def create_arena_with_red_wall(t=DEFAULT_TIME_LIMIT):
arena = Arena(t=t, items=[])
orientation = np.random.choice(['horizontal', 'vertical'])
goal_size = float(np.random.choice([1, 2, 3]))
_add_wall_to_arena(arena,
orientation='horizontal',
position=np.random.randint(10, 30),
goal_size=goal_size)
if orientation == 'horizontal':
arena.items.append(
Item(name='GoodGoalMulti',
sizes=[Vector3(1, 1, 1)] * 2,
positions=[
Vector3(-1, 0, float(np.random.randint(1, 7))),
Vector3(-1, 0, 40 - float(np.random.randint(1, 7)))
]))
else:
arena.items.append(
Item(name='GoodGoalMulti',
sizes=[Vector3(1, 1, 1)] * 2,
positions=[
Vector3(float(np.random.randint(1, 7)), 0, -1),
Vector3(40 - float(np.random.randint(1, 7)), 0, -1)
]))
return arena
def create_arena_with_different_sizes_green_goal_in_front_of_agent(
t=DEFAULT_TIME_LIMIT):
arena = Arena(t=t, items=[])
agent, x, z, angle = _create_agent_looking_center_at_random_position()
arena.items.append(agent)
size_small = DEFAULT_REWARD
size_big = DEFAULT_REWARD * 2
angle_big = angle + np.random.randint(-20, 21)
angle_small = angle + np.random.randint(-20, 21)
while abs(angle_big - angle_small) < 15:
angle_small = angle + np.random.randint(-20, 21)
arena.items.append(
_create_goal_in_front_of_agent(x,
z,
angle_big,
goal_type='GoodGoal',
min_distance=5,
max_distance=20,
size=size_big))
arena.items.append(
_create_goal_in_front_of_agent(x,
z,
angle_small,
goal_type='GoodGoal',
min_distance=5,
max_distance=20,
size=size_small))
return arena
def create_arena_with_red_houses(t=DEFAULT_TIME_LIMIT):
arena = Arena(t=t, items=[])
centers, radiuses = [], []
for idx in range(4):
not_good_center = True
while not_good_center:
not_good_center = False
radius = np.random.uniform(2, 4)
center = np.random.randint(5, 35, 2)
for _center, _radius in zip(centers, radiuses):
distance = np.sqrt(np.sum((center - _center)**2))
if distance < radius + _radius + 4:
not_good_center = True
centers.append(center)
radiuses.append(radius)
goal_size = float(np.random.uniform(1, 2))
_add_red_circle_to_arena(arena,
center=center,
radius=radius,
goal_size=goal_size)
if idx < 2:
arena.items.append(
Item(name='GoodGoalMulti',
sizes=[Vector3(1, 1, 1)],
positions=[Vector3(center[0], 0, center[1])]))
return arena
def create_arena_with_same_size_one_close_and_one_farther_goal_in_front_of_agent(
t=DEFAULT_TIME_LIMIT):
arena = Arena(t=t, items=[])
agent, x, z, angle = _create_agent_looking_center_at_random_position()
arena.items.append(agent)
size = DEFAULT_REWARD
angle_close = angle + np.random.randint(-20, 21)
angle_far = angle + np.random.randint(-20, 21)
while abs(angle_close - angle_far) < 15:
angle_far = angle + np.random.randint(-20, 21)
arena.items.append(
_create_goal_in_front_of_agent(x,
z,
angle_close,
goal_type='GoodGoal',
min_distance=5,
max_distance=10,
size=size))
arena.items.append(
_create_goal_in_front_of_agent(x,
z,
angle_far,
goal_type='GoodGoal',
min_distance=19,
max_distance=40,
size=size))
return arena
def create_arena_with_green_and_yellow_goal_in_front_of_agent(
t=DEFAULT_TIME_LIMIT):
arena = Arena(t=t, items=[])
agent, x, z, angle = _create_agent_looking_center_at_random_position()
arena.items.append(agent)
size = np.random.uniform(0.5, DEFAULT_REWARD - 0.5)
angle_yellow = angle + np.random.randint(-20, 21)
arena.items.append(
_create_goal_in_front_of_agent(x,
z,
angle_yellow,
goal_type='GoodGoalMulti',
min_distance=5,
max_distance=20,
size=size))
size = DEFAULT_REWARD - size
angle_green = angle + np.random.randint(-20, 21)
while abs(angle_yellow - angle_green) < 5:
angle_green = angle + np.random.randint(-20, 21)
arena.items.append(
_create_goal_in_front_of_agent(x,
z,
angle_green,
goal_type='GoodGoal',
min_distance=5,
max_distance=20,
size=size))
return arena
def create_arena_with_obstacles_and_deathzones(t=DEFAULT_TIME_LIMIT):
arena = Arena(t=t, items=[])
_add_rewards_to_arena(arena)
_add_zones_to_arena(arena, np.random.randint(2, 5))
_add_agent_to_arena(arena)
_add_obstacles_to_arena(arena, np.random.randint(5, 10))
_add_badgoals_to_arena(arena, np.random.randint(2, 7))
return arena
def create_arena_with_small_goal(t):
arena = Arena(t=t, items=[])
if np.random.randint(0, 2):
arena.items.append(
Item(name='GoodGoalMulti', sizes=[Vector3(0.5, 0.5, 0.5)]))
else:
arena.items.append(
Item(name='GoodGoal', sizes=[Vector3(0.5, 0.5, 0.5)]))
return arena
def create_arena_with_bouncing_goal(t):
arena = Arena(t=t, items=[])
size = float(np.random.choice([0.5, 1]))
if np.random.randint(0, 2):
arena.items.append(
Item(name='GoodGoalMultiBounce', sizes=[Vector3(size, size,
size)]))
else:
arena.items.append(
Item(name='GoodGoalBounce', sizes=[Vector3(size, size, size)]))
return arena
def create_arena_splitted_in_two_with_path_blocked(t):
arena = Arena(t=t, items=[])
_split_arena_in_two(arena, block_path=True)
for _ in range(DEFAULT_REWARD):
_add_simple_goal(arena)
_add_badgoals_to_arena(arena, np.random.randint(2, 7))
for _ in range(np.random.randint(2, 4)):
_add_random_box(arena)
for _ in range(np.random.randint(1, 3)):
_add_random_wooden_object(arena)
return arena
def create_center_blocked_arena(t):
arena = Arena(t=t, items=[])
_add_center_blocking_wall(arena)
for _ in range(DEFAULT_REWARD):
_add_simple_goal(arena)
_add_badgoals_to_arena(arena, np.random.randint(2, 7))
for _ in range(np.random.randint(2, 6)):
_add_random_box(arena)
if np.random.randint(0, 2):
_add_random_wooden_object(arena)
return arena
def create_arena_with_red_goal_coming(t=DEFAULT_TIME_LIMIT):
arena = Arena(t=t, items=[])
agent, x, z, angle = _create_agent_looking_center_closer_to_center()
arena.items.append(agent)
arena.items.append(
_create_goal_in_front_of_agent(x,
z,
angle,
goal_type='BadGoalBounce',
min_distance=15,
max_distance=20))
arena = _add_reward_to_arena(arena)
return arena
def create_arena_splitted_in_four_deathzone(t):
arena = Arena(t=t, items=[])
_split_arena_in_four(arena)
for item in arena.items:
item.name = 'DeathZone'
_add_agent_to_arena(arena)
for _ in range(DEFAULT_REWARD):
_add_simple_goal(arena)
_add_badgoals_to_arena(arena, np.random.randint(2, 7))
for _ in range(np.random.randint(2, 4)):
_add_random_box(arena)
for _ in range(np.random.randint(1, 3)):
_add_random_wooden_object(arena)
return arena
def create_arena_with_walls_maze(t, difficulty=None):
arena = Arena(t=t, items=[])
if difficulty is None:
difficulty = np.random.choice(DIFFICULTY_LEVELS)
else:
assert difficulty in DIFFICULTY_LEVELS
if difficulty == 'easy':
n_cells = 3
elif difficulty == 'medium':
n_cells = 4
elif difficulty == 'hard':
n_cells = 5
else:
raise Exception('Unknown difficulty: %s' % difficulty)
_add_walls_maze(arena, n_cells=n_cells, wall_thickness=1)
_apply_color_to_wall_maze(arena)
for _ in range(DEFAULT_REWARD):
_add_simple_goal(arena)
return arena
def create_death_zone_arena(size, t):
arena_config = ArenaConfig()
# Put green reward
item_goal = Item(name="GoodGoal",
positions=None,
rotations=None,
sizes=[Vector3(x=1, y=1, z=1)],
colors=None)
# Put Death Zone
item_death_zone = Item(name="DeathZone",
positions=None,
rotations=None,
sizes=[size],
colors=None)
items = []
items.append(item_goal)
items.append(item_death_zone)
arena = Arena(t=t, items=items, blackouts=None)
return arena
def create_arena_with_death_maze(t, difficulty=None):
arena = Arena(t=t, items=[])
if difficulty is None:
difficulty = np.random.choice(DIFFICULTY_LEVELS)
else:
assert difficulty in DIFFICULTY_LEVELS
if difficulty == 'easy':
n_cells = 3
elif difficulty == 'medium':
n_cells = np.random.randint(3, 5)
elif difficulty == 'hard':
n_cells = 4 # 5 seems to be very difficult
else:
raise Exception('Unknown difficulty: %s' % difficulty)
wall_thickness = 4
_add_walls_maze(arena, n_cells=n_cells, wall_thickness=wall_thickness)
_replace_walls_by_death_zones(arena)
for _ in range(DEFAULT_REWARD):
_add_goal_on_fixed_position(arena)
_add_agent_to_arena(arena)
return arena
def create_arena_with_yellow_goal_separated_by_wall(t=DEFAULT_TIME_LIMIT):
arena = Arena(t=t, items=[])
agent, x, z, angle = _create_agent_looking_center_at_random_position()
arena.items.append(agent)
size_small = DEFAULT_REWARD
size_big = DEFAULT_REWARD
angle_big = angle + np.random.randint(-20, 21)
angle_small = angle + np.random.randint(-20, 21)
while abs(angle_big - angle_small) < 15:
angle_small = angle + np.random.randint(-20, 21)
arena.items.append(
_create_goal_in_front_of_agent(x,
z,
angle_big,
goal_type='GoodGoalMulti',
min_distance=15,
max_distance=20,
size=size_big))
arena.items.append(
_create_wall_in_front_of_agent(x,
z,
angle,
wall_type='WallTransparent',
min_distance=11,
max_distance=14))
arena.items.append(
_create_goal_in_front_of_agent(x,
z,
angle_small,
goal_type='GoodGoal',
min_distance=5,
max_distance=10,
size=size_small))
return arena
def create_arena_with_platform_maze(t, difficulty=None):
arena = Arena(t=t, items=[])
if difficulty is None:
difficulty = np.random.choice(DIFFICULTY_LEVELS)
else:
assert difficulty in DIFFICULTY_LEVELS
if difficulty == 'easy':
n_cells = 3
elif difficulty == 'medium':
n_cells = np.random.randint(3, 5)
elif difficulty == 'hard':
n_cells = 4
else:
raise Exception('Unknown difficulty: %s' % difficulty)
wall_thickness = 6
_add_platform_maze(arena, n_cells=n_cells, wall_thickness=wall_thickness)
_apply_color_to_platform_maze(arena)
_add_goals_and_agent_to_platform_maze(arena, n_cells, wall_thickness)
item = Item(name='DeathZone', sizes=[Vector3(40, 0, 40)],
positions=[Vector3(20, 0, 20)], rotations=[0])
arena.items.append(item)
return arena
def create_arena_with_goal_on_top_of_box(t):
arena = Arena(t=t, items=[])
_add_goal_on_top_of_box(arena)
if np.random.randint(0, 2):
arena.items[-1].name = 'GoodGoal'
return arena
def create_arena_with_goal_inside_cillinder(t):
arena = Arena(t=t, items=[])
_add_goal_inside_cillinder(arena)
if np.random.randint(0, 2):
arena.items[-1].name = 'GoodGoal'
return arena
def save_arena(items, filename):
arenas = {0: Arena(t=250, items=items)}
with open('{}.yml'.format(filename), 'w') as outfile:
yaml.dump(ArenaConfig(arenas), outfile, default_flow_style=False)