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from .minigrid import *
def reject_next_to(env, pos):
"""
Function to filter out object positions that are right next to
the agent's starting point
"""
sx, sy = env.agent_pos
x, y = pos
d = abs(sx - x) + abs(sy - y)
return d < 2
class Room:
def __init__(
self,
top,
size
):
# Top-left corner and size (tuples)
self.top = top
self.size = size
# List of door objects and door positions
# Order of the doors is right, down, left, up
self.doors = [None] * 4
self.door_pos = [None] * 4
# List of rooms adjacent to this one
# Order of the neighbors is right, down, left, up
self.neighbors = [None] * 4
# Indicates if this room is behind a locked door
self.locked = False
# List of objects contained
self.objs = []
def rand_pos(self, env):
topX, topY = self.top
sizeX, sizeY = self.size
return env._randPos(
topX + 1, topX + sizeX - 1,
topY + 1, topY + sizeY - 1
)
def pos_inside(self, x, y):
"""
Check if a position is within the bounds of this room
"""
topX, topY = self.top
sizeX, sizeY = self.size
if x < topX or y < topY:
return False
if x >= topX + sizeX or y >= topY + sizeY:
return False
return True
class RoomGrid(MiniGridEnv):
"""
Environment with multiple rooms and random objects.
This is meant to serve as a base class for other environments.
"""
def __init__(
self,
room_size=7,
num_rows=3,
num_cols=3,
max_steps=100,
seed=0
):
assert room_size > 0
assert room_size >= 3
assert num_rows > 0
assert num_cols > 0
self.room_size = room_size
self.num_rows = num_rows
self.num_cols = num_cols
height = (room_size - 1) * num_rows + 1
width = (room_size - 1) * num_cols + 1
# By default, this environment has no mission
self.mission = ''
super().__init__(
width=width,
height=height,
max_steps=max_steps,
see_through_walls=False,
seed=seed
)
def room_from_pos(self, x, y):
"""Get the room a given position maps to"""
assert x >= 0
assert y >= 0
i = x // (self.room_size-1)
j = y // (self.room_size-1)
assert i < self.num_cols
assert j < self.num_rows
return self.room_grid[j][i]
def get_room(self, i, j):
assert i < self.num_cols
assert j < self.num_rows
return self.room_grid[j][i]
def _gen_grid(self, width, height):
# Create the grid
self.grid = Grid(width, height, self.nb_obj_dims)
self.room_grid = []
# For each row of rooms
for j in range(0, self.num_rows):
row = []
# For each column of rooms
for i in range(0, self.num_cols):
room = Room(
(i * (self.room_size-1), j * (self.room_size-1)),
(self.room_size, self.room_size)
)
row.append(room)
# Generate the walls for this room
self.grid.wall_rect(*room.top, *room.size)
self.room_grid.append(row)
# For each row of rooms
for j in range(0, self.num_rows):
# For each column of rooms
for i in range(0, self.num_cols):
room = self.room_grid[j][i]
x_l, y_l = (room.top[0] + 1, room.top[1] + 1)
x_m, y_m = (room.top[0] + room.size[0] - 1, room.top[1] + room.size[1] - 1)
# Door positions, order is right, down, left, up
if i < self.num_cols - 1:
room.neighbors[0] = self.room_grid[j][i+1]
room.door_pos[0] = (x_m, self._rand_int(y_l, y_m))
if j < self.num_rows - 1:
room.neighbors[1] = self.room_grid[j+1][i]
room.door_pos[1] = (self._rand_int(x_l, x_m), y_m)
if i > 0:
room.neighbors[2] = self.room_grid[j][i-1]
room.door_pos[2] = room.neighbors[2].door_pos[0]
if j > 0:
room.neighbors[3] = self.room_grid[j-1][i]
room.door_pos[3] = room.neighbors[3].door_pos[1]
# The agent starts in the middle, facing right
self.agent_pos = (
(self.num_cols // 2) * (self.room_size-1) + (self.room_size // 2),
(self.num_rows // 2) * (self.room_size-1) + (self.room_size // 2)
)
self.agent_dir = 0
def place_in_room(self, i, j, obj):
"""
Add an existing object to room (i, j)
"""
room = self.get_room(i, j)
pos = self.place_obj(
obj,
room.top,
room.size,
reject_fn=reject_next_to,
max_tries=1000
)
room.objs.append(obj)
return obj, pos
def add_object(self, i, j, kind=None, color=None):
"""
Add a new object to room (i, j)
"""
if kind == None:
kind = self._rand_elem(['key', 'ball', 'box'])
if color == None:
color = self._rand_color()
assert kind in ['key', 'ball', 'box']
if kind == 'key':
obj = Key(color)
elif kind == 'ball':
obj = Ball(color)
elif kind == 'box':
obj = Box(color)
return self.place_in_room(i, j, obj)
def add_door(self, i, j, door_idx=None, color=None, locked=None):
"""
Add a door to a room, connecting it to a neighbor
"""
room = self.get_room(i, j)
if door_idx == None:
# Need to make sure that there is a neighbor along this wall
# and that there is not already a door
while True:
door_idx = self._rand_int(0, 4)
if room.neighbors[door_idx] and room.doors[door_idx] is None:
break
if color == None:
color = self._rand_color()
if locked is None:
locked = self._rand_bool()
assert room.doors[door_idx] is None, "door already exists"
room.locked = locked
door = Door(color, is_locked=locked)
pos = room.door_pos[door_idx]
self.grid.set(*pos, door)
door.cur_pos = pos
neighbor = room.neighbors[door_idx]
room.doors[door_idx] = door
neighbor.doors[(door_idx+2) % 4] = door
return door, pos
def remove_wall(self, i, j, wall_idx):
"""
Remove a wall between two rooms
"""
room = self.get_room(i, j)
assert wall_idx >= 0 and wall_idx < 4
assert room.doors[wall_idx] is None, "door exists on this wall"
assert room.neighbors[wall_idx], "invalid wall"
neighbor = room.neighbors[wall_idx]
tx, ty = room.top
w, h = room.size
# Ordering of walls is right, down, left, up
if wall_idx == 0:
for i in range(1, h - 1):
self.grid.set(tx + w - 1, ty + i, None)
elif wall_idx == 1:
for i in range(1, w - 1):
self.grid.set(tx + i, ty + h - 1, None)
elif wall_idx == 2:
for i in range(1, h - 1):
self.grid.set(tx, ty + i, None)
elif wall_idx == 3:
for i in range(1, w - 1):
self.grid.set(tx + i, ty, None)
else:
assert False, "invalid wall index"
# Mark the rooms as connected
room.doors[wall_idx] = True
neighbor.doors[(wall_idx+2) % 4] = True
def place_agent(self, i=None, j=None, rand_dir=True):
"""
Place the agent in a room
"""
if i == None:
i = self._rand_int(0, self.num_cols)
if j == None:
j = self._rand_int(0, self.num_rows)
room = self.room_grid[j][i]
# Find a position that is not right in front of an object
while True:
super().place_agent(room.top, room.size, rand_dir, max_tries=1000)
front_cell = self.grid.get(*self.front_pos)
if front_cell is None or front_cell.type is 'wall':
break
return self.agent_pos
def connect_all(self, door_colors=COLOR_NAMES, max_itrs=5000):
"""
Make sure that all rooms are reachable by the agent from its
starting position
"""
start_room = self.room_from_pos(*self.agent_pos)
added_doors = []
def find_reach():
reach = set()
stack = [start_room]
while len(stack) > 0:
room = stack.pop()
if room in reach:
continue
reach.add(room)
for i in range(0, 4):
if room.doors[i]:
stack.append(room.neighbors[i])
return reach
num_itrs = 0
while True:
# This is to handle rare situations where random sampling produces
# a level that cannot be connected, producing in an infinite loop
if num_itrs > max_itrs:
raise RecursionError('connect_all failed')
num_itrs += 1
# If all rooms are reachable, stop
reach = find_reach()
if len(reach) == self.num_rows * self.num_cols:
break
# Pick a random room and door position
i = self._rand_int(0, self.num_cols)
j = self._rand_int(0, self.num_rows)
k = self._rand_int(0, 4)
room = self.get_room(i, j)
# If there is already a door there, skip
if not room.door_pos[k] or room.doors[k]:
continue
if room.locked or room.neighbors[k].locked:
continue
color = self._rand_elem(door_colors)
door, _ = self.add_door(i, j, k, color, False)
added_doors.append(door)
return added_doors
def add_distractors(self, i=None, j=None, num_distractors=10, all_unique=True):
"""
Add random objects that can potentially distract/confuse the agent.
"""
# Collect a list of existing objects
objs = []
for row in self.room_grid:
for room in row:
for obj in room.objs:
objs.append((obj.type, obj.color))
# List of distractors added
dists = []
while len(dists) < num_distractors:
color = self._rand_elem(COLOR_NAMES)
type = self._rand_elem(['key', 'ball', 'box'])
obj = (type, color)
if all_unique and obj in objs:
continue
# Add the object to a random room if no room specified
room_i = i
room_j = j
if room_i == None:
room_i = self._rand_int(0, self.num_cols)
if room_j == None:
room_j = self._rand_int(0, self.num_rows)
dist, pos = self.add_object(room_i, room_j, *obj)
objs.append(obj)
dists.append(dist)
return dists
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