Add second generator for grid based on MiniGrid Gym environment (#29)

Co-authored-by: Jendrik Seipp <jendrik.seipp@liu.se>

.gitignore

@@ -31,6 +31,8 @@ maintenance/maintenance
 miconic/miconic
 miconic-fulladl/miconic
 miconic-simpleadl/miconic
+minigrid/log.txt
+minigrid/grid_4room2_fpl_s3_seed0_n0.pddl
 movie/movie
 mprime/mprime
 mystery/mystery

minigrid/Makefile

@@ -0,0 +1,6 @@
+# Without this dummy target, the test target becomes the default target.
+build:
+	echo nothing to build
+
+test:
+	./mini_grid.py floorplans/4room2.fpl 3

minigrid/README.md

@@ -0,0 +1,45 @@
+# Mini-Grid
+
+This is an alternative generator for the Grid domain, which was proposed by Drew
+McDermott for the AIPS-1998 competition. You can find the original generator
+under "grid".
+
+The "minigrid" generator is inspired by the Gym environment called MiniGrid that is
+heavily used in RL/DRL. The generator, that is guaranteed to generate solvable
+and interesting instances, is from Blai Bonet (https://github.com/bonetblai/mini-grid).
+
+Random instances are generated used given floorplans which already contain "walls"
+that create rooms, and locked cells that serve as doors between rooms. On such
+floorplans, shapes and keys are randomly assigned and placed around, together
+with initial and goal position for the robot. The goal is always for the robot
+to reach a designated cell.
+
+Different floorplans are provided but new floorplans can be used in creative ways,
+not necessarily rectangular shapes. The original repository contains example
+problems generated from the given floorplans together with solutions computed
+with pyperplan.
+
+The options for the generator are:
+
+```
+usage: mini_grid.py [-h] [--seed SEED] [--debug_level DEBUG_LEVEL] [--num_instances NUM_INSTANCES] [--results RESULTS] [--floorplans_path FLOORPLANS_PATH] floorplan nshapes
+
+positional arguments:
+  floorplan             Filename for floorplan
+  nshapes               Number of shapes for locks (0 means choose it randomly)
+
+options:
+  -h, --help            show this help message and exit
+  --seed SEED           Seed for random generator (default=0)
+  --debug_level DEBUG_LEVEL
+                        Set debug level (default=0)
+  --num_instances NUM_INSTANCES
+                        Number of instances to generate (default=1)
+
+paths:
+  --results RESULTS     Path to results folders (default='')
+  --floorplans_path FLOORPLANS_PATH
+                        Path to floorplans (default='')
+```
+
+

minigrid/domain.pddl

@@ -0,0 +1,55 @@
+(define (domain grid)
+(:requirements :strips)
+(:predicates (conn ?x ?y)
+             (key-shape ?k ?s)
+             (lock-shape ?x ?s)
+             (at ?r ?x )
+	     (at-robot ?x)
+             (place ?p)
+             (key ?k)
+             (shape ?s)
+             (locked ?x)
+             (holding ?k)
+             (open ?x)
+             (arm-empty ))
+
+
+
+(:action unlock
+:parameters (?curpos ?lockpos ?key ?shape)
+:precondition (and (place ?curpos) (place ?lockpos) (key ?key) (shape ?shape)
+          (conn ?curpos ?lockpos) (key-shape ?key ?shape)
+                   (lock-shape ?lockpos ?shape) (at-robot ?curpos) 
+                   (locked ?lockpos) (holding ?key))
+:effect (and  (open ?lockpos) (not (locked ?lockpos))))
+
+
+(:action move
+:parameters (?curpos ?nextpos)
+:precondition (and (place ?curpos) (place ?nextpos)
+               (at-robot ?curpos) (conn ?curpos ?nextpos) (open ?nextpos))
+:effect (and (at-robot ?nextpos) (not (at-robot ?curpos))))
+
+(:action pickup
+:parameters (?curpos ?key)
+:precondition (and (place ?curpos) (key ?key) 
+                  (at-robot ?curpos) (at ?key ?curpos) (arm-empty ))
+:effect (and (holding ?key)
+   (not (at ?key ?curpos)) (not (arm-empty ))))
+
+
+(:action pickup-and-loose
+:parameters (?curpos ?newkey ?oldkey)
+:precondition (and (place ?curpos) (key ?newkey) (key ?oldkey)
+                  (at-robot ?curpos) (holding ?oldkey) (at ?newkey ?curpos))
+:effect (and (holding ?newkey) (at ?oldkey ?curpos)
+        (not (holding ?oldkey)) (not (at ?newkey ?curpos))))
+
+(:action putdown
+:parameters (?curpos ?key)
+:precondition (and (place ?curpos) (key ?key) 
+                  (at-robot ?curpos) (holding ?key))
+:effect (and (arm-empty ) (at ?key ?curpos) (not (holding ?key)))))
+
+
+

minigrid/floorplans/2Hroom2.fpl

@@ -0,0 +1,2 @@
+..w..
+..L..

minigrid/floorplans/2Hroom3.fpl

@@ -0,0 +1,3 @@
+...w...
+...L...
+...w...

minigrid/floorplans/2Vroom2.fpl

@@ -0,0 +1,5 @@
+..
+..
+Lw
+..
+..

minigrid/floorplans/2Vroom3.fpl

@@ -0,0 +1,7 @@
+...
+...
+...
+Lww
+...
+...
+...

minigrid/floorplans/3Hroom2.fpl

@@ -0,0 +1,2 @@
+..w..L..
+..L..w..

minigrid/floorplans/3Hroom3.fpl

@@ -0,0 +1,3 @@
+...w...L...
+...L...w...
+...w...w...

minigrid/floorplans/3Vroom2.fpl

@@ -0,0 +1,8 @@
+..
+..
+Lw
+..
+..
+wL
+..
+..

minigrid/floorplans/3Vroom3.fpl

@@ -0,0 +1,11 @@
+...
+...
+...
+Lww
+...
+...
+...
+wwL
+...
+...
+...

minigrid/floorplans/4room2.fpl

@@ -0,0 +1,5 @@
+..L..
+..w..
+LwwLw
+..w..
+..w..

minigrid/floorplans/4room3.fpl

@@ -0,0 +1,7 @@
+...L...
+...w...
+...w...
+wLwwLww
+...w...
+...w...
+...w...

minigrid/floorplans/9room2.fpl

@@ -0,0 +1,8 @@
+..L..w..
+..w..L..
+LwwwwwwL
+..L..w..
+..w..L..
+wLwwwwww
+..w..L..
+..L..w..

minigrid/floorplans/9room3.fpl

@@ -0,0 +1,11 @@
+...L...w...
+...w...L...
+...w...w...
+wLwwwwwwLww
+...L...w...
+...w...L...
+...w...w...
+wwLwwwwwwww
+...w...L...
+...w...w...
+...L...w...

minigrid/floorplans/room2.fpl

@@ -0,0 +1,2 @@
+..
+..

minigrid/floorplans/room4.fpl

@@ -0,0 +1,4 @@
+....
+....
+....
+....

minigrid/floorplans/room6.fpl

@@ -0,0 +1,6 @@
+......
+......
+......
+......
+......
+......