def setup_geometry(self, env):
""" create geoms and transforms for basic agents and landmarks
"""
# lazy import
from multiagent import rendering
if getattr(env, "render_dict", None) is not None:
return
env.render_dict = {}
# make geometries and transforms
for entity in env.world.entities:
name = entity.name
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
# agent on top, other entity to background
alpha = 0.6 if "agent" in name else 0.5
geom.set_color(*entity.color, alpha=alpha)
geom.add_attr(xform)
env.render_dict[name] = {
"geom": geom,
"xform": xform,
"attach_ent": entity
}
# VIS: show visual range/receptor field
if 'agent' in entity.name and env.show_visual_range:
vis_geom = rendering.make_circle(entity.vision_range)
vis_geom.set_color(*entity.color, alpha=0.2)
vis_xform = rendering.Transform()
vis_geom.add_attr(vis_xform)
env.render_dict[name+"_vis"] = {
"geom": vis_geom,
"xform": vis_xform,
"attach_ent": entity
}
# LABEL: display type & numbering
prefix = "A" if "agent" in entity.name else "L"
idx = int(name.split(" ")[-1])
x = entity.state.p_pos[0]
y = entity.state.p_pos[1]
label_geom = rendering.Text("{}{}".format(prefix,idx), position=(x,y), font_size=30)
label_xform = rendering.Transform()
label_geom.add_attr(label_xform)
env.render_dict[name+"_label"] = {
"geom": label_geom,
"xform": label_xform,
"attach_ent": entity
}
# add geoms to viewer
for viewer in env.viewers:
viewer.geoms = []
for k, d in env.render_dict.items():
viewer.add_geom(d["geom"])
def getNewLine(self, x1, y1, x2, y2):
from multiagent import rendering
x11 = 100 * x1
y11 = 100 * y1
x22 = 100 * x2
y22 = 100 * y2
m = 20 # 表示每边截掉的长度
if x11 == x22:
if y11 > y22:
long_line = rendering.Line(
(x11 - 5, y11 - m), (x22 - 5, y22 + m)) # move left, r=6
circle = rendering.make_circle(radius=5, res=30)
circle_transform = rendering.Transform(
translation=(x11 - 5 + 50, y11 - m + 50))
#circle_transform = rendering.Transform(translation=(x11-5,y11-m)
elif y11 < y22:
long_line = rendering.Line((x11 + 5, y11 + m),
(x22 + 5, y22 - m)) # move right
circle = rendering.make_circle(radius=5, res=30)
circle_transform = rendering.Transform(
translation=(x11 + 5 + 50, y11 + m + 50))
#short_line = rendering.Line((x11 + 5 - n_vih1, y11 + m), (x11 + 5 + n_vih1, y11 + m))
else:
print('1,It is a point rather than a line')
elif y11 == y22:
if x11 > x22:
long_line = rendering.Line((x11 - m, y11 + 5),
(x22 + m, y22 + 5)) # move up
circle = rendering.make_circle(radius=5, res=30)
circle_transform = rendering.Transform(
translation=(x11 - m + 50, y11 + 5 + 50))
#short_line = rendering.Line((x11 - m, y11 + 5 - n_vih1), (x11 - m, y11 + 5 + n_vih1))
elif x11 < x22:
long_line = rendering.Line((x11 + m, y11 - 5),
(x22 - m, y22 - 5)) # move down
circle = rendering.make_circle(radius=5, res=30)
circle_transform = rendering.Transform(
translation=(x11 + m + 50, y11 - 5 + 50))
#short_line = rendering.Line((x11 + m, y11 - 5 - n_vih1), (x11 + m, y11 - 5 + n_vih1))
else:
print('2,It is a point rather than a line')
else:
print('3,It is not a line')
self._transform = rendering.Transform(translation=(50, 50))
long_line.add_attr(self._transform)
long_line.set_linewidth(4)
self.viewer.add_geom(long_line)
# short_line.set_color(0, 0, 0)
circle.add_attr(circle_transform)
self.viewer.add_geom(circle)
newline = []
newline.append(circle)
newline.append(long_line)
return newline
def _add_geoms_to_viewer(self):
black_list = [] # not render agent in its own viewer
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
# from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
for entity in self.entities:
geom = rendering.make_circle(
entity.size
) if 'surface' not in entity.name else rendering.make_polygon_with_hole(
entity.poly)
xform = rendering.Transform()
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.5)
black_list.append(geom)
elif 'surface' in entity.name:
geom.set_color(entity.color)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add geoms to viewer
for i, viewer in enumerate(self.viewers):
viewer.geoms = []
for geom in self.render_geoms:
if geom == black_list[i]: continue
viewer.add_geom(geom)
def setup_geometry(self):
# lazy import
from multiagent import rendering
if self.render_dict is not None:
return
self.render_dict = {}
# make geometries and transforms
for entity in self.world.entities:
name = entity.name
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
# agent on top, other entity to background
alpha = 1.0 if "agent" in name else 0.5
geom.set_color(*entity.color, alpha=alpha)
geom.add_attr(xform)
self.render_dict[name] = {
"geom": geom,
"xform": xform,
"attach_ent": entity
}
# LABEL: display type & numbering
prefix = "A" if "agent" in entity.name else "L"
idx = int(name.split(" ")[-1])
x = entity.state.p_pos[0]
y = entity.state.p_pos[1]
label_geom = rendering.Text("{}{}".format(prefix, idx),
position=(x, y),
font_size=30)
label_xform = rendering.Transform()
label_geom.add_attr(label_xform)
self.render_dict[name + "_label"] = {
"geom": label_geom,
"xform": label_xform,
"attach_ent": entity
}
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for k, d in self.render_dict.items():
viewer.add_geom(d["geom"])
def _reset_viewers(self):
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = RoadViewer(STATE_W, STATE_H)
self.transforms[i] = rendering.Transform()
def render(self, mode='human'):
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for agent in self.world.agents:
for other in self.world.agents:
if other is agent: continue
word = '_'
message += (other.name + ' to ' + agent.name + ': ' + word + ' ')
# print(message)
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
# from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(800, 800) # 修改显示框大小
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
# from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
for entity in self.world.entities:
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.5)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
results = []
for i in range(len(self.viewers)):
from multiagent import rendering
# 设置显示框
self.viewers[i].set_bounds(-30, +30, -30, +30)
# update geometry positions
for e, entity in enumerate(self.world.entities):
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
# render to display or array
results.append(self.viewers[i].render(return_rgb_array = mode=='rgb_array'))
return results
def render(self):
# oberservation radius
geom = rendering.make_circle(self.observation_radius)
geom.set_color(*self.color, alpha=0.05)
xform = rendering.Transform()
xform.set_translation(*self.state.p_pos)
geom.add_attr(xform)
return [geom]
def render(self, mode='human'):
from multiagent import rendering
if self.viewer is None:
self.viewer = rendering.Viewer(700, 700)
# create rendering geometry
if self.render_geoms is None:
self.render_geoms = []
self.render_geoms_xform = []
for entity in self.world.entities:
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.5)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add geoms to viewer
self.viewer.geoms = []
for geom in self.render_geoms:
self.viewer.add_geom(geom)
results = []
# update bounds to center around agent
cam_range = 1
pos = np.zeros(self.world.dim_p)
self.viewer.set_bounds(pos[0] - cam_range, pos[0] + cam_range,
pos[1] - cam_range, pos[1] + cam_range)
# update geometry positions
currentState = []
for e, entity in enumerate(self.world.entities): # 4
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
currentState.append(
list(entity.state.p_pos) + list(entity.state.p_vel))
# print(currentState)
# render to display or array
results.append(
self.viewer.render(return_rgb_array=mode == 'rgb_array'))
return currentState
# trajectory[0] = [allAgentsStates, allAgentsActions, allAgentsRewards, allAgentsNextState],
# agentState = [agentPos1, agentPos2, agentVel1
def observation(self, agent, world):
# get positions of all entities in this agent's reference frame
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(200, 200)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
for entity in world.agents + world.landmarks:
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.5)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
results = []
for i in range(len(self.viewers)):
from multiagent import rendering
# update bounds to center around agent
cam_range = 1
pos = np.zeros(world.dim_p)
self.viewers[i].set_bounds(pos[0] - cam_range, pos[0] + cam_range,
pos[1] - cam_range, pos[1] + cam_range)
# update geometry positions
for e, entity in enumerate(world.agents + world.landmarks):
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
# render to display or array
results.append(self.viewers[i].render(return_rgb_array=True))
return np.concatenate(results)
def render(self, mode='human'):
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(700,700)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
for entity in self.world.entities:
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.5)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
results = []
for i in range(len(self.viewers)):
from multiagent import rendering
# update bounds to center around agent
cam_range = 1
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
self.viewers[i].set_bounds(pos[0]-cam_range,pos[0]+cam_range,pos[1]-cam_range,pos[1]+cam_range)
# update geometry positions
for e, entity in enumerate(self.world.entities):
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
# render to display or array
results.append(self.viewers[i].render(return_rgb_array = mode=='rgb_array'))
return results
def render(self, mode='human'):
if self.viewer is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewer = rendering.Viewer(700, 700)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
for entity in self.world.entities:
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.5)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add geoms to viewer
self.viewer.geoms = []
for geom in self.render_geoms:
self.viewer.add_geom(geom)
from multiagent import rendering
# update bounds to center around agent
if self.world.boundary:
self.viewer.set_bounds(self.world.boundary[0][0],
self.world.boundary[1][0],
self.world.boundary[0][1],
self.world.boundary[1][1])
else:
cam_range = 1.5 #1
self.viewer.set_bounds(-cam_range, cam_range, -cam_range,
cam_range)
# update geometry positions
for e, entity in enumerate(self.world.entities):
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
# render to display or array
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self):
# debug
geom = rendering.make_circle(self.size * 2.0)
geom.set_color(*self.color, alpha=0.2)
xform = rendering.Transform()
xform.set_translation(*self.state.p_pos)
geom.add_attr(xform)
# visual quadrants
axis_length = 2
x_axis = rendering.Line(start=(self.state.p_pos[0] - axis_length,
self.state.p_pos[1]),
end=(self.state.p_pos[0] + axis_length,
self.state.p_pos[1]))
x_axis.set_color(*self.color, alpha=0.3)
y_axis = rendering.Line(start=(self.state.p_pos[0],
self.state.p_pos[1] - axis_length),
end=(self.state.p_pos[0],
self.state.p_pos[1] + axis_length))
y_axis.set_color(*self.color, alpha=0.3)
return [geom, x_axis, y_axis]
def render(self, mode='human'):
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(700, 700)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
for agent in self.world.agents:
geom = rendering.make_circle(agent.size)
if agent.armed:
# render arms
radius0 = agent.size * 1.3
radius1 = agent.size * 1.5
aim = rendering.make_polygon([
(np.cos(-.1) * radius1, np.sin(-.1) * radius0),
(radius0, 0),
(np.cos(.1) * radius1, np.sin(.1) * radius0)
])
geom = rendering.Compound([geom, aim])
xform = rendering.Transform()
geom.set_color(*agent.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
results = []
for i in range(len(self.viewers)):
from multiagent import rendering
# update bounds to center around agent
cam_range = 1
pos = np.zeros(self.world.dim_p)
self.viewers[i].set_bounds(pos[0] - cam_range, pos[0] + cam_range,
pos[1] - cam_range, pos[1] + cam_range)
# update geometry positions
for a, agent in enumerate(self.world.agents):
xform = self.render_geoms_xform[a]
xform.set_translation(*agent.state.p_pos)
if agent.state.aim_heading is not None:
xform.set_rotation(agent.state.aim_heading)
for projectile in self.world.projectiles:
geom = rendering.Line(start=tuple(projectile[:2]),
end=tuple(projectile[2:]))
for viewer in self.viewers:
viewer.add_onetime(geom)
# render to display or array
results.append(
self.viewers[i].render(return_rgb_array=mode == 'rgb_array'))
return results
def render(self, mode='human'):
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for agent in self.world.agents:
comm = []
for other in self.world.agents:
if other is agent: continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
message += (other.name + ' to ' + agent.name + ': ' +
word + ' ')
print(message)
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
# from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(900, 900)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
# from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
for entity in self.world.entities:
if 'landmark' in entity.name:
geom = rendering.make_circle(entity.size)
# xform = rendering.Transform()
#eom4 = rendering.make_cone(0.1 + entity.size, [entity.state.p_pos], [entity.state.p_vel])
xform4 = rendering.Transform()
# if 'agent' in entity.name:
# geom.set_color(*entity.color, alpha=0.5)
# # geom4.set_color(*entity.color, alpha=0.5)
# geom.set_color(*entity.color)
geom.add_attr(xform4)
# geom4.add_attr(xform4)
self.render_geoms.append(geom)
# self.render_geoms_xform.append(xform)
# self.render_geoms.append(geom4)
self.render_geoms_xform.append(xform4)
else:
#print(entity.render_vel)
geom = rendering.make_circle(entity.size)
# xform = rendering.Transform()
print(entity.render_vel)
#geom4 = rendering.make_cone(0.1 + entity.size, entity.state.p_pos[0],entity.state.p_pos[1], entity.render_vel[0],entity.render_vel[1])
geom4 = rendering.make_circle(0.2 + entity.size,
filled=False)
xform4 = rendering.Transform()
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.5)
geom4.set_color(*entity.color, alpha=0.5)
# geom.set_color(*entity.color)
geom.add_attr(xform4)
geom4.add_attr(xform4)
self.render_geoms.append(geom)
# self.render_geoms_xform.append(xform)
self.render_geoms.append(geom4)
self.render_geoms_xform.append(xform4)
# for entity in self.world.entities:
#
# geom4 = rendering.make_cone(0.1 + entity.size, entity.state.p_pos,
# [entity.state.p_vel[0], entity.state.p_vel[1]])
#
#
#
# if 'agent' in entity.name:
# geom4.set_color(*entity.color)
#
# # geom.add_attr(xform)
# xform4 = rendering.Transform()
# #geom4.add_attr(xform4)
#
# self.render_geoms.append(geom4)
# # self.render_geoms_xform.append(xform)
#
# self.render_geoms_xform.append(xform4)
geom1 = rendering.make_wall(0.5)
self.render_geoms.append(geom1)
xform1 = rendering.Transform()
self.render_geoms_xform.append(xform1)
############################# Environment 1 ############################################################
# geom2 = rendering.make_obstacles(0.1)
# self.render_geoms.append(geom2)
# xform2 = rendering.Transform()
# self.render_geoms_xform.append(xform2)
############################ Environment 2 ############################################################
# geom2, geom3 = rendering.make_obstacles1(0.1)
# self.render_geoms.append(geom2)
# xform2 = rendering.Transform()
# self.render_geoms_xform.append(xform2)
# self.render_geoms.append(geom3)
# xform3 = rendering.Transform()
# self.render_geoms_xform.append(xform3)
# geom4 = rendering.make_cone(0.1 + entity.size, entity.state.p_pos[0], entity.state.p_pos[1],
# entity.render_vel[0], entity.render_vel[1])
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
results = []
for i in range(len(self.viewers)):
# update bounds to center around agent
cam_range = 1
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
vel = self.agents[i].state.p_vel
self.viewers[i].set_bounds(pos[0] - cam_range, pos[0] + cam_range,
pos[1] - cam_range, pos[1] + cam_range)
# update geometry positions
from multiagent import rendering
for e, entity in enumerate(self.world.entities):
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
#self.render_geoms[e].add_attr(self.render_geoms_xform[e])
# render to display or array
results.append(
self.viewers[i].render(return_rgb_array=mode == 'rgb_array'))
return results
def render(self, mode='human', attn=None):
# attn: matrix of size (num_agents, num_agents)
# if mode == 'human':
# alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
# message = ''
# for agent in self.world.agents:
# for other in self.world.agents:
# if other is agent:
# continue
# if np.all(other.state.c == 0):
# word = '_'
# else:
# word = alphabet[np.argmax(other.state.c)]
# message += (other.name + ' to ' + agent.name + ': ' + word + ' ')
# print(message)
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
# from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(700, 700)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
# from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
for entity in self.world.entities:
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.5)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
self.render_count = len(self.render_geoms)
# render attn graph
if attn is not None:
# initialize render geoms for line
for i in range(self.n):
for j in range(i + 1, self.n):
geom = rendering.Line(
start=self.world.agents[i].state.p_pos,
end=self.world.agents[j].state.p_pos,
linewidth=2)
color = (1.0, 0.0, 0.0)
alpha = 0
geom.set_color(*color, alpha)
xform = rendering.Transform()
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
if attn is not None:
self._add_lines(attn)
results = []
for i in range(len(self.viewers)):
from multiagent import rendering
# update bounds to center around agent
cam_range = self.cam_range
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
self.viewers[i].set_bounds(pos[0] - cam_range, pos[0] + cam_range,
pos[1] - cam_range, pos[1] + cam_range)
# update geometry positions
for e, entity in enumerate(self.world.entities):
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
# render to display or array
results.append(
self.viewers[i].render(return_rgb_array=mode == 'rgb_array'))
return results
def render(self, mode='human'):
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for agent in self.world.agents:
comm = []
for other in self.world.agents:
if other is agent: continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
message += (other.name + ' to ' + agent.name + ': ' +
word + ' ')
print(message)
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(700, 700)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
self.render_range_geoms = []
self.render_range_geoms_xform = []
for entity in self.world.entities:
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.3)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
#if 'agent' in entity.name and entity.alive:
if 'agent' in entity.name:
range_geom = rendering.make_circle(
self.world.observable_range)
range_xform = rendering.Transform()
if entity.alive:
range_geom.set_color(1, 1, 1, alpha=0.6)
else:
range_geom.set_color(0.1, 0.1, 0.1, alpha=0)
range_geom.add_attr(range_xform)
self.render_range_geoms.append(range_geom)
self.render_range_geoms_xform.append(range_xform)
for wall in self.world.walls:
corners = ((wall.axis_pos - 0.5 * wall.width,
wall.endpoints[0]),
(wall.axis_pos - 0.5 * wall.width,
wall.endpoints[1]),
(wall.axis_pos + 0.5 * wall.width,
wall.endpoints[1]),
(wall.axis_pos + 0.5 * wall.width,
wall.endpoints[0]))
if wall.orient == 'H':
corners = tuple(c[::-1] for c in corners)
geom = rendering.make_polygon(corners)
if wall.hard:
geom.set_color(*wall.color)
else:
geom.set_color(*wall.color, alpha=0.5)
self.render_geoms.append(geom)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_range_geoms:
viewer.add_geom(geom)
for geom in self.render_geoms:
viewer.add_geom(geom)
results = []
for i in range(len(self.viewers)):
from multiagent import rendering
# update bounds to center around agent
cam_range = 1
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
self.viewers[i].set_bounds(pos[0] - cam_range, pos[0] + cam_range,
pos[1] - cam_range, pos[1] + cam_range)
# update geometry color
from multiagent import rendering
for entity, g in zip(self.world.entities, self.render_geoms):
if 'agent' in entity.name:
if entity.hold > 0:
g.set_color(*entity.color, alpha=0.7)
else:
g.set_color(*entity.color, alpha=0.3)
# update geometry positions
for e, entity in enumerate(self.world.entities):
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
for a, agent in enumerate(self.world.agents):
if agent.alive:
self.render_range_geoms_xform[a].set_translation(
*agent.state.p_pos)
self.render_range_geoms[a].set_color(1, 1, 1, alpha=0.6)
else:
self.render_range_geoms[a].set_color(0.1,
0.1,
0.1,
alpha=0)
# render to display or array
results.append(
self.viewers[i].render(return_rgb_array=mode == 'rgb_array'))
return results
def render(self, mode='human', VP_W=700, VP_H=700, print_text=False):
if print_text and mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
message_constructed = False
for agent in self.world.agents:
comm = []
for other in self.world.agents:
if other is agent: continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
message += (other.name + ' to ' + agent.name + ': ' +
word + ' ')
message_constructed = True
if message_constructed:
print(message)
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(VP_W, VP_H)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
self.sensor_render_geoms = []
self.sensor_render_geoms_xform = []
for entity in self.world.entities:
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
if entity.sensor is not None:
v = self._make_receptor_locations(
entity, self.world.position_scale)
sensor_geom = rendering.make_polygon(v=v, filled=True)
sensor_geom.set_color(*entity.color, alpha=0.2)
sensor_xform = rendering.Transform()
sensor_geom.add_attr(sensor_xform)
self.sensor_render_geoms.append(sensor_geom)
self.sensor_render_geoms_xform.append(sensor_xform)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
viewer.sensor_geoms = []
for sensor_geom in self.sensor_render_geoms:
viewer.add_geom(sensor_geom)
for geom in self.render_geoms:
viewer.add_geom(geom)
results = []
for i in range(len(self.viewers)):
from multiagent import rendering
# update bounds to center around agent
cam_range = 1
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos / self.world.position_scale
self.viewers[i].set_bounds(pos[0] - cam_range, pos[0] + cam_range,
pos[1] - cam_range, pos[1] + cam_range)
# update geometry positions
for e, entity in enumerate(self.world.entities):
self.render_geoms_xform[e].set_translation(
*(entity.state.p_pos / self.world.position_scale))
if (entity.rwr
is not None) and (len(entity.rwr.observers) > 0):
one_time_geom = self.viewers[i].draw_circle(
radius=entity.size * 1.5, res=30, filled=False)
xform = rendering.Transform()
xform.set_translation(*(entity.state.p_pos /
self.world.position_scale))
one_time_geom.add_attr(xform)
one_time_geom.set_color(0.75, 0.25, 0.25)
one_time_geom.set_linewidth(5.0)
if entity.sensor is not None:
self.sensor_render_geoms_xform[e].set_translation(
*(entity.state.p_pos / self.world.position_scale))
rotation = np.sign(entity.state.p_vel[1]) * np.arccos(
entity.state.p_vel[0] /
np.linalg.norm(entity.state.p_vel))
self.sensor_render_geoms_xform[e].set_rotation(rotation)
if len(entity.sensor.detections) > 0:
self.sensor_render_geoms[e].set_color(0.75,
0.25,
0.25,
alpha=0.2)
else:
self.sensor_render_geoms[e].set_color(*entity.color,
alpha=0.2)
if print_text:
print("Detecions for entity: ", entity.name,
entity.sensor.detections)
# render expendables
for missile in entity.state.missiles_in_flight:
one_time_geom = self.viewers[i].draw_circle(
radius=missile.size, res=30, filled=False)
xform = rendering.Transform()
xform.set_translation(*(missile.state.p_pos /
self.world.position_scale))
one_time_geom.add_attr(xform)
one_time_geom.set_color(*missile.color)
one_time_geom.set_linewidth(5.0)
# render to display or array
results.append(self.viewers[i].render(
return_rgb_array=mode == 'rgb_array', VP_W=VP_W, VP_H=VP_H))
return results
def __init__(self,
world,
env_spec,
reset_callback=None,
reward_callback=None,
observation_callback=None,
info_callback=None,
done_callback=None,
shared_viewer=True):
self.world = world
self.env_spec = env_spec
self.agents = self.world.policy_agents
# set required vectorized gym env property
self.n = len(world.policy_agents)
# scenario callbacks
self.reset_callback = reset_callback
self.reward_callback = reward_callback
self.observation_callback = observation_callback
self.info_callback = info_callback
self.done_callback = done_callback
# environment parameters
self.discrete_action_space = True
# if true, action is a number 0...N, otherwise action is a one-hot N-dimensional vector
self.discrete_action_input = False
# if true, even the action is continuous, action will be performed discretely
self.force_discrete_action = world.discrete_action if hasattr(
world, 'discrete_action') else False
# if true, every agent has the same reward
self.shared_reward = world.collaborative if hasattr(
world, 'collaborative') else False
self.time = 0
# configure spaces
self.action_space = []
self.observation_space = []
for agent in self.agents:
total_action_space = []
# physical action space
if self.discrete_action_space:
u_action_space = spaces.Discrete(world.dim_p * 2 + 1)
else:
u_action_space = spaces.Box(low=-agent.u_range,
high=+agent.u_range,
shape=(world.dim_p, ),
dtype=np.float32)
if agent.movable:
total_action_space.append(u_action_space)
# communication action space
if self.discrete_action_space:
c_action_space = spaces.Discrete(world.dim_c)
else:
c_action_space = spaces.Box(low=0.0,
high=1.0,
shape=(world.dim_c, ),
dtype=np.float32)
if not agent.silent:
total_action_space.append(c_action_space)
# total action space
if len(total_action_space) > 1:
# all action spaces are discrete, so simplify to MultiDiscrete action space
if all([
isinstance(act_space, spaces.Discrete)
for act_space in total_action_space
]):
act_space = MultiDiscrete(
[[0, act_space.n - 1]
for act_space in total_action_space])
else:
act_space = spaces.Tuple(total_action_space)
self.action_space.append(act_space)
else:
self.action_space.append(total_action_space[0])
# observation space
obs_dim = len(observation_callback(agent, self.world))
self.observation_space.append(
spaces.Box(low=-np.inf,
high=+np.inf,
shape=(obs_dim, ),
dtype=np.float32))
agent.action.c = np.zeros(self.world.dim_c)
# rendering
self.shared_viewer = shared_viewer
# import rendering only if needed. TODO Add a global rendering flag
from multiagent import rendering
# TODO Create a debug flag for this
w = self.env_spec.width * 2 + 0.2
h = self.env_spec.height * 2 + 0.2
self.world_bound_geom = rendering.make_polygon([(0, 0), (w, 0), (w, h),
(0, h)], False)
self.world_bound_geom.set_color(0., 0., 0., alpha=0.3)
xform = rendering.Transform()
xform.set_translation(-w / 2, -h / 2)
self.world_bound_geom.add_attr(xform)
if self.shared_viewer:
self.viewers = [rendering.Viewer(700, 700)]
else:
self.viewers = [rendering.Viewer(700, 700) for i in self.n]
for i, viewer in enumerate(self.viewers):
viewer.cam_range = self.env_spec.zoom
self._reset_render()
def render(self, mode='human'):
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for agent in self.world.agents:
comm = []
for other in self.world.agents:
if other is agent: continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
# message += (other.name + ' to ' + agent.name + ': ' + word + ' ')
print(message)
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(700, 700)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
# VIS: show visual range/receptor field
self.vis_render_geoms = []
self.vis_render_geoms_xform = []
for entity in self.world.entities:
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
if 'agent' in entity.name:
# geom.set_color(*entity.color, alpha=0.5)
geom.set_color(*entity.color) # agent on top
else:
# geom.set_color(*entity.color)
geom.set_color(*entity.color,
alpha=0.5) # entity to background
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# VIS: show visual range/receptor field
if 'agent' in entity.name and self.show_visual_range:
vis_range = entity.vision_range
vis_geom = rendering.make_circle(vis_range)
vis_xform = rendering.Transform()
vis_geom.set_color(*entity.color, alpha=0.2)
vis_geom.add_attr(vis_xform)
self.vis_render_geoms.append(vis_geom)
self.vis_render_geoms_xform.append(vis_xform)
else:
self.vis_render_geoms.append(None)
self.vis_render_geoms_xform.append(None)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
# VIS: show visual range/receptor field
for vis_geom in self.vis_render_geoms:
if vis_geom is not None:
viewer.add_geom(vis_geom)
results = []
for i in range(len(self.viewers)):
from multiagent import rendering
# update bounds to center around agent
# cam_range = 1
cam_range = self.cam_range
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
# self.viewers[i].set_bounds(pos[0]-cam_range,pos[0]+cam_range,pos[1]-cam_range,pos[1]+cam_range)
self.viewers[i].set_bounds(-cam_range, cam_range, -cam_range,
cam_range)
# update geometry positions
for e, entity in enumerate(self.world.entities):
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
# VIS: show visual range/receptor field
if self.vis_render_geoms_xform[e] is not None:
self.vis_render_geoms_xform[e].set_translation(
*entity.state.p_pos)
# render to display or array
results.append(
self.viewers[i].render(return_rgb_array=mode == 'rgb_array'))
return results
def render(self, mode='human'):
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for i, agent in enumerate(self.world.agents):
comm = []
for other in self.world.agents:
if other is agent: continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
message += (other.name + ' to ' + agent.name + ': ' +
word + ' ')
#print(message)
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(700, 700)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
#zgy
self.render_lines = []
for entity in self.world.entities:
geom = rendering.make_circle(entity.size)
geom_line = rendering.make_line((0, 0), (fire_range, 0))
xform = rendering.Transform()
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.5)
geom_line.set_color(*entity.color, alpha=0.5)
else:
geom.set_color(*entity.color)
geom_line.set_color(*entity.color)
geom.add_attr(xform)
geom_line.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms.append(geom_line)
self.render_geoms_xform.append(xform)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
for geom_line in self.render_geoms:
viewer.add_geom(geom_line)
results = []
# zgy
agents = self.world.agents
for i in range(len(self.viewers)):
from multiagent import rendering
# update bounds to center around agent
cam_range = 1
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
self.viewers[i].set_bounds(pos[0] - cam_range, pos[0] + cam_range,
pos[1] - cam_range, pos[1] + cam_range)
# update geometry positions
for e, entity in enumerate(self.world.entities):
my_chi = np.zeros(1)
if abs(agents[e].state.p_vel[0]) < 1e-5 and abs(
agents[e].state.p_vel[1]) < 1e-5:
my_chi[0] = 0
else:
my_chi[0] = math.atan2(agents[e].state.p_vel[1],
agents[e].state.p_vel[0])
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
self.render_geoms_xform[e].set_rotation(my_chi[0])
# render to display or array
results.append(
self.viewers[i].render(return_rgb_array=mode == 'rgb_array'))
return results
def render(self, mode='human'):
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for agent in self.world.agents:
comm = []
for other in self.world.agents:
if other is agent:
continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
message += (other.name + ' to ' + agent.name + ': ' +
word + ' ')
# if(message is not ''):
# print(message)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
# from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
for entity in self.world.entities:
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.5)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
# Add debug geoms
# TODO This needs to change to the parent -> child render() tree
debug_geoms = []
for e, entity in enumerate(self.world.entities):
debug_geoms.extend(entity.render())
for i, geom in enumerate(debug_geoms):
self.viewers[0].add_onetime(geom)
# TODO Add a debug flag
self.viewers[0].add_onetime(self.world_bound_geom)
results = []
for i in range(len(self.viewers)):
from multiagent import rendering
# update bounds to center around agent
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
self.viewers[i].set_bounds(pos[0], pos[0], pos[1], pos[1])
# update geometry positions
for e, entity in enumerate(self.world.entities):
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
# render to display or array
results.append(
self.viewers[i].render(return_rgb_array=mode == 'rgb_array'))
return results
def render(self, mode='human'):
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
# from gym.envs.classic_control import rendering
from multiagent import rendering
from multirobot.environment import rendering as mrrendering
self.viewers[i] = mrrendering.Viewer(700, 700)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
# from gym.envs.classic_control import rendering
from multiagent import rendering
from multirobot.environment import rendering as mrrendering
self.render_geoms = []
self.render_geoms_xform = []
for entity in self.world.entities:
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.5)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# render fov of vehicles
for vehicle in self.world.vehicles:
geom = mrrendering.make_fov(vehicle.fov, 30)
xform = rendering.Transform()
geom.set_color(*vehicle.color, alpha=0.5)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
for i in range(len(self.viewers)):
# update bounds to center around agent
if self.shared_viewer:
self.viewers[i].set_bounds(-self.world.size_x - 1,
self.world.size_x + 1,
-self.world.size_y - 1,
self.world.size_y + 1)
else:
cam_range = 1
pos = self.agents[i].state.p_pos
self.viewers[i].set_bounds(pos[0] - cam_range,
pos[0] + cam_range,
pos[1] - cam_range,
pos[1] + cam_range)
# update geometry positions
for e, entity in enumerate(self.world.entities):
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
# update fov sectors
e = len(self.world.entities)
for v, vehicle in enumerate(self.world.vehicles):
self.render_geoms_xform[e + v].set_translation(
*vehicle.state.p_pos)
self.render_geoms_xform[e + v].set_rotation(
vehicle.state.p_ang)
# render to display or array
# return image of viewer[0], as [0] consider as global viewer
result = self.viewers[0].render(return_rgb_array=(mode == 'rgb_array'))
return result
def render(self, mode='human'):
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for agent in self.world.agents:
comm = []
for other in self.world.agents:
if other is agent: continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
message += (other.name + ' to ' + agent.name + ': ' +
word + ' ')
print(message)
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
print("initialize viewer")
self.viewers[i] = rendering.Viewer(700, 700)
# create rendering geometry
if self.render_geoms is None or self.render_geoms is not None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_attack = []
self.render_geoms_line = []
self.render_geoms_range = []
self.render_geoms_xform = []
self.render_geoms_attack_xform = []
self.render_geoms_line_xform = []
self.render_geoms_range_xform = []
for entity in self.world.entities:
if "agent" in entity.name:
geom = rendering.make_circle(entity.size)
else:
geom = rendering.make_polygon([[0.1, -0.1], [0.1, 0.1],
[-0.1, 0.1], [-0.1, -0.1]])
xform = rendering.Transform()
xform_atk = rendering.Transform()
x_form_line = rendering.Transform()
# xform_range = rendering.Transform()
geom_attack, geom_line, geom_range = None, None, None
if 'agent' in entity.name:
if entity.num_balloons != 0:
geom.set_color(*entity.color,
alpha=0.0 + 0.2 * entity.num_balloons)
if entity.action.a[0] and entity.action.a[1]:
geom_attack = rendering.make_circle(entity.size / 4)
geom_attack.add_attr(xform_atk)
geom_line = rendering.make_line(
(0, 0),
(entity.action.a[0] - entity.state.p_pos[0],
entity.action.a[1] - entity.state.p_pos[1]))
geom_line.add_attr(x_form_line)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms_line.append(geom_line)
self.render_geoms_line_xform.append(x_form_line)
self.render_geoms_attack.append(geom_attack)
self.render_geoms_attack_xform.append(xform_atk)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
for atk_geom in self.render_geoms_attack:
if atk_geom:
viewer.add_geom(atk_geom)
for line_geom in self.render_geoms_line:
if line_geom:
viewer.add_geom(line_geom)
results = []
for i in range(len(self.viewers)):
from multiagent import rendering
# update bounds to center around agent
cam_range = 1
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
self.viewers[i].set_bounds(pos[0] - cam_range, pos[0] + cam_range,
pos[1] - cam_range, pos[1] + cam_range)
# update geometry positions
for e, entity in enumerate(self.world.entities):
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
for a, agent in enumerate(self.world.agents):
self.render_geoms_attack_xform[a].set_translation(
*agent.action.a)
for a, agent in enumerate(self.world.agents):
self.render_geoms_line_xform[a].set_translation(
*agent.state.p_pos)
# render to display or array
results.append(
self.viewers[i].render(return_rgb_array=mode == 'rgb_array'))
return results
def render(self, mode='human'):
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for agent in self.world.agents:
comm = []
for other in self.world.agents:
if other is agent: continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
message += (other.name + ' to ' + agent.name + ': ' + word + ' ')
#print(message)
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(700,700)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
i = 0
for goal in self.world.goals:
geom = rendering.make_circle_with_arrow(goal.size, goal.state.p_pos, goal.state.p_ang, filled=True)
geom.set_color(*goal.color, alpha=0.5)
xform_goal = rendering.Transform()
geom.add_attr(xform_goal)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform_goal)
for agent in self.world.agents:
geom = rendering.make_circle_with_arrow(agent.size, agent.state.p_pos, agent.state.p_ang, filled=True)
geom.set_color(*agent.color, alpha=0.5)
xform_agent = rendering.Transform()
geom.add_attr(xform_agent)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform_agent)
for human in self.world.humans:
geom = rendering.make_circle_with_arrow(human.size, human.pos, human.p_ang, filled=True)
geom.set_color(*human.color, alpha=0.5)
xform_human = rendering.Transform()
geom.add_attr(xform_human)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform_human)
# for entity in self.world.entities:
# #print('position:',entity.state.p_pos)
# #print('velocity:',entity.state.p_vel)
# #if i < 1:
# if i < self.world.num_goals+self.world.num_agents:
# # render goal and agent
# # print("success")
# geom = rendering.make_circle_with_arrow(entity.size, entity.state.p_pos, entity.state.p_ang, filled=True)
# #geom = rendering.plot_car(entity.state.p_pos, entity.state.p_ang)
# else:
# # render obstacle
# geom = rendering.make_circle(entity.size)
# xform = rendering.Transform()
# # if 'agent' in entity.name:
# if 'human' in entity.name:
# geom.set_color(*entity.color, alpha=0.5)
# else:
# geom.set_color(*entity.color)
# geom.add_attr(xform)
# self.render_geoms.append(geom)
# self.render_geoms_xform.append(xform)
# i = i + 1
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
results = []
# print(len(self.viewers))
for i in range(len(self.viewers)):
from multiagent import rendering
# update bounds to center around agent
cam_range = 1
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
self.viewers[i].set_bounds(pos[0]-cam_range,pos[0]+cam_range,pos[1]-cam_range,pos[1]+cam_range)
# update geometry positions
for g, goal in enumerate(self.world.goals):
self.render_geoms_xform[g].set_rotation(goal.state.p_ang)
self.render_geoms_xform[g].set_translation(*goal.state.p_pos)
for a, agent in enumerate(self.world.agents):
L = len(self.world.goals)
self.render_geoms_xform[a+L].set_rotation(agent.state.p_ang)
self.render_geoms_xform[a+L].set_translation(*agent.state.p_pos)
for h, human in enumerate(self.world.humans):
l1 = len(self.world.goals)
l2 = len(self.world.agents)
self.render_geoms_xform[h+l1+l2].set_rotation(human.p_ang)
self.render_geoms_xform[h+l1+l2].set_translation(*human.pos)
# for e, entity in enumerate(self.world.entities):
# if (e < self.world.num_goals+self.world.num_agents):
# #print("angle:", entity.state.p_ang)
# self.render_geoms_xform[e].set_rotation(entity.state.p_ang)
# #print("abc")
# self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
# render to display or array
results.append(self.viewers[i].render(return_rgb_array = mode=='rgb_array'))
return results
def render(self, mode='human'):
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for agent in self.world.agents:
comm = []
for other in self.world.agents:
if other is agent: continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
message += (other.name + ' to ' + agent.name + ': ' +
word + ' ')
print(message)
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(700, 700)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
i = 0
for entity in self.world.entities:
if i < 8:
#geom = rendering.make_circle_with_arrow(radius= entity.size,p_pos=entity.state.p_pos,filled=False)
geom = rendering.make_circle_with_arrow(entity.size,
entity.state.p_pos,
filled=True)
else:
geom = rendering.make_circle(entity.size)
xform = rendering.Transform() # 6 entities
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.5)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
i = i + 1
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
results = []
for i in range(len(self.viewers)):
from multiagent import rendering
# update bounds to center around agent
cam_range = 1
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
self.viewers[i].set_bounds(
pos[0] - cam_range,
pos[0] + cam_range,
pos[1] - cam_range,
pos[1] + cam_range,
)
# update geometry positions
for e, entity in enumerate(self.world.entities):
# u
if (e < 4):
v_angle = np.arctan2(entity.state.p_vel[1],
entity.state.p_vel[0])
self.render_geoms_xform[e].set_rotation(v_angle +
1 / 2 * math.pi)
if (e >= 4 and e < 8):
v_angle = np.arctan2(entity.state.p_vel[1],
entity.state.p_vel[0])
self.render_geoms_xform[e].set_rotation(1 / 2 * math.pi +
v_angle)
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
# render to display or array
results.append(
self.viewers[i].render(return_rgb_array=mode == 'rgb_array'))
return results
def render(self, mode='human'):
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for agent in self.world.agents:
comm = []
for other in self.world.agents:
if other is agent: continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
message += (other.name + ' to ' + agent.name + ': ' + word + ' ')
print(message)
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(700,700)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
for entity in self.world.entities:
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.5)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
'''UAV = self.world.entities[0]
for entity in self.world.entities: # world.entities:
if entity.name == 'agent 0':
continue
else:
geom = rendering.make_line(UAV.state.p_pos, entity.state.p_pos)
geom.set_color(*entity.color)
self.render_geoms.append(geom)'''
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
results = []
for i in range(len(self.viewers)):
from multiagent import rendering
# update bounds to center around agent
cam_range = 1
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
self.viewers[i].set_bounds(pos[0]-cam_range,pos[0]+cam_range,pos[1]-cam_range,pos[1]+cam_range)
# update geometry positions
for e, entity in enumerate(self.world.entities):
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
if self.viewers[i].geoms is not None:
for line in range(len(self.world.entities), len(self.viewers[i].geoms)):
self.viewers[i].geoms.pop()
uav_position = self.world.entities[0].state.p_pos
'''for l, landmark in enumerate(self.world.landmarks):
dis = np.sqrt(np.sum(np.square([uav_position - landmark.state.p_pos])))
if dis <= 0.7:
temp = rendering.make_line(uav_position, landmark.state.p_pos)
temp.set_color(0, 245, 255)
self.viewers[i].geoms.append(temp)'''
# render to display or array
results.append(self.viewers[i].render(return_rgb_array=mode == 'rgb_array'))
return results
def render(self, mode='human', close=False):
if close:
# close any existic renderers
for i, viewer in enumerate(self.viewers):
if viewer is not None:
viewer.close()
self.viewers[i] = None
return []
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for agent in self.world.agents:
comm = []
for other in self.world.agents:
if other is agent: continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
message += (other.name + ' to ' + agent.name + ': ' +
word + ' ')
# print(message)
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(700, 700)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
self.comm_geoms = []
for entity in self.world.entities:
alpha = 0 if not entity.visible else 1
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
entity_comm_geoms = []
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=alpha * 0.5)
if not entity.silent:
dim_c = self.world.dim_c
# make circles to represent communication
for ci in range(dim_c):
comm = rendering.make_circle(entity.size / dim_c)
comm.set_color(1, 1, 1)
comm.add_attr(xform)
offset = rendering.Transform()
comm_size = (entity.size / dim_c)
offset.set_translation(
ci * comm_size * 2 - entity.size + comm_size,
0)
comm.add_attr(offset)
entity_comm_geoms.append(comm)
else:
geom.set_color(*entity.color, alpha=alpha)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
self.comm_geoms.append(entity_comm_geoms)
if hasattr(self.world, 'walls'):
for wall in self.world.walls:
corners = ((wall.axis_pos - 0.5 * wall.width,
wall.endpoints[0]),
(wall.axis_pos - 0.5 * wall.width,
wall.endpoints[1]),
(wall.axis_pos + 0.5 * wall.width,
wall.endpoints[1]),
(wall.axis_pos + 0.5 * wall.width,
wall.endpoints[0]))
if wall.orient == 'H':
corners = tuple(c[::-1] for c in corners)
geom = rendering.make_polygon(corners)
if wall.hard:
geom.set_color(*wall.color)
else:
geom.set_color(*wall.color, alpha=0.5)
self.render_geoms.append(geom)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
for entity_comm_geoms in self.comm_geoms:
for geom in entity_comm_geoms:
viewer.add_geom(geom)
results = []
for i in range(len(self.viewers)):
from multiagent import rendering
# update bounds to center around agent
cam_range = 1
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
self.viewers[i].set_bounds(pos[0] - cam_range, pos[0] + cam_range,
pos[1] - cam_range, pos[1] + cam_range)
# update geometry positions
for e, entity in enumerate(self.world.entities):
alpha = 0 if not entity.visible else 1
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
if 'agent' in entity.name:
self.render_geoms[e].set_color(*entity.color,
alpha=alpha * 0.5)
if not entity.silent:
for ci in range(self.world.dim_c):
color = 1 - entity.state.c[ci]
self.comm_geoms[e][ci].set_color(
color, color, color)
else:
self.render_geoms[e].set_color(*entity.color, alpha=alpha)
# render to display or array
results.append(
self.viewers[i].render(return_rgb_array=mode == 'rgb_array'))
return results
def render(self):
# 每条路长road_length=80，同条路上的两车道相距bi_dis=5，两条路之间相距distance=100
from multiagent import rendering
if self.viewer is None:
self.viewer = rendering.Viewer(600, 600) # 600x600 是画板的长和框
for i in range(4):
for j in range(4):
rectangle = rendering.make_polyline([(-15, 15), (15, 15),
(15, -15), (-15, -15),
(-15, 15)])
rect_transform = rendering.Transform(
translation=(100 * i + 50, 100 * j + 50))
rectangle.add_attr(rect_transform)
self.viewer.add_geom(rectangle)
score_label = pyglet.text.Label('0',
font_size=8,
x=100 * i + 38,
y=100 * j + 50,
anchor_x='left',
anchor_y='center',
color=(25, 25, 25, 255))
self.label[i][j] = score_label
self.step_count_label = pyglet.text.Label(
'step_count:000',
font_name='Times New Roman',
font_size=12,
x=39,
y=100 * 5 - 20,
anchor_x='left',
anchor_y='center',
color=(25, 25, 25, 255))
self.step_total_re_label = pyglet.text.Label(
'step_total_reward:000',
font_name='Times New Roman',
font_size=12,
x=39,
y=100 * 5 + 5,
anchor_x='left',
anchor_y='center',
color=(25, 25, 25, 255))
self.total_re_label = pyglet.text.Label(
'total_reward:000',
font_name='Times New Roman',
font_size=12,
x=39,
y=100 * 5 + 30,
anchor_x='left',
anchor_y='center',
color=(25, 25, 25, 255))
for x1 in range(4):
for y1 in range(3):
x2 = x1
y2 = y1 + 1
self.lines[x1][y1][x2][y2] = self.getNewLine(
x1, y1, x2, y2)
self.lines[x2][y2][x1][y1] = self.getNewLine(
x2, y2, x1, y1)
for x1 in range(3):
for y1 in range(4):
x2 = x1 + 1
y2 = y1
self.lines[x1][y1][x2][y2] = self.getNewLine(
x1, y1, x2, y2)
self.lines[x2][y2][x1][y1] = self.getNewLine(
x2, y2, x1, y1)
for x1 in range(4):
for y1 in range(3):
x2 = x1
y2 = y1 + 1
self.updateLine(x1, y1, x2, y2)
self.updateLine(x2, y2, x1, y1)
for x1 in range(3):
for y1 in range(4):
x2 = x1 + 1
y2 = y1
self.updateLine(x1, y1, x2, y2)
self.updateLine(x2, y2, x1, y1)
arr = None
win = self.viewer.window
win.switch_to()
win.dispatch_events()
win.clear()
for geom in self.viewer.geoms:
geom.render()
for i in range(4):
for j in range(4):
self.label[i][j].text = "{}".format(self.nod_rewards[i][j])
self.label[i][j].draw()
self.step_count_label.text = "step_count:{}".format(self.count)
self.step_count_label.draw()
self.step_total_re_label.text = "step_total_reward:{}".format(
self.step_total_re)
self.step_total_re_label.draw()
self.total_re_label.text = "total_reward:{}".format(self.total_re)
self.total_re_label.draw()
win.flip()
return arr
def _render(self, mode='human', close=True):
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for agent in self.world.agents:
comm = []
for other in self.world.agents:
if other is agent: continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
message += (other.name + ' to ' + agent.name + ': ' + word + ' ')
# print(message)
if close:
# close any existic renderers
for i,viewer in enumerate(self.viewers):
if viewer is not None:
viewer.close()
self.viewers[i] = None
return []
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.viewers[i] = rendering.Viewer(700,700)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
for entity in self.world.entities:
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=0.5)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
results = []
for i in range(len(self.viewers)):
# update bounds to center around agent
cam_range = 1
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
self.viewers[i].set_bounds(pos[0]-cam_range, pos[0]+cam_range, pos[1]-cam_range, pos[1]+cam_range)
# update geometry positions
for e, entity in enumerate(self.world.entities):
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
# render to display or array
results.append(self.viewers[i].render(return_rgb_array = mode=='rgb_array'))
return results
def render_whole_field(self, mode='human'):
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for agent in self.world.agents:
comm = []
for other in self.world.agents:
if other is agent: continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
message += (other.name + ' to ' + agent.name + ': ' +
word + ' ')
# for i in range(len(self.viewers)):
# # create viewers (if necessary)
# if self.viewers[i] is None:
# # import rendering only if we need it (and don't import for headless machines)
# #from gym.envs.classic_control import rendering
# from multiagent import rendering
# self.viewers[i] = rendering.Viewer(700,700)
if self.viewer is None:
from multiagent import rendering
self.viewer = rendering.Viewer(53 * 7, 120 * 7)
# create rendering geometry
if self.render_geoms is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from multiagent import rendering
self.render_geoms = []
self.render_geoms_xform = []
for entity in self.world.entities:
size = 2 * entity.size
# if entity.position == 'q_back':
# size = 2*size
geom = rendering.make_circle(size)
xform = rendering.Transform()
if 'q_back' == entity.position:
geom.set_color(0, 1, 0, alpha=0.5)
else:
geom.set_color(*entity.color)
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
self.viewer.geoms = []
for geom in self.render_geoms:
self.viewer.add_geom(geom)
line_of_scrimmage = self.world.line_of_scrimmage
first_down_line = line_of_scrimmage + self.world.first_down_line
self.viewer.draw_line((0, line_of_scrimmage), (53, line_of_scrimmage))
self.viewer.draw_line((0, first_down_line), (53, first_down_line))
results = []
from multiagent import rendering
# update bounds to center around agent
cam_range = 1
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
self.viewer.set_bounds(0, 53, 0, 120)
# update geometry positions
for e, entity in enumerate(self.world.entities):
self.render_geoms_xform[e].set_translation(*entity.state.p_pos)
# render to display or array
results.append(
self.viewer.render(return_rgb_array=mode == 'rgb_array'))
return results