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new_small_maze.py
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new_small_maze.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Tue Mar 31 20:00:07 2020
@author: jingci
"""
import numpy as np
import time
import sys
if sys.version_info.major == 2:
import Tkinter as tk
else:
import tkinter as tk
UNIT = 20 # pixels
MAZE_H = 21 # grid height
MAZE_W = 21 # grid width
#shelf coordinates
X_Block_pic = [1,2,3,4,6,7,8,9,11,12,13,14,16,17,18,19]
X_Block = [element * UNIT for element in X_Block_pic]
Y_Block_pic = [5,6,8,9,11,12,14,15,17,18]
Y_Block = [element * UNIT for element in Y_Block_pic]
origin1 = np.array([70, 50])
origin2 = np.array([210,50])
origin3 = np.array([350,50])
class Maze(tk.Tk, object):
def __init__(self):
super(Maze, self).__init__()
self.action_space = ['u', 'd', 'l', 'r','w'] #up, down, left, right, wait
self.n_actions = len(self.action_space)
self.title('Warehouse')
self.geometry('{0}x{1}'.format(MAZE_H * UNIT, MAZE_H * UNIT))
self._build_maze()
def _build_maze(self):
self.canvas = tk.Canvas(self, bg='oldlace',
height=MAZE_H * UNIT,
width=MAZE_W * UNIT)
# create grids
for c in range(0, MAZE_W * UNIT, UNIT):
x0, y0, x1, y1 = c, 0, c, MAZE_H * UNIT
self.canvas.create_line(x0, y0, x1, y1)
for r in range(0, MAZE_H * UNIT, UNIT):
x0, y0, x1, y1 = 0, r, MAZE_W * UNIT, r
self.canvas.create_line(x0, y0, x1, y1)
# create operation desks
for i in range (1,16,7):
self.canvas.create_rectangle(i*UNIT, 0, (i+5)*UNIT, 2*UNIT, fill = 'sandybrown')
# create shelves
for k in range (1,17,5):
for i in range (5,18,3):
self.canvas.create_rectangle(k*UNIT, i*UNIT, (k+4)*UNIT,(i+2)*UNIT,fill='bisque4')
# create human being
self.human1 = self.canvas.create_rectangle(5*UNIT, 5*UNIT, 6*UNIT, 6*UNIT, fill='green')
self.human2 = self.canvas.create_rectangle(13*UNIT, 0, 14*UNIT, 1*UNIT, fill='green')
# create targets
self.target1 = self.canvas.create_rectangle(
19*UNIT,10*UNIT,20*UNIT,11*UNIT,
fill='light salmon')
self.target2 = self.canvas.create_rectangle(
2*UNIT,10*UNIT,3*UNIT,11*UNIT,
fill='tomato')
self.target3 = self.canvas.create_rectangle(
8*UNIT,10*UNIT,9*UNIT,11*UNIT,
fill='orangered')
# define starting points
self.org1 = self.canvas.create_rectangle(
origin1[0] - 10, origin1[1] - 10,
origin1[0] + 10, origin1[1] + 10)
self.org2 = self.canvas.create_rectangle(
origin2[0] - 10, origin2[1] - 10,
origin2[0] + 10, origin2[1] + 10)
self.org3 = self.canvas.create_rectangle(
origin3[0] - 10, origin3[1] - 10,
origin3[0] + 10, origin3[1] + 10)
#create robot1
self.rect1 = self.canvas.create_rectangle(
origin1[0] - 10, origin1[1] - 10,
origin1[0] + 10, origin1[1] + 10,
fill='SkyBlue1')
#create robot2
self.rect2 = self.canvas.create_rectangle(
origin2[0] - 10, origin2[1] - 10,
origin2[0] + 10, origin2[1] + 10,
fill='SteelBlue2')
#create robot3
self.rect3 = self.canvas.create_rectangle(
origin3[0] - 10, origin3[1] - 10,
origin3[0] + 10, origin3[1] + 10,
fill='RoyalBlue1' )
# pack all
self.canvas.pack()
def resetRobot(self):
self.update()
time.sleep(0.01)
self.canvas.delete(self.rect1)
self.canvas.delete(self.rect2)
self.canvas.delete(self.rect3)
self.rect1 = self.canvas.create_rectangle(
origin1[0] - 10, origin1[1] - 10,
origin1[0] + 10, origin1[1] + 10,
fill='SkyBlue1')
self.rect2 = self.canvas.create_rectangle(
origin2[0] - 10, origin2[1] - 10,
origin2[0] + 10, origin2[1] + 10,
fill='SteelBlue2')
self.rect3 = self.canvas.create_rectangle(
origin3[0] - 10, origin3[1] - 10,
origin3[0] + 10, origin3[1] + 10,
fill='RoyalBlue1' )
return self.canvas.coords(self.rect1), self.canvas.coords(self.rect2), self.canvas.coords(self.rect3)
def resetHuman(self):
self.update()
time.sleep(0.2)
self.canvas.delete(self.human1)
self.canvas.delete(self.human2)
self.human1 = self.canvas.create_rectangle(5*UNIT, 5*UNIT, 6*UNIT, 6*UNIT, fill='green')
self.human2 = self.canvas.create_rectangle(13*UNIT, 0, 14*UNIT, 1*UNIT, fill='green')
return self.canvas.coords(self.human1), self.canvas.coords(self.human2)
def humanStep1(self, action):
s = self.canvas.coords(self.human1)
base_action = moveAgent(s, action)
self.canvas.move(self.human1, base_action[0], base_action[1]) # move agent
s_ = self.canvas.coords(self.human1) # next state
return s_
def humanStep2(self, action):
s = self.canvas.coords(self.human2)
base_action = moveAgent(s, action)
self.canvas.move(self.human2, base_action[0], base_action[1]) # move agent
s_ = self.canvas.coords(self.human2) # next state
return s_
def returnStep1(self, action):
s = self.canvas.coords(self.rect1)
base_action = moveAgent(s, action)
self.canvas.move(self.rect1, base_action[0], base_action[1]) # move agent
s_ = self.canvas.coords(self.rect1) # next state
# reward function
if s_ == self.canvas.coords(self.org1):
reward = 50
done = 'arrive'
s_ = 'terminal'
elif s_ == self.canvas.coords(self.target2) or s_ == self.canvas.coords(self.target3):
reward = -50
done = 'hit'
s_ = 'terminal'
elif s_ == self.canvas.coords(self.org2) or s_ == self.canvas.coords(self.org3):
reward = -50
done = 'hit'
s_ = 'terminal'
elif s_[0] == 0 or s_[1] < 40 or s_[2] >= MAZE_H * UNIT or s_[3] >= MAZE_W * UNIT:
reward = -50
done = 'hit'
s_ = 'terminal'
elif int(s_[0]) in X_Block and int(s_[1]) in Y_Block:
reward = -50
done = 'hit'
s_ = 'terminal'
else:
reward = 0
done = 'nothing'
return s_, reward, done
def returnStep2(self, action):
s = self.canvas.coords(self.rect2)
base_action = moveAgent(s, action)
self.canvas.move(self.rect2, base_action[0], base_action[1]) # move agent
s_ = self.canvas.coords(self.rect2) # next state
# reward function
if s_ == self.canvas.coords(self.org2):
reward = 50
done = 'arrive'
s_ = 'terminal'
elif s_ == self.canvas.coords(self.target1) or s_ == self.canvas.coords(self.target3):
reward = -50
done = 'hit'
s_ = 'terminal'
elif s_ == self.canvas.coords(self.org1) or s_ == self.canvas.coords(self.org3):
reward = -50
done = 'hit'
s_ = 'terminal'
elif s_[0] == 0 or s_[1] < 40 or s_[2] >= MAZE_H * UNIT or s_[3] >= MAZE_W * UNIT:
reward = -50
done = 'hit'
s_ = 'terminal'
elif int(s_[0]) in X_Block and int(s_[1]) in Y_Block:
reward = -50
done = 'hit'
s_ = 'terminal'
else:
reward = 0
done = 'nothing'
return s_, reward, done
def returnStep3(self, action):
s = self.canvas.coords(self.rect3)
base_action = moveAgent(s, action)
self.canvas.move(self.rect3, base_action[0], base_action[1]) # move agent
s_ = self.canvas.coords(self.rect3) # next state
# reward function
if s_ == self.canvas.coords(self.org3):
reward = 50
done = 'arrive'
s_ = 'terminal'
elif s_ == self.canvas.coords(self.target1) or s_ == self.canvas.coords(self.target2):
reward = -50
done = 'hit'
s_ = 'terminal'
elif s_ == self.canvas.coords(self.org1) or s_ == self.canvas.coords(self.org2):
reward = -50
done = 'hit'
s_ = 'terminal'
elif s_[0] == 0 or s_[1] < 40 or s_[2] >= MAZE_H * UNIT or s_[3] >= MAZE_W * UNIT:
reward = -50
done = 'hit'
s_ = 'terminal'
elif int(s_[0]) in X_Block and int(s_[1]) in Y_Block:
reward = -50
done = 'hit'
s_ = 'terminal'
else:
reward = 0
done = 'nothing'
return s_, reward, done
def step1(self, action, obstacle=None):
s = self.canvas.coords(self.rect1)
base_action = moveAgent(s, action)
self.canvas.move(self.rect1, base_action[0], base_action[1]) # move agent
s_ = self.canvas.coords(self.rect1) # next state
# reward function
if s_ == self.canvas.coords(self.target1):
reward = 50
done = 'arrive'
s_ = 'terminal'
elif s_ == self.canvas.coords(self.target2) or s_ == self.canvas.coords(self.target3):
reward = -50
done = 'hit'
s_ = 'terminal'
elif s_[0] == 0 or s_[1] < 40 or s_[2] >= MAZE_H * UNIT or s_[3] >= MAZE_W * UNIT:
reward = -50
done = 'hit'
s_ = 'terminal'
elif int(s_[0]) in X_Block and int(s_[1]) in Y_Block:
reward = -50
done = 'hit'
s_ = 'terminal'
else:
reward = 0
done = 'nothing'
if obstacle != None:
if s_ == obstacle:
reward = -50
done = 'hit'
s_ = 'terminal'
return s_, reward, done
def step2(self, action, obstacle=None):
s = self.canvas.coords(self.rect2)
base_action = moveAgent(s, action)
self.canvas.move(self.rect2, base_action[0], base_action[1]) # move agent
s_ = self.canvas.coords(self.rect2) # next state
# reward function
if s_ == self.canvas.coords(self.target2):
reward = 50
done = 'arrive'
s_ = 'terminal'
elif s_ == self.canvas.coords(self.target1) or s_ == self.canvas.coords(self.target3):
reward = -50
done = 'hit'
s_ = 'terminal'
elif s_[0] == 0 or int(s_[1]) < 40 or s_[2] >= MAZE_H * UNIT or s_[3] >= MAZE_W * UNIT:
reward = -50
done = 'hit'
s_ = 'terminal'
elif int(s_[0]) in X_Block and int(s_[1]) in Y_Block:
reward = -50
done = 'hit'
s_ = 'terminal'
else:
reward = 0
done = 'nothing'
if obstacle != None:
if s_ == obstacle:
reward = -50
done = 'hit'
s_ = 'terminal'
return s_, reward, done
def step3(self, action, obstacle=None):
s = self.canvas.coords(self.rect3)
base_action = moveAgent(s, action)
self.canvas.move(self.rect3, base_action[0], base_action[1]) # move agent
s_ = self.canvas.coords(self.rect3) # next state
# reward function
if s_ == self.canvas.coords(self.target3):
reward = 50
done = 'arrive'
s_ = 'terminal'
elif s_ == self.canvas.coords(self.target1) or s_ == self.canvas.coords(self.target2):
reward = -50
done = 'hit'
s_ = 'terminal'
elif s_[0] == 0 or s_[1] < 40 or s_[2] >= MAZE_H * UNIT or s_[3] >= MAZE_W * UNIT:
reward = -50
done = 'hit'
s_ = 'terminal'
elif int(s_[0]) in X_Block and int(s_[1]) in Y_Block:
reward = -50
done = 'hit'
s_ = 'terminal'
else:
reward = 0
done = 'nothing'
if obstacle != None:
if s_ == obstacle:
reward = -50
done = 'hit'
s_ = 'terminal'
return s_, reward, done
def render(self):
time.sleep(0.01)
self.update()
def moveAgent(s, action):
base_action = np.array([0, 0])
if action == 0: # up
if s[1] > UNIT:
base_action[1] -= UNIT
elif action == 1: # down
if s[1] < (MAZE_H - 1) * UNIT:
base_action[1] += UNIT
elif action == 2: # right
if s[0] < (MAZE_W - 1) * UNIT:
base_action[0] += UNIT
elif action == 3: # left
if s[0] > UNIT:
base_action[0] -= UNIT
elif action == 4: # wait
base_action = np.array([0, 0])
return base_action
def update():
for t in range(10):
s1, s2 = env.resetRobot()
while True:
env.render()
s1,r1, done1 = env.step1(2)
s2,r2,done2 = env.step2(1)
if done1 == 'hit' and done2 == 'hit':
break
elif done1 == 'hit' and done2 == 'nothing':
break
elif done1 == 'arrive' and done2 == 'arrive':
break
elif s1 == s2:
break
if __name__ == '__main__':
env = Maze()
env.after(2000, update)
env.mainloop()