def __init__(self, maze_str, solve_thresh=0.1, p_gain=10.0, d_gain=-1.0):
self.maze_str = maze_str
self._target = -1000 * ONES
self.p_gain = p_gain
self.d_gain = d_gain
self.solve_thresh = solve_thresh
self.vel_thresh = 0.1
self._waypoint_idx = 0
self._waypoints = []
self._waypoint_prev_loc = ZEROS
self.env = grid_env.GridEnv(grid_spec.spec_from_string(maze_str))
def __init__(self):
self.env = grid_env.GridEnv(grid_spec.spec_from_string(MAZE))
self.reset_locations = list(
zip(*np.where(self.env.gs.spec == grid_spec.EMPTY)))
def step(self, action):
self.step_count += 1
reward = 0
done = False
# Get the position in front of the agent
fwd_pos = self.front_pos
# Get the contents of the cell in front of the agent
fwd_cell = self.grid.get(*fwd_pos)
# Rotate left
if action == self.actions.left:
self.agent_dir -= 1
if self.agent_dir < 0:
self.agent_dir += 4
# Rotate right
elif action == self.actions.right:
self.agent_dir = (self.agent_dir + 1) % 4
# Move forward
elif action == self.actions.forward:
if fwd_cell == None or fwd_cell.can_overlap():
self.agent_pos = fwd_pos
if fwd_cell != None and fwd_cell.type == 'goal':
# done = True
self._agent_default_pos = self.agent_pos
self._agent_dir = self.agent_dir
env = grid_env.GridEnv(grid_spec.spec_from_string(
MAZE)) # note that the maze will be blocked
reset_locations = list(
zip(*np.where(env.gs.spec == grid_spec.EMPTY)))
# self.step_count = 0
random_loc = random.choice(reset_locations)
# reset goal...
self._goal_default_pos = random_loc
self.seed(self.seed_n)
self._gen_grid(self.width, self.height)
self.agent_dir = self._agent_dir
if fwd_cell != None and fwd_cell.type == 'lava':
done = True
# Pick up an object
elif action == self.actions.pickup:
if fwd_cell and fwd_cell.can_pickup():
if self.carrying is None:
self.carrying = fwd_cell
self.carrying.cur_pos = np.array([-1, -1])
self.grid.set(*fwd_pos, None)
# Drop an object
elif action == self.actions.drop:
if not fwd_cell and self.carrying:
self.grid.set(*fwd_pos, self.carrying)
self.carrying.cur_pos = fwd_pos
self.carrying = None
# Toggle/activate an object
elif action == self.actions.toggle:
if fwd_cell:
fwd_cell.toggle(self, fwd_pos)
# Done action (not used by default)
elif action == self.actions.done:
pass
else:
assert False, "unknown action"
if self.step_count >= self.max_steps:
done = True
obs = self.gen_obs()
reward = self._reward()
return obs, reward, done, {}