def do_mate(world, ra, rb):
"""
:param world:
:param ra:
:param rb:
:return:
"""
mate = None
num_attempts = 0
while num_attempts < 10:
# Attempt reproduction
mate = yield From(world.attempt_mate(ra, rb))
if mate:
break
num_attempts += 1
# logger.debug("Mates selected, highlighting points...")
new_pos = pick_position()
new_pos.z = insert_z
# hls = yield From(create_highlights(
# world, ra.last_position, rb.last_position, new_pos))
# yield From(trollius.sleep(2))
if mate:
logger.debug("Inserting child...")
child, bbox = mate
pose = Pose(position=new_pos)
spawn_robot(world, tree=child, pose=pose, parents=[ra, rb])
else:
logger.debug("Could not mate")
def cleanup(world, max_bots=10, remove_from=5):
"""
Removes the slowest of the oldest `remove_from` robots from
the world if there are more than `max_bots`
:param world:
:type world: World
:return:
"""
if len(world.robots) <= max_bots:
return
logger.debug("Automatically removing the slowest of the oldest %d robots..." % remove_from)
# Get the oldest `num` robots
robots = sorted(world.robot_list(), key=lambda r: r.age(), reverse=True)[:remove_from]
# Get the slowest robot
slowest = sorted(robots, key=lambda r: r.velocity())[0]
fut, hl = yield From(world.add_highlight(slowest.last_position, (50, 50, 50, 50)))
yield From(fut)
yield From(trollius.sleep(1))
# Delete it from the world
fut = yield From(world.delete_robot(slowest))
yield From(trollius.sleep(1))
yield From(remove_highlights(world, [hl]))
yield From(fut)
def build_arena(self):
"""
Initializes the arena by building square arena wall blocks.
:return: Future that resolves when arena building is done.
"""
logger.debug("Building the arena...")
n = self.conf.num_wall_segments
r = self.conf.world_diameter * 0.5
frac = 2 * math.pi / n
points = [Vector3(r * math.cos(i * frac), r * math.sin(i * frac), 0) for i in range(n)]
fut = yield From(self.build_walls(points))
raise Return(fut)
def build_arena(self):
"""
Initializes the arena by building square arena wall blocks.
:return: Future that resolves when arena building is done.
"""
logger.debug("Building the arena...")
n = self.conf.num_wall_segments
futs = []
r = self.conf.world_diameter * 0.5
frac = 2 * math.pi / n
points = [Vector3(r * math.cos(i * frac), r * math.sin(i * frac), 0) for i in range(n)]
fut = yield From(self.build_walls(points))
futs.append(fut)
raise Return(multi_future(futs))
def automatic_mode(args, world, state):
"""
:param args:
:param world:
:return:
"""
logger.debug("Simulating (make sure the world is running)...")
yield From(sleep_sim_time(world, 5 if args.fast else 15, state))
if not state[0]:
logger.debug("Selecting robots to reproduce...")
robots = world.robot_list()
ra, rb = random.sample(robots, 2)
yield From(do_mate(world, ra, rb))
def do_mate(world, ra, rb):
"""
:param world:
:param ra:
:param rb:
:return:
"""
mate = None
while True:
# Attempt reproduction
mate = yield From(world.attempt_mate(ra, rb))
if mate:
break
logger.debug("Mates selected, highlighting points...")
new_pos = get_insert_position(world.conf, ra, rb, world)
new_pos.z = insert_z
hls = yield From(create_highlights(
world, ra.last_position, rb.last_position, new_pos))
yield From(trollius.sleep(2))
logger.debug("Inserting child...")
child, bbox = mate
pose = Pose(position=new_pos)
future = yield From(world.insert_robot(child, pose, parents=[ra, rb]))
yield From(future)
yield From(sleep_sim_time(world, 1.8))
logger.debug("Removing highlights...")
yield From(remove_highlights(world, hls))
# ToL
from tol.config import Config, constants
from tol.manage import World
from tol.logging import logger, output_console
# Output logs to console
output_console()
# Set command line seed if supplied, otherwise choose a random number
if len(sys.argv) > 1:
seed = int(sys.argv[1])
else:
seed = random.randint(0, 1000000)
random.seed(seed)
logger.debug("Seed: %d" % seed)
def get_circle_poses(n, radius):
"""
:param n:
:param radius:
:return:
"""
shift = 2.0 * math.pi / n
poses = []
for i in xrange(n):
angle = i * shift
x, y = radius * math.cos(angle), radius * math.sin(angle)
starting_rotation = Quaternion.from_angle_axis(math.pi + angle, Vector3(0, 0, 1))
# ToL
from tol.config import Config, constants
from tol.manage import World
from tol.logging import logger, output_console
# Output logs to console
output_console()
# Set command line seed if supplied, otherwise choose a random number
if len(sys.argv) > 1:
seed = int(sys.argv[1])
else:
seed = random.randint(0, 1000000)
random.seed(seed)
logger.debug("Seed: %d" % seed)
def get_circle_poses(n, radius):
"""
:param n:
:param radius:
:return:
"""
shift = 2.0 * math.pi / n
poses = []
for i in xrange(n):
angle = i * shift
x, y = radius * math.cos(angle), radius * math.sin(angle)
starting_rotation = Quaternion.from_angle_axis(math.pi + angle, Vector3(0, 0, 1))
