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Make sure ObstructedMaze is solvable. (#334)
Co-authored-by: Jiang Haobin <jianghaobin@pku.edu.cn>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,99 @@ | ||
| from __future__ import annotations | ||
|
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| from minigrid.core.constants import DIR_TO_VEC | ||
| from minigrid.core.roomgrid import RoomGrid | ||
| from minigrid.core.world_object import Ball, Box, Key | ||
| from minigrid.envs.obstructedmaze import ObstructedMazeEnv | ||
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| class ObstructedMaze_Full(ObstructedMazeEnv): | ||
| """ | ||
| A blue ball is hidden in one of the 4 corners of a 3x3 maze. Doors | ||
| are locked, doors are obstructed by a ball and keys are hidden in | ||
| boxes. | ||
| All doors and their corresponding blocking balls will be added first, | ||
| followed by the boxes containing the keys. | ||
| """ | ||
|
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| def __init__( | ||
| self, | ||
| agent_room=(1, 1), | ||
| key_in_box=True, | ||
| blocked=True, | ||
| num_quarters=4, | ||
| num_rooms_visited=25, | ||
| **kwargs, | ||
| ): | ||
| self.agent_room = agent_room | ||
| self.key_in_box = key_in_box | ||
| self.blocked = blocked | ||
| self.num_quarters = num_quarters | ||
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| super().__init__( | ||
| num_rows=3, num_cols=3, num_rooms_visited=num_rooms_visited, **kwargs | ||
| ) | ||
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| def _gen_grid(self, width, height): | ||
| super()._gen_grid(width, height) | ||
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| middle_room = (1, 1) | ||
| # Define positions of "side rooms" i.e. rooms that are neither | ||
| # corners nor the center. | ||
| side_rooms = [(2, 1), (1, 2), (0, 1), (1, 0)][: self.num_quarters] | ||
| for i in range(len(side_rooms)): | ||
| side_room = side_rooms[i] | ||
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||
| # Add a door between the center room and the side room | ||
| self.add_door( | ||
| *middle_room, door_idx=i, color=self.door_colors[i], locked=False | ||
| ) | ||
|
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||
| for k in [-1, 1]: | ||
| # Add a door to each side of the side room w/o placing a key | ||
| self.add_locked_door( | ||
| *side_room, | ||
| door_idx=(i + k) % 4, | ||
| color=self.door_colors[(i + k) % len(self.door_colors)], | ||
| blocked=self.blocked, | ||
| ) | ||
|
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||
| # Add keys after all doors and their blocking balls are added | ||
| for k in [-1, 1]: | ||
| self.add_key( | ||
| *side_room, | ||
| color=self.door_colors[(i + k) % len(self.door_colors)], | ||
| key_in_box=self.key_in_box, | ||
| ) | ||
|
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| corners = [(2, 0), (2, 2), (0, 2), (0, 0)][: self.num_quarters] | ||
| ball_room = self._rand_elem(corners) | ||
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| self.obj, _ = self.add_object( | ||
| ball_room[0], ball_room[1], "ball", color=self.ball_to_find_color | ||
| ) | ||
| self.place_agent(*self.agent_room) | ||
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| def add_locked_door(self, i, j, door_idx=0, color=None, blocked=False): | ||
| door, door_pos = RoomGrid.add_door(self, i, j, door_idx, color, locked=True) | ||
|
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| if blocked: | ||
| vec = DIR_TO_VEC[door_idx] | ||
| blocking_ball = Ball(self.blocking_ball_color) if blocked else None | ||
| self.grid.set(door_pos[0] - vec[0], door_pos[1] - vec[1], blocking_ball) | ||
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| return door, door_pos | ||
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| def add_key( | ||
| self, | ||
| i, | ||
| j, | ||
| color=None, | ||
| key_in_box=False, | ||
| ): | ||
| obj = Key(color) | ||
| if key_in_box: | ||
| box = Box(self.box_color) | ||
| box.contains = obj | ||
| obj = box | ||
| self.place_in_room(i, j, obj) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,75 @@ | ||
| from __future__ import annotations | ||
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| import gymnasium as gym | ||
| import pytest | ||
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| from minigrid.core.constants import COLOR_NAMES | ||
| from minigrid.core.world_object import Ball, Box | ||
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| TESTING_ENVS = [ | ||
| "MiniGrid-ObstructedMaze-2Dlhb", | ||
| "MiniGrid-ObstructedMaze-1Q", | ||
| "MiniGrid-ObstructedMaze-2Q", | ||
| "MiniGrid-ObstructedMaze-Full", | ||
| ] | ||
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| def find_ball_room(env): | ||
| for obj in env.grid.grid: | ||
| if isinstance(obj, Ball) and obj.color == COLOR_NAMES[0]: | ||
| return env.room_from_pos(*obj.cur_pos) | ||
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| def find_target_key(env, color): | ||
| for obj in env.grid.grid: | ||
| if isinstance(obj, Box) and obj.contains.color == color: | ||
| return True | ||
| return False | ||
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| def env_test(env_id, repeats=10000): | ||
| env = gym.make(env_id) | ||
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| cnt = 0 | ||
| for _ in range(repeats): | ||
| env.reset() | ||
| ball_room = find_ball_room(env) | ||
| ball_room_doors = list(filter(None, ball_room.doors)) | ||
| keys_exit = [find_target_key(env, door.color) for door in ball_room_doors] | ||
| if not any(keys_exit): | ||
| cnt += 1 | ||
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| return (cnt / repeats) * 100 | ||
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| @pytest.mark.parametrize("env_id", TESTING_ENVS) | ||
| def test_solvable_env(env_id): | ||
| assert env_test(env_id + "-v1") == 0, f"{env_id} is unsolvable." | ||
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| def main(): | ||
| """ | ||
| Test the frequency of unsolvable situation in this environment, including | ||
| MiniGrid-ObstructedMaze-2Dlhb, -1Q, -2Q, and -Full. The reason for the unsolvable | ||
| situation is that in the v0 version of these environments, the box containing | ||
| the key to the door connecting the upper-right room may be covered by the | ||
| blocking ball of the door connecting the lower-right room. | ||
| Note: Covering that occurs in MiniGrid-ObstructedMaze-Full won't lead to an | ||
| unsolvable situation. | ||
| Expected probability of unsolvable situation: | ||
| - MiniGrid-ObstructedMaze-2Dlhb-v0: 1 / 15 = 6.67% | ||
| - MiniGrid-ObstructedMaze-1Q-v0: 1/ 15 = 6.67% | ||
| - MiniGrid-ObstructedMaze-2Q-v0: 1 / 30 = 3.33% | ||
| - MiniGrid-ObstructedMaze-Full-v0: 0% | ||
| """ | ||
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| for env_id in TESTING_ENVS: | ||
| print(f"{env_id}: {env_test(env_id + '-v0'):.2f}% unsolvable.") | ||
| for env_id in TESTING_ENVS: | ||
| print(f"{env_id}: {env_test(env_id + '-v1'):.2f}% unsolvable.") | ||
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| if __name__ == "__main__": | ||
| main() |