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Tempest_in_Action/notebooks/environments/Minigrid/minigrid/envs/babyai/unlock.py

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"""
Copied and adapted from https://github.com/mila-iqia/babyai.
Levels described in the Baby AI ICLR 2019 submission, with the `Unlock` instruction.
"""
from __future__ import annotations
from minigrid.core.constants import COLOR_NAMES
from minigrid.core.world_object import Ball, Box, Key
from minigrid.envs.babyai.core.roomgrid_level import RoomGridLevel
from minigrid.envs.babyai.core.verifier import ObjDesc, OpenInstr, PickupInstr
class Unlock(RoomGridLevel):
"""
## Description
Unlock a door.
Competencies: Maze, Open, Unlock. No unblocking.
## Mission Space
"open the {color} door"
{color} is the color of the box. Can be "red", "green", "blue", "purple",
"yellow" or "grey".
## Action Space
| Num | Name | Action |
|-----|--------------|-------------------|
| 0 | left | Turn left |
| 1 | right | Turn right |
| 2 | forward | Move forward |
| 3 | pickup | Pick up an object |
| 4 | drop | Unused |
| 5 | toggle | Unused |
| 6 | done | Unused |
## Observation Encoding
- Each tile is encoded as a 3 dimensional tuple:
`(OBJECT_IDX, COLOR_IDX, STATE)`
- `OBJECT_TO_IDX` and `COLOR_TO_IDX` mapping can be found in
[minigrid/minigrid.py](minigrid/minigrid.py)
- `STATE` refers to the door state with 0=open, 1=closed and 2=locked
## Rewards
A reward of '1 - 0.9 * (step_count / max_steps)' is given for success, and '0' for failure.
## Termination
The episode ends if any one of the following conditions is met:
1. The agent opens the correct door.
2. Timeout (see `max_steps`).
## Registered Configurations
- `BabyAI-Unlock-v0`
"""
def gen_mission(self):
# Add a locked door to a random room
id = self._rand_int(0, self.num_cols)
jd = self._rand_int(0, self.num_rows)
door, pos = self.add_door(id, jd, locked=True)
locked_room = self.get_room(id, jd)
# Add the key to a different room
while True:
ik = self._rand_int(0, self.num_cols)
jk = self._rand_int(0, self.num_rows)
if ik is id and jk is jd:
continue
self.add_object(ik, jk, "key", door.color)
break
# With 50% probability, ensure that the locked door is the only
# door of that color
if self._rand_bool():
colors = list(filter(lambda c: c is not door.color, COLOR_NAMES))
self.connect_all(door_colors=colors)
else:
self.connect_all()
# Add distractors to all but the locked room.
# We do this to speed up the reachability test,
# which otherwise will reject all levels with
# objects in the locked room.
for i in range(self.num_cols):
for j in range(self.num_rows):
if i is not id or j is not jd:
self.add_distractors(i, j, num_distractors=3, all_unique=False)
# The agent must be placed after all the object to respect constraints
while True:
self.place_agent()
start_room = self.room_from_pos(*self.agent_pos)
# Ensure that we are not placing the agent in the locked room
if start_room is locked_room:
continue
break
self.check_objs_reachable()
self.instrs = OpenInstr(ObjDesc(door.type, door.color))
class UnlockLocal(RoomGridLevel):
"""
## Description
Fetch a key and unlock a door
(in the current room)
## Mission Space
"open the door"
## Action Space
| Num | Name | Action |
|-----|--------------|-------------------|
| 0 | left | Turn left |
| 1 | right | Turn right |
| 2 | forward | Move forward |
| 3 | pickup | Pick up an object |
| 4 | drop | Unused |
| 5 | toggle | Unused |
| 6 | done | Unused |
## Observation Encoding
- Each tile is encoded as a 3 dimensional tuple:
`(OBJECT_IDX, COLOR_IDX, STATE)`
- `OBJECT_TO_IDX` and `COLOR_TO_IDX` mapping can be found in
[minigrid/minigrid.py](minigrid/minigrid.py)
- `STATE` refers to the door state with 0=open, 1=closed and 2=locked
## Rewards
A reward of '1 - 0.9 * (step_count / max_steps)' is given for success, and '0' for failure.
## Termination
The episode ends if any one of the following conditions is met:
1. The agent opens the door.
2. Timeout (see `max_steps`).
## Registered Configurations
- `BabyAI-UnlockLocal-v0`
- `BabyAI-UnlockLocalDist-v0`
"""
def __init__(self, distractors=False, **kwargs):
self.distractors = distractors
super().__init__(**kwargs)
def gen_mission(self):
door, _ = self.add_door(1, 1, locked=True)
self.add_object(1, 1, "key", door.color)
if self.distractors:
self.add_distractors(1, 1, num_distractors=3)
self.place_agent(1, 1)
self.instrs = OpenInstr(ObjDesc(door.type))
class KeyInBox(RoomGridLevel):
"""
## Description
Unlock a door. Key is in a box (in the current room).
## Mission Space
"open the door"
## Action Space
| Num | Name | Action |
|-----|--------------|-------------------|
| 0 | left | Turn left |
| 1 | right | Turn right |
| 2 | forward | Move forward |
| 3 | pickup | Pick up an object |
| 4 | drop | Unused |
| 5 | toggle | Unused |
| 6 | done | Unused |
## Observation Encoding
- Each tile is encoded as a 3 dimensional tuple:
`(OBJECT_IDX, COLOR_IDX, STATE)`
- `OBJECT_TO_IDX` and `COLOR_TO_IDX` mapping can be found in
[minigrid/minigrid.py](minigrid/minigrid.py)
- `STATE` refers to the door state with 0=open, 1=closed and 2=locked
## Rewards
A reward of '1 - 0.9 * (step_count / max_steps)' is given for success, and '0' for failure.
## Termination
The episode ends if any one of the following conditions is met:
1. The agent opens the door.
2. Timeout (see `max_steps`).
## Registered Configurations
- `BabyAI-KeyInBox-v0`
## Additional Notes
The BabyAI bot is unable to solve this level.
"""
def __init__(self, **kwargs):
super().__init__(**kwargs)
def gen_mission(self):
door, _ = self.add_door(1, 1, locked=True)
# Put the key in the box, then place the box in the room
key = Key(door.color)
box = Box(self._rand_color(), key)
self.place_in_room(1, 1, box)
self.place_agent(1, 1)
self.instrs = OpenInstr(ObjDesc(door.type))
class UnlockPickup(RoomGridLevel):
"""
## Description
Unlock a door, then pick up a box in another room
## Mission Space
"pick up the {color} box"
{color} is the color of the box. Can be "red", "green", "blue", "purple",
"yellow" or "grey".
## Action Space
| Num | Name | Action |
|-----|--------------|-------------------|
| 0 | left | Turn left |
| 1 | right | Turn right |
| 2 | forward | Move forward |
| 3 | pickup | Pick up an object |
| 4 | drop | Unused |
| 5 | toggle | Unused |
| 6 | done | Unused |
## Observation Encoding
- Each tile is encoded as a 3 dimensional tuple:
`(OBJECT_IDX, COLOR_IDX, STATE)`
- `OBJECT_TO_IDX` and `COLOR_TO_IDX` mapping can be found in
[minigrid/minigrid.py](minigrid/minigrid.py)
- `STATE` refers to the door state with 0=open, 1=closed and 2=locked
## Rewards
A reward of '1 - 0.9 * (step_count / max_steps)' is given for success, and '0' for failure.
## Termination
The episode ends if any one of the following conditions is met:
1. The agent picks up the correct box.
2. Timeout (see `max_steps`).
## Registered Configurations
- `BabyAI-UnlockPickup-v0`
- `BabyAI-UnlockPickupDist-v0`
"""
def __init__(self, distractors=False, max_steps: int | None = None, **kwargs):
self.distractors = distractors
room_size = 6
if max is None:
max_steps = 8 * room_size**2
super().__init__(
num_rows=1, num_cols=2, room_size=6, max_steps=max_steps, **kwargs
)
def gen_mission(self):
# Add a random object to the room on the right
obj, _ = self.add_object(1, 0, kind="box")
# Make sure the two rooms are directly connected by a locked door
door, _ = self.add_door(0, 0, 0, locked=True)
# Add a key to unlock the door
self.add_object(0, 0, "key", door.color)
if self.distractors:
self.add_distractors(num_distractors=4)
self.place_agent(0, 0)
self.instrs = PickupInstr(ObjDesc(obj.type, obj.color))
class BlockedUnlockPickup(RoomGridLevel):
"""
## Description
Unlock a door blocked by a ball, then pick up a box
in another room
## Mission Space
"pick up the box"
## Action Space
| Num | Name | Action |
|-----|--------------|-------------------|
| 0 | left | Turn left |
| 1 | right | Turn right |
| 2 | forward | Move forward |
| 3 | pickup | Pick up an object |
| 4 | drop | Unused |
| 5 | toggle | Unused |
| 6 | done | Unused |
## Observation Encoding
- Each tile is encoded as a 3 dimensional tuple:
`(OBJECT_IDX, COLOR_IDX, STATE)`
- `OBJECT_TO_IDX` and `COLOR_TO_IDX` mapping can be found in
[minigrid/minigrid.py](minigrid/minigrid.py)
- `STATE` refers to the door state with 0=open, 1=closed and 2=locked
## Rewards
A reward of '1 - 0.9 * (step_count / max_steps)' is given for success, and '0' for failure.
## Termination
The episode ends if any one of the following conditions is met:
1. The agent picks up the box.
2. Timeout (see `max_steps`).
## Registered Configurations
- `BabyAI-BlockedUnlockPickup-v0`
"""
def __init__(self, max_steps: int | None = None, **kwargs):
room_size = 6
if max_steps is None:
max_steps = 16 * room_size**2
super().__init__(
num_rows=1, num_cols=2, room_size=room_size, max_steps=max_steps, **kwargs
)
def gen_mission(self):
# Add a box to the room on the right
obj, _ = self.add_object(1, 0, kind="box")
# Make sure the two rooms are directly connected by a locked door
door, pos = self.add_door(0, 0, 0, locked=True)
# Block the door with a ball
color = self._rand_color()
self.grid.set(pos[0] - 1, pos[1], Ball(color))
# Add a key to unlock the door
self.add_object(0, 0, "key", door.color)
self.place_agent(0, 0)
self.instrs = PickupInstr(ObjDesc(obj.type))
class UnlockToUnlock(RoomGridLevel):
"""
## Description
Unlock a door A that requires to unlock a door B before
## Mission Space
"pick up the ball"
## Action Space
| Num | Name | Action |
|-----|--------------|-------------------|
| 0 | left | Turn left |
| 1 | right | Turn right |
| 2 | forward | Move forward |
| 3 | pickup | Pick up an object |
| 4 | drop | Unused |
| 5 | toggle | Unused |
| 6 | done | Unused |
## Observation Encoding
- Each tile is encoded as a 3 dimensional tuple:
`(OBJECT_IDX, COLOR_IDX, STATE)`
- `OBJECT_TO_IDX` and `COLOR_TO_IDX` mapping can be found in
[minigrid/minigrid.py](minigrid/minigrid.py)
- `STATE` refers to the door state with 0=open, 1=closed and 2=locked
## Rewards
A reward of '1 - 0.9 * (step_count / max_steps)' is given for success, and '0' for failure.
## Termination
The episode ends if any one of the following conditions is met:
1. The agent picks up the ball.
2. Timeout (see `max_steps`).
## Registered Configurations
- `BabyAI-UnlockToUnlock-v0`
"""
def __init__(self, max_steps: int | None = None, **kwargs):
room_size = 6
if max_steps is None:
max_steps = 30 * room_size**2
super().__init__(
num_rows=1, num_cols=3, room_size=room_size, max_steps=max_steps, **kwargs
)
def gen_mission(self):
colors = self._rand_subset(COLOR_NAMES, 2)
# Add a door of color A connecting left and middle room
self.add_door(0, 0, door_idx=0, color=colors[0], locked=True)
# Add a key of color A in the room on the right
self.add_object(2, 0, kind="key", color=colors[0])
# Add a door of color B connecting middle and right room
self.add_door(1, 0, door_idx=0, color=colors[1], locked=True)
# Add a key of color B in the middle room
self.add_object(1, 0, kind="key", color=colors[1])
obj, _ = self.add_object(0, 0, kind="ball")
self.place_agent(1, 0)
self.instrs = PickupInstr(ObjDesc(obj.type))