You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
89 lines
2.8 KiB
89 lines
2.8 KiB
from __future__ import annotations
|
|
|
|
from minigrid.core.grid import Grid
|
|
from minigrid.core.mission import MissionSpace
|
|
from minigrid.core.world_object import Goal, Lava, SlipperyNorth, SlipperyEast, SlipperySouth, SlipperyWest, Ball
|
|
from minigrid.envs.adversaries_base import AdversaryEnv
|
|
from minigrid.core.tasks import GoTo, DoNothing, PickUpObject, PlaceObject, DoRandom, FollowAgent
|
|
|
|
import numpy as np
|
|
|
|
class AdversaryDebug(AdversaryEnv):
|
|
|
|
"""
|
|
## Description
|
|
|
|
|
|
## Registered Configurations
|
|
|
|
- `MiniGrid-Adv-8x8-v0`
|
|
- `MiniGrid-AdvLava-8x8-v0`
|
|
- `MiniGrid-AdvSlipperyLava-8x8-v0`
|
|
- `MiniGrid-AdvDebug-8x8-v0`
|
|
|
|
"""
|
|
|
|
def __init__(self, width=7, height=6, generate_wall=False, generate_lava=False, generate_slippery=False ,max_steps: int | None = None, **kwargs):
|
|
if max_steps is None:
|
|
max_steps = 10 * (width * height)**2
|
|
|
|
self.generate_wall = generate_wall
|
|
self.generate_lava = generate_lava
|
|
self.generate_slippery = generate_slippery
|
|
super().__init__(
|
|
width=width, height=height, max_steps=max_steps, **kwargs
|
|
)
|
|
|
|
|
|
def __generate_slippery(self, width, height):
|
|
self.put_obj(Lava(), 2, height - 2)
|
|
self.put_obj(Lava(), width - 2, height - 4)
|
|
|
|
self.put_obj(SlipperyEast(), 3, height-2)
|
|
self.put_obj(SlipperyWest(), 1, height-2)
|
|
self.put_obj(SlipperyNorth(), 2, height-3)
|
|
|
|
self.put_obj(SlipperyNorth(), width - 2, height-5)
|
|
self.put_obj(SlipperyWest(), width - 3, height-4)
|
|
self.put_obj(SlipperySouth(), width - 2, height-3)
|
|
|
|
|
|
def __generate_lava(self, width, height):
|
|
self.gap_pos = np.array(
|
|
(
|
|
width // 2,
|
|
height // 2,
|
|
)
|
|
)
|
|
self.grid.vert_wall(self.gap_pos[0], 1, height - 2, Lava)
|
|
|
|
# Put a hole in the wall
|
|
self.grid.set(*self.gap_pos, None)
|
|
|
|
def _gen_grid(self, width, height):
|
|
self.grid = Grid(width, height)
|
|
self.grid.wall_rect(0, 0, width, height)
|
|
|
|
|
|
self.agent_pos = np.array((1, 1))
|
|
self.agent_dir = 1
|
|
|
|
if self.generate_wall:
|
|
wall_length = 3
|
|
self.grid.horz_wall(width - wall_length - 2, 2, wall_length)
|
|
self.put_obj(SlipperyEast(), width - 3, 1)
|
|
self.put_obj(SlipperyNorth(), 3, height-2)
|
|
elif self.generate_lava:
|
|
self.__generate_lava(width, height)
|
|
|
|
elif self.generate_slippery:
|
|
self.__generate_slippery(width, height)
|
|
|
|
|
|
blue_adv = self.add_adversary(3, 3, "blue", direction=1, tasks=[FollowAgent("red", duration=5), DoRandom(duration=1)], repeating=True)
|
|
|
|
|
|
|
|
def step(self, action):
|
|
obs, reward, terminated, truncated, info = super().step(action)
|
|
return obs, reward, terminated, truncated, info
|