Update Maze environments (#170)

* ezpickle * auto reset-goal in empty cells * reset_target default to false --------- Co-authored-by: rodrigodelazcano <[email protected]>
Farama-Foundation · Sep 5, 2023 · eceb17e · eceb17e
1 parent 166e998
commit eceb17e
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Showing 3 changed files with 13 additions and 2 deletions.
diff --git a/gymnasium_robotics/envs/maze/ant_maze_v4.py b/gymnasium_robotics/envs/maze/ant_maze_v4.py
@@ -217,7 +217,7 @@ def __init__(
         maze_map: List[List[Union[str, int]]] = U_MAZE,
         reward_type: str = "sparse",
         continuing_task: bool = True,
-        reset_target: bool = True,
+        reset_target: bool = False,
         **kwargs,
     ):
         # Get the ant.xml path from the Gymnasium package
@@ -258,13 +258,13 @@ def __init__(
         )
 
         self.render_mode = render_mode
-
         EzPickle.__init__(
             self,
             render_mode,
             maze_map,
             reward_type,
             continuing_task,
+            reset_target,
             **kwargs,
         )
 

diff --git a/gymnasium_robotics/envs/maze/maze_v4.py b/gymnasium_robotics/envs/maze/maze_v4.py
@@ -221,6 +221,15 @@ def make_maze(
             # If there are no given "r", "g" or "c" cells in the maze data structure,
             # any empty cell can be a reset or goal location at initialization.
             maze._combined_locations = empty_locations
+        elif not maze._unique_reset_locations and not maze._combined_locations:
+            # If there are no given "r" or "c" cells in the maze data structure,
+            # any empty cell can be a reset location at initialization.
+            maze._unique_reset_locations = empty_locations
+        elif not maze._unique_goal_locations and not maze._combined_locations:
+            # If there are no given "g" or "c" cells in the maze data structure,
+            # any empty cell can be a gaol location at initialization.
+            maze._unique_goal_locations = empty_locations
+
         maze._unique_goal_locations += maze._combined_locations
         maze._unique_reset_locations += maze._combined_locations
 
@@ -375,6 +384,7 @@ def compute_terminated(
 
     def update_goal(self, achieved_goal: np.ndarray) -> None:
         """Update goal position if continuing task and within goal radius."""
+
         if (
             self.continuing_task
             and self.reset_target

diff --git a/gymnasium_robotics/envs/maze/point_maze.py b/gymnasium_robotics/envs/maze/point_maze.py
@@ -359,6 +359,7 @@ def __init__(
             render_mode,
             reward_type,
             continuing_task,
+            reset_target,
             **kwargs,
         )