world.py

"""
 * The MIT License
 *
 * Copyright (c) 2024 Patrick Hammer
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 * """

import sys, random
from base_utils import Logger as log
from copy import deepcopy

#The worlds:
world = """
oooooooooooo
o   o   f  o
o          o
o   oooooooo
o x        o
o       u  o
oooooooooooo
"""
_world2 = """
oooooooooooo
o          o
o   u      o
o     ooooTo
o x        o
o          o
oooooooooooo
"""
_world3 = """
oooooooooooo
o   k o   ko
o     D b  o
o     oooooo
o x   D b  o
o     o   ko
oooooooooooo
"""
_world4 = """
oooooooooooo
o  vo   f  o
o          o
o   oooooooo
o x        o
o       u  o
oooooooooooo
"""
_world5 = """
oooooooooooo
oo          
oo          
oo         c
oox         
oo          
oooooooooooo
"""
_world6 = """
oooooooooooo
o O  4  O  o
o          o
o          o
o x  O  O  o
o          o
oooooooooooo
"""
_world7 = """
oooooooooooo
o          o
o  0 0     o
o       H  o
o x0 0     o
o          o
oooooooooooo
"""
_world8 = """
oooooooooooo
o     zzzzzo
o f z z    o
o   z z zz o
o x z z z  o
o   z   z  o
oooooooooooo
"""
_world9 = """
oooooooooooo
o          o
o     u    o
o  T     G o
o x    H   o
o          o
oooooooooooo
"""
_worldminus1 = """
oooooooooooo
ozb  o toooo
oz t 0    oo
o 0  o to oo
ooxooo0oo oo
oo obzt   oo
oooooooooooo
"""
_world0 = """
oooooooooooo
o          o
oo oooooo oo
o    f     o
o x     o  o
o          o
oooooooooooo
"""
_world_empty = """
            
            
            
            
            
            
            
            
            
            
            
"""
_world_empty_large = """
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
                         
"""
ros_connect = "-2"

_challenge_input = ""
for arg in sys.argv:
    if arg.startswith("world="):
        _challenge_input = arg.split("world=")[1]
#Description for world choice
log.world_init_message("manual" in sys.argv, _challenge_input == "")
if _challenge_input == "":
    _challenge = input()
else:
    _challenge = _challenge_input
#print('Slippery ground y/n (n default)? Causes the chosen action to have the consequence of another action in 10% of cases.')
_slippery = "slippery" in sys.argv
_isWorld5 = False
_isWorld9 = False
_isWorld0 = False
_isROSBridge = False
def getIsWorld9():
    return _isWorld9
def getIsWorld0():
    return _isWorld0
def getIsROSBridge():
    return _isROSBridge

#Whether there is a cup on the table (user-given goal demo)
def World_CupIsOnTable(world):
    for x in range(width):
        for y in range(height-1):
            if world[BOARD][y+1][x] == 'T' and world[BOARD][y][x] == 'u':
                return True
    return False

World_objective = None
if "2" == _challenge:
    world = _world2
    World_objective = World_CupIsOnTable
if "3" == _challenge:
    world = _world3
if "4" == _challenge:
    world = _world4
if "5" == _challenge:
    world = _world5
    _isWorld5 = True
if "6" == _challenge:
    world = _world6
if "7" == _challenge:
    world = _world7
if "8" == _challenge:
    world = _world8
if "9" == _challenge:
    world = _world9
    _isWorld9 = True
if "-1" == _challenge:
    world = _worldminus1
#World states:
loc = (2,4)
env = None
dir_right = 0
dir_down = 1
dir_left = 2
dir_up = 3
action_left = 0
action_right = 1
action_forward = 2
action_pick = 3
action_drop = 4
action_toggle = 5
direction = None
env = None
lastimage = None
lastreward = None

episode_id = 0
run_id = -1
episodes = -1
max_steps = -1 #1000
evalsteps = -1
step = 0
totalstep = 0
seed = -1
for arg in sys.argv:
    if arg.startswith("maxsteps="):
        max_steps = int(arg.split("maxsteps=")[1])
    if arg.startswith("runid="):
        run_id = int(arg.split("runid=")[1])
        seed = run_id - 1
    if arg.startswith("evalsteps="):
        evalsteps = int(arg.split("evalsteps=")[1])
    if arg.startswith("episodes="):
        episodes = int(arg.split("episodes=")[1])
def minigrid_digest(state):
    global direction, loc, lastimage, lastreward, step, totalstep
    step += 1
    totalstep += 1
    #print(state[0]["direction"]); exit(0)
    direction = state[0]["direction"]
    #print(state[0]['image'].shape); exit(0)
    loc = env.agent_pos
    lastimage = state[0]["image"]
    if len(state) == 5 and (lastreward == 0 or lastreward == None) and state[1] != 0:
        lastreward = state[1]
        reward = state[1]

worldstr = "MiniGrid-DoorKey-8x8-v0"
if ros_connect == _challenge: #ROS
    _isROSBridge = True
    world = _world_empty_large
    from rosgrid import *
    #_isWorld9 = True after we added everything we can allow bridge interact
if "0" == _challenge:
    world = _world0
    _isWorld0 = True
if "11" == _challenge:
    worldstr = "BabyAI-GoToRedBallNoDists-v0"
if "12" == _challenge:
    worldstr = "MiniGrid-DistShift2-v0"
if "13" == _challenge:
    worldstr = "MiniGrid-LavaGapS7-v0"
if "14" == _challenge:
    worldstr = "MiniGrid-SimpleCrossingS11N5-v0"
if "15" == _challenge:
    worldstr = "MiniGrid-LavaCrossingS11N5-v0"
if "16" == _challenge:
    worldstr = "MiniGrid-Unlock-v0"
if "17" == _challenge:
    worldstr = "MiniGrid-DoorKey-8x8-v0"
if "18" == _challenge:
    worldstr = "MiniGrid-UnlockPickup-v0"
if "19" == _challenge:
    worldstr = "MiniGrid-BlockedUnlockPickup-v0"
if "20" == _challenge: #EXT 1
    worldstr = "MiniGrid-DoorKey-16x16-v0"
    _world_empty = _world_empty_large
if "30" == _challenge:
    worldstr = "MiniGrid-Empty-6x6-v0"
    _challenge = "10"
if "31" == _challenge:
    worldstr = "MiniGrid-Empty-8x8-v0"
    _challenge = "10"
if "32" == _challenge:
    worldstr = "MiniGrid-Empty-16x16-v0"
    _world_empty = _world_empty_large
    _challenge = "10"
if "33" == _challenge:
    worldstr = "MiniGrid-Empty-Random-5x5-v0"
    _challenge = "10"
if "34" == _challenge:
    worldstr = "MiniGrid-Empty-Random-6x6-v0"
    _challenge = "10"
if "35" == _challenge:
    worldstr = "MiniGrid-FourRooms-v0"
    _world_empty = _world_empty_large
    _challenge = "10"
if "36" == _challenge:
    worldstr = "MiniGrid-MultiRoom-N6-v0"
    _world_empty = _world_empty_large
    _challenge = "10"
if "37" == _challenge:
    worldstr = "MiniGrid-SimpleCrossingS9N2"

isMinigridWorld = int(_challenge) >= 10 #Minigrid challenges start at that index
def getisMinigridWorld():
    return isMinigridWorld

if isMinigridWorld: #"9" in _challenge:
    import gymnasium as gym
    from minigrid.wrappers import *
    _isWorld5 = False #TODO
    direction = dir_down
    if "nominigrid" not in sys.argv:
        if max_steps != -1:
            env = gym.make(worldstr, render_mode='human', max_steps=max_steps)
        else:
            env = gym.make(worldstr, render_mode='human')
            max_steps = env.max_steps
            if max_steps == 0:
                max_steps = 256
                env = gym.make(worldstr, render_mode='human', max_steps=max_steps)
    else:
        if max_steps != -1:
            env = gym.make(worldstr, max_steps=max_steps)
        else:
            env = gym.make(worldstr)
            max_steps = env.max_steps
            if max_steps == 0:
                max_steps = 256
                env = gym.make(worldstr, render_mode='human', max_steps=max_steps)
    for arg in sys.argv:
        if arg.startswith("seed="):
            seed = int(arg.split("seed=")[1])
        if seed != -1:
            observation_reward_and_whatever = env.reset(seed=seed)
        else:
            observation_reward_and_whatever = env.reset()
    minigrid_digest(observation_reward_and_whatever)
    print("Observation:", observation_reward_and_whatever)
    if "nominigrid" not in sys.argv:
        env.render()
    world = _world_empty
    loc = env.agent_pos
VIEWDISTX, VIEWDISTY = (3, 2)
if _challenge == ros_connect:
    VIEWDISTX, VIEWDISTY = (10, 10)
TRASH, HUMAN,COFFEEMACHINE, WALL, ROBOT, CUP, FOOD, BATTERY, FREE, TABLE, GOAL, KEY, DOOR, ARROW_DOWN, ARROW_UP, BALL, EGG, EGGPLACE, CHICKEN, SBALL, SHOCK  = \
      ('t', 'w','G', 'o', 'x', 'u', 'f', 'b', ' ', 'T', 'H', 'k', 'D', 'v', '^', 'c', 'O', '_', '4', '0', 'z')
world=[[[*x] for x in world[1:-1].split("\n")], tuple([0, 0])]
BOARD, VALUES, TIMES = (0, 1, 2)
height, width = (len(world[BOARD]), len(world[BOARD][0]))
world.append([[float("-inf") for i in range(width)] for j in range(height)])

#Move operations to move the agent in the world:
def left(loc):
    return (loc[0]-1, loc[1])

def right(loc):
    if _isWorld5:
        return loc
    return (loc[0]+1, loc[1])

def up(loc):
    return (loc[0],   loc[1]-1)

def down(loc):
    return (loc[0],   loc[1]+1)

def pick(loc):
    return loc
def drop(loc):
    return loc
def toggle(loc):
    return loc

lastseen = set([])

def help(action):
    if action != drop:
        minigrid_digest(env.step(action_toggle))
        minigrid_digest(env.step(action_pick))

def cntEntry(world, VAL):
    cnt = 0
    for y in range(height):
        for x in range(width):
            if world[BOARD][y][x] == VAL:
                cnt += 1
    return cnt

hasReset = 0
resetscore = 0
acummulatedScore = 0
lastevaltime = -1
lastseed = seed

#Applies the effect of the movement operations, considering how different grid cell types interact with each other
def World_Move(loc, world, action, plan = None):
    global lastseen, lastreward, hasReset, resetscore, acummulatedScore, step, episode_id, lastevaltime, seed, lastseed
    lastseen = set([])
    lastreward = 0
    if _challenge == ros_connect:
        rosgrid_act(action, plan, None)
        return loc, [world[BOARD], world[VALUES], world[TIMES]]
    if env is not None:
        """if action == pick:
            minigrid_digest(env.step(action_pick))
            minigrid_digest(env.step(action_right))
            minigrid_digest(env.step(action_pick))
            minigrid_digest(env.step(action_right))
            minigrid_digest(env.step(action_pick))
            minigrid_digest(env.step(action_right))
            minigrid_digest(env.step(action_pick))
            minigrid_digest(env.step(action_right))
        if action == drop:
            minigrid_digest(env.step(action_drop))
            minigrid_digest(env.step(action_right))
            minigrid_digest(env.step(action_drop))
            minigrid_digest(env.step(action_right))
            minigrid_digest(env.step(action_drop))
            minigrid_digest(env.step(action_right))
            minigrid_digest(env.step(action_drop))
            minigrid_digest(env.step(action_right))
        if action == toggle:
            minigrid_digest(env.step(action_toggle))
            minigrid_digest(env.step(action_right))
            minigrid_digest(env.step(action_toggle))
            minigrid_digest(env.step(action_right))
            minigrid_digest(env.step(action_toggle))
            minigrid_digest(env.step(action_right))
            minigrid_digest(env.step(action_toggle))
            minigrid_digest(env.step(action_right))"""


        if action == drop: #drop below always
            if direction == dir_down:
                help(action);minigrid_digest(env.step(action_drop))
            elif direction == dir_left:
                minigrid_digest(env.step(action_left))
                help(action);minigrid_digest(env.step(action_drop))
            elif direction == dir_right:
                minigrid_digest(env.step(action_right))
                help(action);minigrid_digest(env.step(action_drop))
            elif direction == dir_up:
                minigrid_digest(env.step(action_right))
                minigrid_digest(env.step(action_right))
                help(action);minigrid_digest(env.step(action_drop))
        if action == left:
            if direction == dir_left:
                help(action);minigrid_digest(env.step(action_forward))
            if direction == dir_down:
                minigrid_digest(env.step(action_right))
                help(action);minigrid_digest(env.step(action_forward))
            if direction == dir_up:
                minigrid_digest(env.step(action_left))
                help(action);minigrid_digest(env.step(action_forward))
            if direction == dir_right:
                minigrid_digest(env.step(action_right))
                minigrid_digest(env.step(action_right))
                help(action);minigrid_digest(env.step(action_forward))
            """if lastActionIsPick:
                minigrid_digest(env.step(action_pick))
            if lastActionIsDrop:
                minigrid_digest(env.step(action_drop))
            if lastActionIsToggle:
                minigrid_digest(env.step(action_toggle))"""
        if action == right:
            if direction == dir_right:
                help(action);minigrid_digest(env.step(action_forward))
            if direction == dir_down:
                minigrid_digest(env.step(action_left))
                help(action);minigrid_digest(env.step(action_forward))
            if direction == dir_up:
                minigrid_digest(env.step(action_right))
                help(action);minigrid_digest(env.step(action_forward))
            if direction == dir_left:
                minigrid_digest(env.step(action_right))
                minigrid_digest(env.step(action_right))
                help(action);minigrid_digest(env.step(action_forward))
            """if lastActionIsPick:
                minigrid_digest(env.step(action_pick))
            if lastActionIsDrop:
                minigrid_digest(env.step(action_drop))
            if lastActionIsToggle:
                minigrid_digest(env.step(action_toggle))"""
        if action == up:
            if direction == dir_up:
                help(action);minigrid_digest(env.step(action_forward))
            if direction == dir_right:
                minigrid_digest(env.step(action_left))
                help(action);minigrid_digest(env.step(action_forward))
            if direction == dir_left:
                minigrid_digest(env.step(action_right))
                help(action);minigrid_digest(env.step(action_forward))
            if direction == dir_down:
                minigrid_digest(env.step(action_right))
                minigrid_digest(env.step(action_right))
                help(action);minigrid_digest(env.step(action_forward))
            """if lastActionIsPick:
                minigrid_digest(env.step(action_pick))
            if lastActionIsDrop:
                minigrid_digest(env.step(action_drop))
            if lastActionIsToggle:
                minigrid_digest(env.step(action_toggle))"""
        if action == down:
            if direction == dir_down:
                help(action);minigrid_digest(env.step(action_forward))
            if direction == dir_right:
                minigrid_digest(env.step(action_right))
                help(action);minigrid_digest(env.step(action_forward))
            if direction == dir_left:
                minigrid_digest(env.step(action_left))
                help(action);minigrid_digest(env.step(action_forward))
            if direction == dir_up:
                minigrid_digest(env.step(action_right))
                minigrid_digest(env.step(action_right))
                help(action);minigrid_digest(env.step(action_forward))
            """if lastActionIsPick:
                minigrid_digest(env.step(action_pick))
            if lastActionIsDrop:
                minigrid_digest(env.step(action_drop))
            if lastActionIsToggle:
                minigrid_digest(env.step(action_toggle))"""
        #help(action)
        newloc = env.agent_pos
        oldworld = deepcopy(world)

        M = {(1,0): FREE, (2,0): WALL, (4,0): FREE, (4,1): FREE, (4,2): DOOR, (5,0): KEY, (6,0): BALL, (7,0): TABLE, (8,0): GOAL, (9,0): SHOCK}
        for i in range(7):
            for j in reversed(range(7)):
                if lastimage[i,j][0] == 0:
                    break
                if direction == dir_right:
                    X = newloc[0] + (7-(j+1))
                    Y = newloc[1] + i - 3
                    lastseen.add((Y,X))
                    #print(lastimage); exit(0)
                    V = (lastimage[i,j][0], lastimage[i,j][2])
                    if V[0] != 0 and Y >= 0 and X >= 0 and Y < height and X < width:
                        #print("!!!", (X,Y), (i,j), V)
                        world[BOARD][Y][X] = M[V]
                if direction == dir_left:
                    X = newloc[0] - (7-(j+1))
                    Y = newloc[1] - i + 3
                    #print(lastimage); exit(0)
                    lastseen.add((Y,X))
                    V = (lastimage[i,j][0], lastimage[i,j][2])
                    if V[0] != 0 and Y >= 0 and X >= 0 and Y < height and X < width:
                        #print("!!!", (X,Y), (i,j), V)
                        world[BOARD][Y][X] = M[V]

                if direction == dir_up:
                    Y = newloc[1] - (7-(j+1))
                    X = newloc[0] + i - 3
                    #print(lastimage); exit(0)
                    lastseen.add((Y,X))
                    V = (lastimage[i,j][0], lastimage[i,j][2])
                    if V[0] != 0 and Y >= 0 and X >= 0 and Y < height and X < width:
                        #print("!!!", (X,Y), (i,j), V)
                        world[BOARD][Y][X] = M[V]
                if direction == dir_down:
                    Y = newloc[1] + (7-(j+1))
                    X = newloc[0] - i + 3
                    #print(lastimage); exit(0)
                    lastseen.add((Y,X))
                    V = (lastimage[i,j][0], lastimage[i,j][2])
                    if V[0] != 0 and Y >= 0 and X >= 0 and Y < height and X < width:  
                        #print("!!!", (X,Y), (i,j), V)
                        world[BOARD][Y][X] = M[V]
        world[BOARD][loc[1]][loc[0]] = FREE
        world[BOARD][newloc[1]][newloc[0]] = ROBOT
        loc = newloc
        i_inventory = 3
        j_inventory = 6
        V_inventory = lastimage[i_inventory,j_inventory][0]
        if (cntEntry(oldworld, TABLE) > cntEntry(world, TABLE)) or \
           (cntEntry(oldworld, GOAL) > cntEntry(world, GOAL)) or \
           (cntEntry(oldworld, SHOCK) > cntEntry(world, SHOCK)) or lastreward != 0:
            if lastreward > 0 or (cntEntry(oldworld, TABLE) > cntEntry(world, TABLE)) or (cntEntry(oldworld, GOAL) > cntEntry(world, GOAL)):
                lastreward = 1 #minigrid is not giving so we provide own reward
            else:
                lastreward = -1
            episode_id += 1
            acummulatedScore += lastreward
            world[VALUES] = (acummulatedScore, V_inventory)
            hasReset = 2 #ugly double reset hack is needed
            resetscore = world[VALUES][0]
            lastseed = seed
            if seed != -1:
                #Ali used seed 0-4, so we also alternate between these seeds:
                seed += 1
                if seed > 4:
                    seed = 0
            if seed != -1:
                minigrid_digest(env.reset(seed=seed))
            else:
                minigrid_digest(env.reset())
            if run_id != -1 and lastreward != 0:
                reward = 1 - 0.9 * (step / max_steps)
                if lastreward < 0:
                    reward = -1
                if (episodes != -1 and episode_id < episodes) or \
                   (evalsteps != -1 and totalstep < evalsteps):
                    eval_time = int(totalstep/100)*100+100
                    if lastevaltime == -1 and episodes == -1:
                        for missed_time in range(0, eval_time-100, 100):
                            with open("run_world"+str(_challenge_input)+"_"+str(run_id)+".run", "a") as f:
                                f.write(f"episode_id={0} timesteps={missed_time+100} length={max_steps} reward={0.0} seed={lastseed}\n")
                    if lastevaltime != eval_time or episodes != -1:
                        lastevaltime = eval_time
                        with open("run_world"+str(_challenge_input)+"_"+str(run_id)+".run", "a") as f:
                            f.write(f"episode_id={episode_id} timesteps={eval_time} length={step} reward={reward} seed={lastseed}\n")
                    if eval_time == evalsteps:
                        exit(0) #no need to evaluate further
                if episodes != -1 and episode_id >= episodes:
                    exit(0)
                if evalsteps != -1 and totalstep >= evalsteps:
                    exit(0)
                step = 0
        else:
            acummulatedScore += lastreward
            world[VALUES] = (acummulatedScore, V_inventory)
        return loc, [world[BOARD], world[VALUES], world[TIMES]]
    if _slippery and random.random() > 0.9: #agent still believes it did the proper action
        action = random.choice(actions)    #but the world is slippery!
    newloc = action(loc)
    oldworld = deepcopy(world)
    #ROBOT MOVEMENT ON FREE SPACE
    movedAgent = False
    if oldworld[BOARD][newloc[1]][newloc[0]] == FREE:
        world[BOARD][loc[1]][loc[0]] = FREE
        loc = newloc
        world[BOARD][loc[1]][loc[0]] = ROBOT
        movedAgent = True
    oldoldworld = deepcopy(oldworld)
    oldworld = deepcopy(world)
    for y in range(height):
        for x in range(width):
            if oldworld[BOARD][y][x] == BALL and world[BOARD][y][x-1] == FREE and oldoldworld[BOARD][y][x-1] == FREE:
                world[BOARD][y][x-1] = BALL
                world[BOARD][y][x] = FREE
            if oldworld[BOARD][y][x] == BALL and oldworld[BOARD][y][x-1] == WALL:
                world[BOARD][y][x] = FREE
                world[BOARD][random.choice(range(1, height-1))][width-1] = BALL
            if oldworld[BOARD][y][x] == BALL and oldoldworld[BOARD][y][x-1] == ROBOT:
                world[BOARD][y][x] = FREE
                world[BOARD][random.choice(range(1, height-1))][width-1] = BALL
                if not movedAgent:
                    world[VALUES] = tuple([world[VALUES][0] + 1] + list(world[VALUES][1:])) #the first value +1 and the rest stays
            if oldworld[BOARD][y][x] == ARROW_DOWN and oldworld[BOARD][y+1][x] == FREE:
                world[BOARD][y+1][x] = ARROW_DOWN
                world[BOARD][y][x] = FREE
            if oldworld[BOARD][y][x] == ARROW_UP and oldworld[BOARD][y-1][x] == FREE:
                world[BOARD][y-1][x] = ARROW_UP
                world[BOARD][y][x] = FREE
            if oldworld[BOARD][y][x] == ARROW_DOWN and oldworld[BOARD][y+1][x] == WALL:
                world[BOARD][y][x] = ARROW_UP
            if oldworld[BOARD][y][x] == ARROW_UP and oldworld[BOARD][y-1][x] == WALL:
                world[BOARD][y][x] = ARROW_DOWN
            if oldworld[BOARD][y][x] == CUP and oldworld[BOARD][y+1][x] == TABLE:
                if not _isWorld9:
                    world[BOARD][y][x] = FREE
                    while True:
                        xr, yr = (random.randint(0, width-1), random.randint(0, height-1))
                        if oldworld[BOARD][yr][xr] == FREE:
                            world[BOARD][yr][xr] = CUP
                            break
    #CUP
    if world[BOARD][newloc[1]][newloc[0]] == CUP: #an object the system could shift around
        world[BOARD][loc[1]][loc[0]] = CUP
        loc = newloc
        world[BOARD][loc[1]][loc[0]] = ROBOT
    #KEY
    if world[BOARD][newloc[1]][newloc[0]] == KEY:
        world[BOARD][loc[1]][loc[0]] = FREE
        loc = newloc
        world[BOARD][loc[1]][loc[0]] = ROBOT
        world[VALUES] = tuple([world[VALUES][0]] + [world[VALUES][1] + 1] + list(world[VALUES][2:])) #the second value +1 and the rest stays
    #DOOR
    if world[BOARD][newloc[1]][newloc[0]] == DOOR and world[VALUES][1] > 0:
        world[BOARD][loc[1]][loc[0]] = FREE
        loc = newloc
        world[BOARD][loc[1]][loc[0]] = ROBOT
        world[VALUES] = tuple([world[VALUES][0]] + [world[VALUES][1] - 1] + list(world[VALUES][2:])) #the second value +1 and the rest stays
    #BATTERY
    if world[BOARD][newloc[1]][newloc[0]] == BATTERY:
        world[BOARD][loc[1]][loc[0]] = FREE
        loc = newloc
        world[BOARD][loc[1]][loc[0]] = ROBOT
        world[VALUES] = tuple([world[VALUES][0] + 1] + list(world[VALUES][1:])) #the first value +1 and the rest stays
    #SHOCK
    if world[BOARD][newloc[1]][newloc[0]] == SHOCK:
        world[BOARD][loc[1]][loc[0]] = FREE
        loc = newloc
        world[BOARD][loc[1]][loc[0]] = ROBOT
        world[VALUES] = tuple([world[VALUES][0] - 1] + list(world[VALUES][1:])) #the first value -1 and the rest stays
    #TRASH
    if world[BOARD][newloc[1]][newloc[0]] == TRASH:
        world[BOARD][loc[1]][loc[0]] = FREE
        loc = newloc
        world[BOARD][loc[1]][loc[0]] = ROBOT
    #FOOD
    if world[BOARD][newloc[1]][newloc[0]] == FOOD:
        world[BOARD][loc[1]][loc[0]] = FREE
        loc = newloc
        world[BOARD][loc[1]][loc[0]] = ROBOT
        world[VALUES] = tuple([world[VALUES][0] + 1] + list(world[VALUES][1:])) #the first value +1 and the rest stays
        while True:
            x, y = (random.randint(0, width-1), random.randint(0, height-1))
            if world[BOARD][y][x] == FREE:
                world[BOARD][y][x] = FOOD
                break
    #EGG
    if world[BOARD][newloc[1]][newloc[0]] == EGG and world[VALUES][1] == 0: #can only carry 1
        world[BOARD][newloc[1]][newloc[0]] = EGGPLACE
        world[VALUES] = tuple([world[VALUES][0]] + [world[VALUES][1] + 1] + list(world[VALUES][2:]))
    elif world[BOARD][newloc[1]][newloc[0]] == EGGPLACE and world[VALUES][1] > 0:
        world[BOARD][newloc[1]][newloc[0]] = EGG
        world[VALUES] = tuple([world[VALUES][0]] + [world[VALUES][1] - 1] + list(world[VALUES][2:]))
    elif world[BOARD][newloc[1]][newloc[0]] == CHICKEN and world[VALUES][1] > 0:
        world[VALUES] = tuple([world[VALUES][0]] + [world[VALUES][1] - 1] + list(world[VALUES][2:]))
        world[VALUES] = tuple([world[VALUES][0] + 1] + list(world[VALUES][1:])) # 1 food
    #Football
    crateloc = action(newloc)
    if crateloc[1] < height and crateloc[0] < width and crateloc[1] >= 0 and crateloc[0] >= 0:
        if world[BOARD][crateloc[1]][crateloc[0]] == FREE or world[BOARD][crateloc[1]][crateloc[0]] == SHOCK:
            if world[BOARD][newloc[1]][newloc[0]] == SBALL:
                world[BOARD][loc[1]][loc[0]] = FREE
                loc = newloc
                world[BOARD][loc[1]][loc[0]] = ROBOT
                if world[BOARD][crateloc[1]][crateloc[0]] == SHOCK:
                     world[BOARD][crateloc[1]][crateloc[0]] = FREE
                else:
                    world[BOARD][crateloc[1]][crateloc[0]] = SBALL
        if world[BOARD][crateloc[1]][crateloc[0]] == GOAL and world[BOARD][newloc[1]][newloc[0]] == SBALL:
            world[BOARD][loc[1]][loc[0]] = FREE
            loc = newloc
            world[BOARD][newloc[1]][newloc[0]] = ROBOT
            world[VALUES] = tuple([world[VALUES][0] + 1] + list(world[VALUES][1:])) #the first value +1 and the rest stays
            while True:
                xr, yr = (random.randint(0, width-1), random.randint(0, height-1))
                if oldworld[BOARD][yr][xr] == FREE and xr > 1 and yr > 1 and xr < width-2 and yr < height-2 and \
                   oldworld[BOARD][yr+1][xr] == FREE and oldworld[BOARD][yr-1][xr] == FREE and \
                   oldworld[BOARD][yr][xr+1] == FREE and oldworld[BOARD][yr][xr-1] == FREE:
                    world[BOARD][yr][xr] = SBALL
                    break
    return loc, [world[BOARD], world[VALUES], world[TIMES]]

def World_Criteria(world):
    return World_objective(world)

def World_SetObjective(func):
    global World_objective
    World_objective = func

def World_GetObjective():
    return World_objective

#Print the world into the terminal
def World_Print(world):
    for line in world[BOARD]:
        print("".join(line))

#The limited field of view the agent can observe dependent on view distance (partial observability)
def World_FieldOfView(Time, loc, observed_world, world):
    global hasReset
    for Y in range(height):
        for X in range(width):
            if observed_world[TIMES][Y][X] == Time:
                observed_world[TIMES][Y][X] = Time - 1 #WHY can this ever happen??? DEBUG!
    if env is None:
        if _challenge == ros_connect:
            valid,w,h,agx,agy, data = rosgrid_perceive()
            loc = (agx,agy)
        for y in range(VIEWDISTY*2+1):
            for x in range(VIEWDISTX*2+1):
                Y = loc[1]+y-VIEWDISTY
                X = loc[0]+x-VIEWDISTX
                if Y >= 0 and Y < height and \
                   X >= 0 and X < width:
                    if _challenge != ros_connect:
                        observed_world[BOARD][Y][X] = world[BOARD][Y][X]
                        observed_world[TIMES][Y][X] = Time
                    if _challenge == ros_connect:
                        if valid and Y < h and X < w:
                            idx = Y * w + X
                            TYPE = ' '
                            if idx < len(data):
                                TYPE = rosgrid_toNACE(data[idx])
                            observed_world[BOARD][height - 1 - Y][X] = TYPE  # Upside down mapping
                            observed_world[TIMES][height - 1 - Y][X] = Time
        if _challenge == ros_connect:
            for Y in range(height):
                for X in range(width):
                        if Y == 0 or X == 0 or X == width-1 or Y == height-1:
                            observed_world[BOARD][height - 1 - Y][X] = WALL # BOUND ENVIRONMENT
    else:
        if hasReset > 0:
            world[VALUES] = (resetscore, 0)
            for y in range(height):
                for x in range(width):
                    observed_world[BOARD][y][x] = '.'
                    world[BOARD][y][x] = FREE
                    observed_world[TIMES][y][x] = Time - 1000
            observed_world[VALUES] = (resetscore, 0)
            world[VALUES] = (resetscore, 0)
            hasReset -= 1
            #PRINT("RESET!!!!!!!!!!!!")
            return loc, observed_world
        for Y in range(height):
            for X in range(width):
                if observed_world[BOARD][Y][X] == ROBOT:
                    observed_world[BOARD][Y][X] = FREE
        for Y in range(height):
            for X in range(width):
                if (Y, X) in lastseen:
                    if Y >= 0 and Y < height and \
                       X >= 0 and X < width:
                        observed_world[BOARD][Y][X] = world[BOARD][Y][X]
                        observed_world[TIMES][Y][X] = Time
    observed_world[VALUES] = deepcopy(world[VALUES])
    if _challenge == ros_connect: #location can come from observation
        loc =  (agx, agy)
    return loc, observed_world

#The world component represented as an immutable tuple
def World_AsTuple(worldpart):
    return tuple(World_AsTuple(i) if isinstance(i, list) else i for i in worldpart)

#The actions the agent can take dependent on the chosen world:
actions = [left, right, up, down]
if _isWorld5:
    actions = [up, down, right]
    VIEWDISTX, VIEWDISTY = (4, 3)
if isMinigridWorld and int(_challenge) >= 16 and int(_challenge) < 30:
    actions = [left, right, up, down, drop] #, pick, drop, toggle]
def World_Num5():
    return _isWorld5