# Copyright 2018 John Harwell, All rights reserved.
#
# SPDX-License-Identifier: MIT
"""Functionality for modifying/setting the size of the arena in ARGoS."""
# Core packages
import typing as tp
# 3rd party packages
# Project packages
from sierra.core.variables.base_variable import IBaseVariable
from sierra.core.utils import ArenaExtent
from sierra.core.experiment import definition
WALL_WIDTH = 0.4
[docs]
class ArenaShape(IBaseVariable):
"""Maps a list of desired arena dimensions sets of XML changes.
This class is a base class which should (almost) never be used on its
own. Instead, derived classes defined in this file should be used instead.
Attributes:
extents: List of arena extents.
"""
def __init__(self, extents: list[ArenaExtent]) -> None:
self.extents = extents
self.attr_changes = [] # type: tp.List[definition.AttrChangeSet]
[docs]
def gen_attr_changelist(self) -> list[definition.AttrChangeSet]:
"""Generate changes necessary setup ARGoS with the specified arena sizes."""
if not self.attr_changes:
for extent in self.extents:
self.attr_changes.append(self._gen_chgs_for_extent(extent))
return self.attr_changes
def _gen_chgs_for_extent(self, extent: ArenaExtent) -> definition.AttrChangeSet:
xsize = extent.xsize()
ysize = extent.ysize()
zsize = extent.zsize()
chgs = definition.AttrChangeSet(
definition.AttrChange(".//arena", "size", f"{xsize},{ysize},{zsize}"),
definition.AttrChange(
".//arena",
"center",
"{:.9f},{:.9f},{}".format(xsize / 2.0, ysize / 2.0, zsize / 2.0),
),
)
# We restrict the places robots can spawn within the arena as follows:
#
# - Subtract width of the walls so that robots do not spawn inside walls
# (which ARGoS seems to allow?).
#
# - Subtract a little bit more so robots don't get into weird states by
# being near arena boundaries on the first timestep.
#
# - All robots start on the ground with Z=0.
chgs.add(
definition.AttrChange(
".//arena/distribute/position",
"max",
"{:.9f}, {:.9f}, 0".format(
xsize - 2.0 * WALL_WIDTH * 1.1, ysize - 2.0 * WALL_WIDTH * 1.1
),
)
)
chgs.add(
definition.AttrChange(
".//arena/distribute/position",
"min",
"{:.9f}, {:.9f}, 0".format(
2.0 * WALL_WIDTH * 1.1, 2.0 * WALL_WIDTH * 1.1
),
)
)
chgs.add(
definition.AttrChange(
".//arena/*[@id='wall_north']",
"size",
"{:.9f}, {:.9f}, 0.5".format(xsize, WALL_WIDTH),
)
)
chgs.add(
definition.AttrChange(
".//arena/*[@id='wall_north']/body",
"position",
"{:.9f}, {:.9f}, 0".format(xsize / 2.0, ysize),
)
)
chgs.add(
definition.AttrChange(
".//arena/*[@id='wall_south']",
"size",
"{:.9f}, {:.9f}, 0.5".format(xsize, WALL_WIDTH),
)
)
chgs.add(
definition.AttrChange(
".//arena/*[@id='wall_north']/body",
"position",
"{:.9f}, {:.9f}, 0".format(xsize / 2.0, ysize),
)
)
chgs.add(
definition.AttrChange(
".//arena/*[@id='wall_south']",
"size",
"{:.9f}, {:.9f}, 0.5".format(xsize, WALL_WIDTH),
)
)
chgs.add(
definition.AttrChange(
".//arena/*[@id='wall_south']/body",
"position",
"{:.9f}, 0, 0 ".format(xsize / 2.0),
)
)
# East wall needs to have its X coordinate offset by the width of the
# wall / 2 in order to be centered on the boundary for the arena. This
# is necessary to ensure that the maximum X coordinate that robots can
# access is LESS than the upper boundary of physics engines incident
# along the east wall.
#
# I think this is a bug in ARGoS.
chgs.add(
definition.AttrChange(
".//arena/*[@id='wall_east']",
"size",
"{:.9f}, {:.9f}, 0.5".format(WALL_WIDTH, ysize + WALL_WIDTH),
)
)
chgs.add(
definition.AttrChange(
".//arena/*[@id='wall_east']/body",
"position",
"{:.9f}, {:.9f}, 0".format(xsize - WALL_WIDTH / 2.0, ysize / 2.0),
)
)
chgs.add(
definition.AttrChange(
".//arena/*[@id='wall_west']",
"size",
"{:.9f}, {:.9f}, 0.5".format(WALL_WIDTH, ysize + WALL_WIDTH),
)
)
chgs.add(
definition.AttrChange(
".//arena/*[@id='wall_west']/body",
"position",
"0, {:.9f}, 0".format(ysize / 2.0),
)
)
return chgs
[docs]
def gen_tag_rmlist(self) -> list[definition.ElementRmList]:
return []
[docs]
def gen_element_addlist(self) -> list[definition.ElementAddList]:
return []
[docs]
def gen_files(self) -> None:
pass
__all__ = [
"ArenaShape",
]
