Merge pull request #84 from epignatelli/fix-walkable

Fix walkable

navix/_version.py

@@ -18,5 +18,5 @@
 # under the License.
 
 
-__version__ = "0.6.15"
+__version__ = "0.6.16"
 __version_info__ = tuple(int(i) for i in __version__.split(".") if i.isdigit())

navix/actions.py

@@ -70,7 +70,7 @@ def _can_walk_there(state: State, position: Array) -> Tuple[Array, EventsManager
         obstructs = jnp.logical_and(
             jnp.logical_not(state.entities[k].walkable), same_position
         )
-        walkable = jnp.logical_and(walkable, jnp.any(jnp.logical_not(obstructs)))
+        walkable = jnp.logical_and(walkable, jnp.all(jnp.logical_not(obstructs)))
     return jnp.asarray(walkable, dtype=jnp.bool_), events
 
 

navix/environments/lava_gap.py

@@ -96,36 +96,54 @@ def _reset(self, key: Array, cache: Union[RenderingCache, None] = None) -> Times
 register_env(
     "Navix-LavaGapS5-v0",
     lambda *args, **kwargs: LavaGap.create(
-        *args,
-        **kwargs,
         height=5,
         width=5,
         observation_fn=kwargs.pop("observation_fn", observations.symbolic),
         reward_fn=kwargs.pop("reward_fn", rewards.on_goal_reached),
-        termination_fn=kwargs.pop("termination_fn", terminations.on_goal_reached),
+        termination_fn=kwargs.pop(
+            "termination_fn",
+            terminations.compose(
+                terminations.on_goal_reached,
+                terminations.on_lava_fall,
+            ),
+        ),
+        *args,
+        **kwargs,
     ),
 )
 register_env(
     "Navix-LavaGapS6-v0",
     lambda *args, **kwargs: LavaGap.create(
-        *args,
-        **kwargs,
         height=6,
         width=6,
         observation_fn=kwargs.pop("observation_fn", observations.symbolic),
         reward_fn=kwargs.pop("reward_fn", rewards.on_goal_reached),
-        termination_fn=kwargs.pop("termination_fn", terminations.on_goal_reached),
+        termination_fn=kwargs.pop(
+            "termination_fn",
+            terminations.compose(
+                terminations.on_goal_reached,
+                terminations.on_lava_fall,
+            ),
+        ),
+        *args,
+        **kwargs,
     ),
 )
 register_env(
     "Navix-LavaGapS7-v0",
     lambda *args, **kwargs: LavaGap.create(
-        *args,
-        **kwargs,
         height=7,
         width=7,
         observation_fn=kwargs.pop("observation_fn", observations.symbolic),
         reward_fn=kwargs.pop("reward_fn", rewards.on_goal_reached),
-        termination_fn=kwargs.pop("termination_fn", terminations.on_goal_reached),
+        termination_fn=kwargs.pop(
+            "termination_fn",
+            terminations.compose(
+                terminations.on_goal_reached,
+                terminations.on_lava_fall,
+            ),
+        ),
+        *args,
+        **kwargs,
     ),
 )

tests/test_issues.py

@@ -0,0 +1,53 @@
+# Copyright 2023 The Navix Authors.
+
+# Licensed to the Apache Software Foundation (ASF) under one
+# or more contributor license agreements.  See the NOTICE file
+# distributed with this work for additional information
+# regarding copyright ownership.  The ASF licenses this file
+# to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance
+# with the License.  You may obtain a copy of the License at
+
+#   http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+# KIND, either express or implied.  See the License for the
+# specific language governing permissions and limitations
+# under the License.
+
+from __future__ import annotations
+
+import jax
+import jax.numpy as jnp
+
+import navix as nx
+from navix import observations
+
+
+def test_82():
+    env = nx.make(
+        "Navix-DoorKey-5x5-v0",
+        max_steps=100,
+        observation_fn=observations.rgb,
+    )
+    key = jax.random.PRNGKey(5)
+    timestep = env.reset(key)
+    # Seed 5 is:
+    # # # # #
+    # P # . #
+    # . # . #
+    # K D G #
+    # # # # #
+
+    # start agent direction = EAST
+    prev_pos = timestep.state.entities["player"].position
+    # action 2 is forward
+    timestep = env.step(timestep, 2)  # should not walk into wall
+    pos = timestep.state.entities["player"].position
+    assert jnp.array_equal(prev_pos, pos)
+
+
+if __name__ == "__main__":
+    test_82()