How Can I Import Customized Map?

[jx2518]

Hi! Really sorry for the continuous questions! As I am exploring the project, I wanted to import customized maps. I do see that in the world_maps folder there are three maps, as well as Map.py which sets up a map. But then I realized that the Map class is only imported by collision_avoidance_env.py but CollisionAvoidanceEnv class isn't subsequently imported by any one of the experiment python files such as example.py and run_full_test_suite.py. Therefore, I wonder where I can edit the map, say importing 001.png? Thank you very much for your time!

[mfe7]

Hi - no problem. I haven't tested the static map system extensively (or recently), but here are some thoughts.

The CollisionAvoidanceEnv class is somehow imported through the gym.make line in the experiment scripts (gym has a mechanism of registering environments to instantiate classes, but presumably one could simply instantiate the class directly).

In terms of specifying which map to use, I think the idea was to use an attribute in the config to tell the environment to use a static map, then something like env.set_static_map(".../map_filename.png") to tell the environment which map to use see here?

If I remember correctly, my logic for checking collisions with the static map was quite inefficient and slows down the environment a lot, but maybe this provides a starting point.

[jx2518]

Thank you so much for the quick reply, and Yes I am able to import a new map! While I was editing the code there was a minor issue which lies on line 20 of Map.py. imresize() is deprecated in SciPy 1.0.0, and removed in 1.3.0; and I was able to work around chaning it to cv2: self.static_map = cv2.resize(src=self.static_map,dsize=dims,interpolation=cv2.INTER_NEAREST).

But there is a follow-up issue that I found out: figure 0 shows the paths agents take in the original map (no obstacle); they reach their destinations.

However, when I switched to 001.png as the map, the orange agent doesn't move, blue and green agent stops at some point before reaching their destinations. I suspect that they hit the wall and then stop. But the wall isn't shown in the gif file.

So, do you know how I can make the map visible in the gif file? Thank you very much for your help!

[mfe7]

The gif is generated by combining a bunch of png files (one per timestep), so you would probably just need to add the map image to the background in this function

[jx2518]

Gotcha! Thank you very much!