step(self, action) | |
| ax, ay = self.agent_pos | |
| tx, ty = self.target_pos | |
| # Toggle/pickup action terminates the episode | |
| if action == self.actions.toggle: | |
| done = True | |
| # Reward performing the done action next to the target object | |
| if action == self.actions.done: | |
| if abs(ax - tx) <= 1 and abs(ay - ty) <= 1: | |
| reward = self._reward() | |
| done = True | |
| return obs, reward, done, info | |
| class GotoEnv8x8N2(GoToObjectEnv): | |
| def __init__(self): | |
| super().__init__(size=8, numObjs=2) | |
| register( | |
| id='MiniGrid-GoToObject-6x6-N2-v0', | |
| entry_point='gym_minigrid.envs:GoToObjectEnv' | |
| ) | |
| register( | |
| id='MiniGrid-GoToObject-8x8-N2-v0', | |
| entry_point='gym_minigrid.envs:GotoEnv8x8N2' | |
| ) | |