Gym-MiniGrid/gym_minigrid/envs/simple_envs.py

from gym_minigrid.envs.minigrid import *
from gym_minigrid.register import register

class EmptyEnv(MiniGridEnv):
    """
    Empty grid environment, no obstacles, sparse reward
    """

    def __init__(self, size=8):
        super(EmptyEnv, self).__init__(gridSize=size, maxSteps=2 * size)

class EmptyEnv6x6(EmptyEnv):
    def __init__(self):
        super(EmptyEnv6x6, self).__init__(size=6)

register(
    id='MiniGrid-Empty-8x8-v0',
    entry_point='gym_minigrid.envs:EmptyEnv'
)

register(
    id='MiniGrid-Empty-6x6-v0',
    entry_point='gym_minigrid.envs:EmptyEnv6x6'
)

class DoorKeyEnv(MiniGridEnv):
    """
    Environment with a door and key, sparse reward
    """

    def __init__(self, size=8):
        super(DoorKeyEnv, self).__init__(gridSize=size, maxSteps=4 * size)

    def _genGrid(self, width, height):
        grid = super(DoorKeyEnv, self)._genGrid(width, height)
        assert width == height
        gridSz = width

        # Create a vertical splitting wall
        splitIdx = self._randInt(2, gridSz-3)
        for i in range(0, gridSz):
            grid.set(splitIdx, i, Wall())

        # Place a door in the wall
        doorIdx = self._randInt(1, gridSz-2)
        grid.set(splitIdx, doorIdx, Door('yellow'))

        # Place a key on the left side
        #keyIdx = self._randInt(1 + gridSz // 2, gridSz-2)
        keyIdx = gridSz-2
        grid.set(1, keyIdx, Key('yellow'))

        return grid

class DoorKeyEnv16x16(DoorKeyEnv):
    def __init__(self):
        super(DoorKeyEnv16x16, self).__init__(size=16)

register(
    id='MiniGrid-Door-Key-8x8-v0',
    entry_point='gym_minigrid.envs:DoorKeyEnv'
)

register(
    id='MiniGrid-Door-Key-16x16-v0',
    entry_point='gym_minigrid.envs:DoorKeyEnv16x16'
)

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__(
            gridSize=25,
            maxSteps=self.maxNumRooms * 20
        )

    def _genGrid(self, width, height):

        roomList = []

        # Choose a random number of rooms to generate
        numRooms = self._randInt(self.minNumRooms, self.maxNumRooms+1)

        while len(roomList) < numRooms:
            curRoomList = []

            entryDoorPos = (
                self._randInt(0, width - 2),
                self._randInt(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

        # Randomize the starting agent position and direction
        topX, topY = roomList[0].top
        sizeX, sizeY = roomList[0].size
        self.startPos = (
            self._randInt(topX + 1, topX + sizeX - 2),
            self._randInt(topY + 1, topY + sizeY - 2)
        )
        self.startDir = self._randInt(0, 4)

        # Create the grid
        grid = Grid(width, height)
        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):
                grid.set(topX + i, topY, wall)
                grid.set(topX + i, topY + sizeY - 1, wall)

            # Draw the left and right walls
            for j in range(0, sizeY):
                grid.set(topX, topY + j, wall)
                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(COLORS.keys())
                if prevDoorColor:
                    doorColors.remove(prevDoorColor)
                doorColor = self._randElem(doorColors)

                entryDoor = Door(doorColor)
                grid.set(*room.entryDoorPos, entryDoor)
                prevDoorColor = doorColor

                prevRoom = roomList[idx-1]
                prevRoom.exitDoorPos = room.entryDoorPos

        # Place the final goal
        while True:
            self.goalPos = (
                self._randInt(topX + 1, topX + sizeX - 1),
                self._randInt(topY + 1, topY + sizeY - 1)
            )

            # Make sure the goal doesn't overlap with the agent
            if self.goalPos != self.startPos:
                grid.set(*self.goalPos, Goal())
                break

        return grid

    def _placeRoom(
        self,
        numLeft,
        roomList,
        minSz,
        maxSz,
        entryDoorWall,
        entryDoorPos
    ):
        # Choose the room size randomly
        sizeX = self._randInt(minSz, maxSz+1)
        sizeY = self._randInt(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._randInt(y - sizeY + 2, y)
        # Entry wall on the south
        elif entryDoorWall == 1:
            x = entryDoorPos[0]
            topX = self._randInt(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._randInt(y - sizeY + 2, y)
        # Entry wall on the top
        elif entryDoorWall == 3:
            x = entryDoorPos[0]
            topX = self._randInt(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.gridSize or topY + sizeY >= self.gridSize:
            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._randElem(wallSet)
            nextEntryWall = (exitDoorWall + 2) % 4

            # Pick the exit door position
            # Exit on right wall
            if exitDoorWall == 0:
                exitDoorPos = (
                    topX + sizeX - 1,
                    topY + self._randInt(1, sizeY - 1)
                )
            # Exit on south wall
            elif exitDoorWall == 1:
                exitDoorPos = (
                    topX + self._randInt(1, sizeX - 1),
                    topY + sizeY - 1
                )
            # Exit on left wall
            elif exitDoorWall == 2:
                exitDoorPos = (
                    topX,
                    topY + self._randInt(1, sizeY - 1)
                )
            # Exit on north wall
            elif exitDoorWall == 3:
                exitDoorPos = (
                    topX + self._randInt(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 MultiRoomEnvN6(MultiRoomEnv):
    def __init__(self):
        super(MultiRoomEnvN6, self).__init__(
            minNumRooms=6,
            maxNumRooms=6
        )

register(
    id='MiniGrid-Multi-Room-N6-v0',
    entry_point='gym_minigrid.envs:MultiRoomEnvN6',
    reward_threshold=1000.0
)

class FetchEnv(MiniGridEnv):
    """
    Environment in which the agent has to fetch a random object
    named using English text strings
    """

    def __init__(
        self,
        size=8,
        numObjs=3):
        self.numObjs = numObjs
        super(FetchEnv, self).__init__(gridSize=size, maxSteps=5*size)

    def _genGrid(self, width, height):
        assert width == height
        gridSz = width

        # Create a grid surrounded by walls
        grid = Grid(width, height)
        for i in range(0, width):
            grid.set(i, 0, Wall())
            grid.set(i, height-1, Wall())
        for j in range(0, height):
            grid.set(0, j, Wall())
            grid.set(width-1, j, Wall())

        types = ['key', 'ball']
        colors = list(COLORS.keys())

        objs = []

        # For each object to be generated
        for i in range(0, self.numObjs):
            objType = self._randElem(types)
            objColor = self._randElem(colors)

            if objType == 'key':
                obj = Key(objColor)
            elif objType == 'ball':
                obj = Ball(objColor)

            while True:
                pos = (
                    self._randInt(1, gridSz - 1),
                    self._randInt(1, gridSz - 1)
                )

                if pos != self.startPos:
                    grid.set(*pos, obj)
                    break

            objs.append(obj)

        # Choose a random object to be picked up
        target = objs[self._randInt(0, len(objs))]
        self.targetType = target.type
        self.targetColor = target.color

        descStr = '%s %s' % (self.targetColor, self.targetType)

        # Generate the mission string
        idx = self._randInt(0, 5)
        if idx == 0:
            self.mission = 'get a %s' % descStr
        elif idx == 1:
            self.mission = 'go get a %s' % descStr
        elif idx == 2:
            self.mission = 'fetch a %s' % descStr
        elif idx == 3:
            self.mission = 'go fetch a %s' % descStr
        elif idx == 4:
            self.mission = 'you must fetch a %s' % descStr
        assert hasattr(self, 'mission')

        return grid

    def _reset(self):
        obs = MiniGridEnv._reset(self)

        obs = {
            'image': obs,
            'mission': self.mission,
            'advice' : ''
        }

        return obs

    def _step(self, action):
        obs, reward, done, info = MiniGridEnv._step(self, action)

        if self.carrying:
            if self.carrying.color == self.targetColor and \
               self.carrying.type == self.targetType:
                reward = 1000 - self.stepCount
                done = True
            else:
                reward = -1000
                done = True

        obs = {
            'image': obs,
            'mission': self.mission,
            'advice': ''
        }

        return obs, reward, done, info

register(
    id='MiniGrid-Fetch-8x8-v0',
    entry_point='gym_minigrid.envs:FetchEnv'
)