def set_boundaries(self, world):
boundary_list = []
landmark_size = 1
edge = 1 + landmark_size
num_landmarks = int(edge * 2 / landmark_size)
for x_pos in [-edge, edge]:
for i in range(num_landmarks):
l = Landmark()
l.state.p_pos = np.array([x_pos, -1 + i * landmark_size])
boundary_list.append(l)
for y_pos in [-edge, edge]:
for i in range(num_landmarks):
l = Landmark()
l.state.p_pos = np.array([-1 + i * landmark_size, y_pos])
boundary_list.append(l)
for i, l in enumerate(boundary_list):
l.name = 'boundary %d' % i
l.collide = True
l.movable = False
l.boundary = True
l.color = np.array([0.75, 0.75, 0.75])
l.size = landmark_size
l.state.p_vel = np.zeros(world.dim_p)
return boundary_list
def create_landmarks(self, world, number_of_landmarks):
world_landmarks = []
for i in range(number_of_landmarks):
landmark = Landmark()
landmark.name = 'landmark %d' % i
landmark.color = np.array([0.75, 0.75, 0.75])
landmark.state.p_vel = np.zeros(world.dim_p)
landmark.collide = False
landmark.movable = False
world_landmarks.append(landmark)
x = np.array([-0.9, 0.9])
y = np.array([0])
landmark_p_pos = np.transpose(
[np.repeat(x, len(y)), np.tile(y, len(x))])
for i, landmark in enumerate(world_landmarks[:2]):
landmark.state.p_pos = landmark_p_pos[i]
y = [-0.6, 0.6]
x = np.arange(-.9, 1.2, 0.2)
landmark_p_pos = np.transpose(
[np.repeat(x, len(y)), np.tile(y, len(x))])
for i, landmark in enumerate(world_landmarks[2:]):
landmark.state.p_pos = landmark_p_pos[i]
world_landmarks[0].color = np.array([0.15, 0.65, 0.15])
return world_landmarks
def set_boundaries(self, world):
boundary_list = []
landmark_size = 1
edge = 1 + landmark_size
num_landmarks = int(edge * 2 / landmark_size)
for x_pos in [-edge, edge]:
for i in range(num_landmarks):
l = Landmark()
l.state.p_pos = np.array([x_pos, -1 + i * landmark_size])
boundary_list.append(l)
for y_pos in [-edge, edge]:
for i in range(num_landmarks):
l = Landmark()
l.state.p_pos = np.array([-1 + i * landmark_size, y_pos])
boundary_list.append(l)
for i, l in enumerate(boundary_list):
l.name = 'boundary %d' % i
l.collide == True
l.movable = False
l.boundary = True
l.color = np.array([0.75, 0.75, 0.75])
l.size = landmark_size
l.state.p_vel = np.zeros(world.dim_p)
return boundary_list
def _create_landmark(self, ind):
landmark = Landmark()
ind = ind + self.num_speakers + self.num_listeners
landmark.i = ind
landmark.name = 'landmark %d' % ind
landmark.collide = False
landmark.movable = False
landmark.size = 0.04
return landmark
def create_noise_field(world_dim):
noise_field = Landmark()
noise_field.name = 'noise field'
noise_field.collide = False
noise_field.movable = False
noise_field.boundary = False
noise_field.size = ENV_NOISE_DISTANCE
noise_field.state.p_pos = np.random.uniform(-1, 1, world_dim)
noise_field.state.p_vel = np.zeros(world_dim)
noise_field.color = np.array([0.3,0.3,0.3])
return noise_field
def create_landmarks(self, world, number_of_landmarks):
world_landmarks = []
for i in range(number_of_landmarks):
landmark = Landmark()
landmark.name = 'landmark %d' % i
landmark.color = np.array([0.75, 0.75, 0.75])
landmark.state.p_vel = np.zeros(world.dim_p)
landmark.collide = False
landmark.movable = False
world_landmarks.append(landmark)
return world_landmarks
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
num_agents = 1
num_obstacle = 4
num_target = 1
world.collaborative = True
# add agents
world.agents = [Agent() for i in range(num_agents)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = True
agent.silent = True
agent.size = 0.1
# add obstacles
world.landmarks = [Landmark() for i in range(num_obstacle)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'obstacle %d' % i
landmark.collide = True
landmark.movable = False
landmark.size = 0.1
# add target
target = Landmark()
target.name = 'target'
target.collide = False
target.movable = False
target.size = 0.1
# Merge the landmarks (obstacles + target)
world.landmarks.append(target)
# make initial conditions
self.n = num_agents
self.x = [0.0, 0.0] * num_agents
self.y = [0.0, 0.0] * num_agents
self.theta = [0.0, 0.0] * num_agents
self.reset_world(world)
# Send initial information to pheromone system
self.sock_sender.send_number(self.n)
return world
def create_landmarks(self, world, number_of_landmarks):
world_landmarks = []
for i in range(number_of_landmarks):
landmark = Landmark()
landmark.name = 'landmark %d' % i
landmark.color = np.array([0.75, 0.75, 0.75])
landmark.state.p_vel = np.zeros(world.dim_p)
landmark.collide = False
landmark.movable = False
world_landmarks.append(landmark)
x = [0.0]
y = [-self.env_range, self.env_range]
for i, landmark in enumerate(world_landmarks[:2]):
landmark.state.p_pos = np.array([x[i % 1], y[i // 1]])
x = [-.9, 0.9]
y = [-.9, -0.5, 0, 0.5, 0.9]
for i, landmark in enumerate(world_landmarks[2:]):
landmark.state.p_pos = np.array([x[i // 5], y[i % 5]])
world_landmarks[0].color = np.array([0.15, 0.65, 0.15])
return world_landmarks