def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
num_good_agents = 2
num_adversaries = 1
num_agents = num_adversaries + num_good_agents
num_landmarks = num_agents - 1
# 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 = False
agent.silent = True
agent.adversary = True if i < num_adversaries else False
agent.size = 0.15
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
landmark.size = 0.08
# make initial conditions
self.reset_world(world)
return world
def make_world(self,
num_agents_inpt=2,
num_adversaries_inpt=1,
num_landmarks_inpt=2):
world = World()
# set any world properties first
world.dim_c = 2
num_agents = num_agents_inpt
num_adversaries = num_adversaries_inpt
num_landmarks = num_landmarks_inpt
# 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
if i < num_adversaries:
agent.adversary = True
else:
agent.adversary = False
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
self.num_agents = 16
self.num_good_agent = 4 # Cannot see landmark
self.num_comm_agents = self.num_agents - self.num_good_agent # Needs to split up
num_landmarks = self.num_comm_agents
# define vision
self.adv_vision_count = 4 # Comm agent vision
self.gd_vision_count = 2 # Need to capture agent
self.land_vision_count = 6
# add agents
world.agents = [Agent() for i in range(self.num_agents)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = False
agent.silent = True
agent.adversary = True if i < self.num_comm_agents else False
# agent.adversary = True if i < num_adversaries else False
agent.size = 0.15
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
landmark.size = 0.08
# make initial conditions
self.reset_world(world)
return world
def make_world(self, roverSpec: RoverSpec):
world = World()
self.env_spec = roverSpec
num_poi = roverSpec.poi_count
num_agents = roverSpec.agent_count
reward_type = roverSpec.reward_type
# add agents
world.agents = [RoverAgent() for i in range(num_agents)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = False
agent.silent = True
# add landmarks
world.landmarks = [RoverLandmark() for i in range(num_poi)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'poi %d' % i
landmark.collide = False
landmark.movable = False
# make initial conditions
self._reset_world(world, True)
self.reward_type = reward_type
# self._obs_normalize(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
num_agents = 5
num_landmarks = 5
# 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 = 0.05
agent.index = i
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
# make initial conditions
self.reset_world(world)
self.timestep = 0
return world
def make_world(self, **kwargs):
""" Generate new world instance
Parameters
----------
kwargs: dict
Returns
-------
world: World
"""
world = World()
world.dim_c = kwargs.get('dim_c', 0)
num_a_agents = kwargs.get('num_a', 0)
num_b_agents = kwargs.get('num_b', 0)
if num_a_agents == 0 or num_a_agents == 0:
raise Exception(
'Number of agents should larger than 0, [A-Agents : B-Agents] = {0} : {1}'
.format(num_a_agents, num_b_agents))
world.agents = [Agent() for _ in range(num_a_agents + num_b_agents)]
for i, agents in enumerate(world.agents):
assert isinstance(agent, Agent)
agent.name = 'agent %d' % i
agent.index = 0 if i < num_a_agents else 1
agent.collide = True
self.reset_world(world)
return world
def make_world(self, num_agents=2, num_landmarks=3, num_obstacles=1):
world = World()
# set any world properties first
world.dim_c = 2
'''
num_agents = 2
num_landmarks = 2
# 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 = 0.10
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
'''
world = self.setup_world(world, num_agents, num_landmarks,
num_obstacles)
# make initial conditions
self.reset_world(world)
return world
def make_world(self, **kwargs):
self.before_make_world(**kwargs)
world = World()
world.np_random = self.np_random
# add agents
world.agents = [Agent() for _ in range(1)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = False
agent.silent = True
self.change_entity_attribute(agent, **kwargs)
# add landmarks
world.landmarks = [Landmark() for _ in range(1)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
self.change_entity_attribute(landmark, **kwargs)
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
self.viewers = [None]
# set any world properties first
world = World()
world.dim_c = 2
num_agents = 3
rew_landmarks = 3
car_landmarks = 6
num_landmarks = car_landmarks + rew_landmarks
# 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
agent.accel = 2
agent.max_speed = 1
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.car = True if i < car_landmarks else False
landmark.size = 0.1 if landmark.car else 0.02
landmark.collide = True if landmark.car else False
landmark.movable = True if landmark.car else False
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
# world.dim_c is equal to communication channel dimensionality
#### in this class the number of communication channel's dimension is changed to 10 channel per each agent
world.dim_c = 10
# add agents
world.agents = [Agent() for i in range(2)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = False
# physical motor noise amount
# agent.u_noise = 1e-1
# communication noise amount
# agent.c_noise = 1e-1
# add landmarks
world.landmarks = [Landmark() for i in range(3)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
num_agents = 20
#num_landmarks = 3
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 = 0.02
"""
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
landmark.size = 0.05
"""
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
num_good_agents = 1
num_adversaries = 3
num_agents = num_adversaries + num_good_agents
num_landmarks = 2
# 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.adversary = True if i < num_adversaries else False
agent.size = 0.075 if agent.adversary else 0.05
agent.accel = 3.0 if agent.adversary else 4.0
#agent.accel = 20.0 if agent.adversary else 25.0
agent.max_speed = 1.0 if agent.adversary else 1.3
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = True
landmark.movable = False
landmark.size = 0.2
landmark.boundary = False
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 3
num_landmarks = 3
# add agents
world.agents = [Agent() for i in range(2)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = False
agent.size = 0.075
# speaker
world.agents[0].movable = False
# listener
world.agents[1].silent = True
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
landmark.size = 0.04
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
num_good_agents = 5 # UAV Team
num_adversaries = 1 # Target
num_agents = num_adversaries + num_good_agents
num_landmarks = 0
desire_angle_form = 2 * np.pi / num_good_agents
# 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.adversary = True if i < num_adversaries else False
agent.size = 0.055 if agent.adversary else 0.05
# agent.accel = 3.0 if agent.adversary else 4.0
#agent.accel = 20.0 if agent.adversary else 25.0
# agent.max_speed = 1.0 if agent.adversary else 1.3
agent.max_speed = 1.3 if agent.adversary else 1 # adv is the target
agent.attack = False # add for locate which is attacked
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = True
landmark.movable = False
landmark.size = 0.075
landmark.boundary = False
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 3
num_landmarks = 3
# add agents
world.agents = [Agent() for i in range(2)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = False
agent.size = 0.075
# speaker
world.agents[0].movable = False
# listener
world.agents[1].silent = True
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
landmark.size = 0.04
# make initial conditions
self.reset_world(world)
return world
def make_world(self,
n_agents=3,
use_dense_rewards=False,
shuffle_landmarks=False,
color_objects=False):
world = World()
world.use_dense_rewards = use_dense_rewards
self.shuffle_landmarks = shuffle_landmarks
self.color_objects = color_objects
# set any world properties first
num_agents = n_agents
num_landmarks = n_agents
# add agents
world.agents = [Agent() for i in range(num_agents)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.clip_positions = np.array([[-world.scale, -world.scale],
[world.scale, world.scale]])
agent.is_colliding = {
other_agent.name: False
for other_agent in world.agents if agent is not other_agent
}
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
landmark.size *= 2
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
# world.dim_c = 2
self.num_agents = 4
self.num_landmarks = 4
print("NUMBER OF AGENTS:", self.num_agents)
print("NUMBER OF LANDMARKS:", self.num_landmarks)
world.collaborative = True
# add agents
world.agents = [Agent() for i in range(self.num_agents)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = True
agent.silent = True
agent.size = 0.1 #was 0.15
agent.prevDistance = None
# add landmarks
world.landmarks = [Landmark() for i in range(self.num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 0
# First half will be vertical, second half will be horizontal
num_agents = 4
# Make sure number of agents is even for now
assert num_agents % 2 == 0
num_adversaries = 0
num_landmarks = 2
# 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
if i < num_adversaries:
agent.adversary = True
else:
agent.adversary = False
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = "landmark %d" % i
landmark.collide = False
landmark.movable = False
# make initial conditions
self.reset_world(world)
return world
def make_world(self, args=None):
world = World()
# set any world properties first
world.dim_c = 2
num_good_agents = 1
num_adversaries = 3
num_agents = num_adversaries + num_good_agents # deactivate "good" agent
num_landmarks = 2
# 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.adversary = True if i < num_adversaries else False # last agent is good agent
agent.size = 0.075 if agent.adversary else 0.05
agent.accel = 3.0 if agent.adversary else 4.0
#agent.accel = 20.0 if agent.adversary else 25.0
agent.max_speed = 1.0 if agent.adversary else 1.3
agent.action_callback = None if i < (num_agents -
1) else self.prey_policy
agent.view_radius = getattr(args, "agent_view_radius", -1)
print("AGENT VIEW RADIUS set to: {}".format(agent.view_radius))
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = True
landmark.movable = False
landmark.size = 0.2
landmark.boundary = False
# make initial conditions
self.reset_world(world)
self.score_function = getattr(args, "score_function", "sum")
return world
def make_world(self, n_preds=2, n_preys=1, use_dense_rewards=False, individual_reward=False):
world = World()
world.use_dense_rewards = use_dense_rewards
self.individual_reward = individual_reward
# set any world properties first
num_agents = n_preds + n_preys
num_landmarks = 0 # No landmark to avoid lucky catches since the prey is scripted and cannot avoid them
# add policy for always_scripted agents
self.runner_policy = RunnerPolicy()
# 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.adversary = False if i < n_preds else True
agent.size = 0.04 if agent.adversary else 0.05
agent.accel = 1.5 if agent.adversary else 1.
agent.max_speed = 1.5 if agent.adversary else 1.
agent.always_scripted = True if agent.adversary else False
agent.clip_positions = np.array([[-world.scale, -world.scale], [world.scale, world.scale]])
if agent.adversary and agent.always_scripted:
agent.action_callback = self.runner_policy.action
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = True
landmark.movable = False
landmark.size *= 2
# make initial conditions
self.reset_world(world)
return world
def reset_world(self, world: World):
"""Random initialize the world"""
cam_range = 2
for i, landmark in enumerate(world.landmarks):
size = landmark.size
landmark.state.p_pos = np.random.uniform(-cam_range + size,
cam_range - size,
world.dim_p)
landmark.state.p_vel = np.zeros(world.dim_p)
landmark.index = BALL_INDEX
world.landmarks[1].state.p_pos = np.array([0., 0.])
world.landmarks[1].size = self._agent_size
world.landmarks[1].index = TARGET_INDEX
# in this scenario, we set only one landmark as the target location
for i, agent in enumerate(world.agents):
size = agent.size
agent.state.p_pos = np.random.uniform(-cam_range + size,
cam_range - size,
world.dim_p)
agent.state.p_vel = np.zeros(world.dim_p)
agent.size = self._agent_size
agent.index = AGENT_INDEX
world.target_location = np.array([0., 0.])
world.collaborative = True
self._last_distance = np.sqrt(
np.sum(
np.square(world.landmarks[0].state.p_pos -
world.landmarks[1].state.p_pos)))
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
num_agents = 3
world.num_agents = num_agents
num_adversaries = 1
num_landmarks = num_agents - 1
# 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 = False
agent.silent = True
agent.adversary = True if i < num_adversaries else False
agent.size = 0.15
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
landmark.size = 0.08
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
""" Creates the world, the agents, the landmarks, the communication channels etc. These are for the time being all undifferentiated
"""
world = World()
self.world = world
if self.communication:
world.dim_c = self.comm_dim
### create the landmarks, among them the start and goal of VIP ###
world.landmarks = self.create_landmarks(world, 12)
### create the agents ###
for i in range(self.num_agents):
if i == 0:
agent = VIP(self)
elif i <= self.num_bodyguards:
agent = Bodyguard(self, self.communication, alpha=2, beta=2)
agent.name = 'bodyguard %d' % (i)
else:
agent = Bystander(self)
if i % 2 == 0:
agent = Bystander(self)
agent.name = 'bystander %d' % (i - self.num_bodyguards)
agent.accel = 3.0
agent.max_speed = 1.0
world.agents.append(agent)
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
num_agents = 3
num_landmarks = 3
observing_range = 0.7
world.observing_range = observing_range
world.num_adversaries = num_agents
world.collaborative = True
world.neighbors_pred = 2
world.neighbors_prey = 2
# 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 = 0.15
agent.id = i
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
num_good_agents = 1
num_adversaries = 3
num_agents = num_adversaries + num_good_agents
num_landmarks = 2
# 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.adversary = True if i < num_adversaries else False
agent.size = 0.075 if agent.adversary else 0.05
agent.accel = 3.0 if agent.adversary else 4.0
#agent.accel = 20.0 if agent.adversary else 25.0
agent.max_speed = 1.0 if agent.adversary else 1.3
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = True
landmark.movable = False
landmark.size = 0.2
landmark.boundary = False
# make initial conditions
self.reset_world(world)
return world
def make_world(self, **kwargs):
""" Generate a world instance
:param kwargs: dict, includes {'world_dim_c', 'num_agents', 'num_landmarks', 'num_adversaries'}
:return: world, World, the world instance
"""
world = World()
world.dim_c = kwargs['world_dim_c'] # set communication channel size
num_agents = kwargs['num_agents'] # set the number of agents
num_landmarks = kwargs['num_landmarks'] # set the number of landmarks
num_adversaries = kwargs[
'num_adversaries'] # set the number of adversaries
world.agents = [Agent() for _ in range(num_agents)]
for i, agent in enumerate(world.agents): # init agents' identification
agent.name = 'agent %d' % i
agent.collide = True
agent.silent = True
if i < num_adversaries:
agent.adversary = True
else:
agent.adversary = False
world.landmarks = [Landmark()
for _ in range(num_landmarks)] # add landmarks
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
self.reset_world(world) # make initial conditions
return world
def make_world(self, mode=2):
"""Define two agents, two boxes, and two targets.
Note that world.goals are used only for hierarchical RL visualization only
Mode0: Pre-train agents to move left box
Mode1: Pre-train agents to move right box
Mode2: Train agents to move both left and right box
"""
world = World()
self.mode = mode
world.agents = [Agent() for i in range(2)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = True
agent.silent = True
agent.size = 0.1
self.boxes = [Landmark() for _ in range(2)]
for i, box in enumerate(self.boxes):
box.name = 'box %d' % i
box.size = 0.25
box.collide = True
box.index = i
# Box modes for pre-training only
if self.mode == 0 and box.index == 1:
box.movable = False
elif self.mode == 1 and box.index == 0:
box.movable = False
else:
box.movable = True
# Different box mass (Box1 is 3x heavier than Box0)
if box.index == 0:
box.initial_mass = 2.
elif box.index == 1:
box.initial_mass = 6.
else:
raise ValueError()
world.landmarks.append(box)
self.targets = [Landmark() for _ in range(2)]
for i, target in enumerate(self.targets):
target.name = 'target %d' % i
target.collide = False
target.movable = False
target.size = 0.05
target.index = i
world.landmarks.append(target)
world.goals = [Goal() for i in range(len(world.agents))]
for i, goal in enumerate(world.goals):
goal.name = 'goal %d' % i
goal.collide = False
goal.movable = False
self.reset_world(world)
return world
def make_world(self, mode):
world = World()
self.mode = mode
# add agents
world.agents = [Agent() for i in range(2)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = True
agent.silent = True
agent.size = 0.1
# add boxes
self.boxes = [Landmark() for _ in range(2)]
for i, box in enumerate(self.boxes):
box.name = 'box %d' % i
box.size = 0.25
box.collide = True
box.index = i
# Box movable for pretrain
if self.mode == 0 and box.index == 1:
box.movable = False
elif self.mode == 1 and box.index == 0:
box.movable = False
else:
box.movable = True
# Different box mass
if box.index == 0:
box.initial_mass = 2.
elif box.index == 1:
box.initial_mass = 6.
else:
raise ValueError()
world.landmarks.append(box)
# add targets
self.targets = [Landmark() for _ in range(2)]
for i, target in enumerate(self.targets):
target.name = 'target %d' % i
target.collide = False
target.movable = False
target.size = 0.05
target.index = i
world.landmarks.append(target)
# add goals (used only for vis)
world.goals = [Goal() for i in range(len(world.agents))]
for i, goal in enumerate(world.goals):
goal.name = 'goal %d' % i
goal.collide = False
goal.movable = False
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
num_good_agents = 2
num_adversaries = 2
num_agents = num_adversaries + num_good_agents
num_landmarks = 2
num_walls=12
# add agents
world.agents = [Agent() for i in range(num_agents)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' %i
agent.name_id=i
agent.collide = True
agent.silent = True
agent.shooting_angle=0
agent.test=[0,0]
agent.bonus=1
agent.adversary = True if i < num_adversaries else False
agent.size = 0.075 if agent.adversary else 0.05
#agent.accel = 3.0 if agent.adversary else 4.0
agent.accel = 20.0 if agent.adversary else 25.0
agent.max_speed = 2.0 if agent.adversary else 2.0
# # add landmarks
# world.landmarks = [Landmark() for i in range(num_landmarks)]
# for i, landmark in enumerate(world.landmarks):
# landmark.name = 'landmark %d' % i
# landmark.collide = True
# landmark.movable = False
# landmark.size = 0.2
# landmark.boundary = False
# make initial conditions
world.obstacles = [wall() for i in range(num_walls)]
world.obstacles[0].xy=[[2200,0],[2500,800]]
world.obstacles[1].xy=[[3700,1200],[4000,2000]]
world.obstacles[2].xy=[[1500,1800],[2700,2100]]
world.obstacles[3].xy=[[0,3100],[2000,3400]]
for i in range(4):
t=world.obstacles[i].xy
world.obstacles[i+4].xy=[[5000-t[1][0],8000-t[1][1]],
[5000-t[0][0],8000-t[0][1]]]
world.obstacles[8].xy=[[-300,-300],[5300,0]]
world.obstacles[9].xy=[[-300,-300],[0,8300]]
world.obstacles[10].xy=[[5000,-300],[5300,8300]]
world.obstacles[11].xy=[[-300,8000],[5300,8300]]
for i in range(num_walls):
world.obstacles[i].xy=np.array(world.obstacles[i].xy)/100*0.075
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 4
#world.damping = 1
num_good_agents = 2
num_adversaries = 4
num_agents = num_adversaries + num_good_agents
num_landmarks = 1
num_food = 2
num_forests = 2
world.neighbors_pred = 2 # number of neighbors per pred
world.neighbors_prey = 2 # number of neighbors per prey
world.num_adversaries = num_adversaries
# add agents
world.agents = [Agent() for i in range(num_agents)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.id = i
agent.collide = True
# agent.leader = True if i == 0 else False
agent.leader = False
# agent.silent = True if i > 0 else False
agent.silent = True
agent.adversary = True if i < num_adversaries else False
agent.size = 0.075 if agent.adversary else 0.045
agent.accel = 3.0 if agent.adversary else 4.0
#agent.accel = 20.0 if agent.adversary else 25.0
agent.max_speed = 1.0 if agent.adversary else 1.3
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = True
landmark.movable = False
landmark.size = 0.2
landmark.boundary = False
world.food = [Landmark() for i in range(num_food)]
for i, landmark in enumerate(world.food):
landmark.name = 'food %d' % i
landmark.collide = False
landmark.movable = False
landmark.size = 0.03
landmark.boundary = False
world.forests = [Landmark() for i in range(num_forests)]
for i, landmark in enumerate(world.forests):
landmark.name = 'forest %d' % i
landmark.collide = False
landmark.movable = False
landmark.size = 0.3
landmark.boundary = False
world.landmarks += world.food
world.landmarks += world.forests
#world.landmarks += self.set_boundaries(world) # world boundaries now penalized with negative reward
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
world.num_agents = 4
world.num_goals = 4
# world.num_obstacles = 2
world.num_obstacles = 2
world.collaborative = True
# self.landmarkspeed = np.random.normal(size=2)
# add agents
world.agents = [Agent() for i in range(world.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 goals
world.landmarks = [
Landmark() for i in range(world.num_goals + world.num_obstacles)
]
p_vel = np.random.normal(size=2)
for i, landmark in enumerate(world.landmarks):
if i < world.num_goals:
landmark.name = 'goal %d' % i
landmark.collide = False
landmark.movable = False
landmark.state.p_vel = p_vel
else:
landmark.name = 'obstacle %d' % (i - world.num_goals)
landmark.collide = True
landmark.movable = False
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
num_agents = 7
num_preys = 3
world.collaborative = False
world.discrete_action = True
world.num_agents_obs = 3
world.num_preys_obs = 3
# 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 = 0.04
agent.accel = 5.0
# add landmarks
world.preys = [Agent() for i in range(num_preys)]
for i, prey in enumerate(world.preys):
prey.name = 'prey %d' % i
prey.collide = False
prey.movable = True
prey.silent = True
prey.size = 0.05
prey.accel = 7.0
# make initial conditions
self.reset_world(world)
return world
def make_world(self, **kwargs):
self.before_make_world(**kwargs)
world = World()
world.np_random = self.np_random
# cache kwargs in case needed in Env wrapper
world.config = kwargs
# set any world properties first
world.collaborative = True
# all entity positions are scaled/extended by size
world.size = kwargs.get("world_size", 1)
world.dim_c = kwargs.get("dim_c", 2)
num_agents = kwargs.get("num_agents", 3)
# num_good_agents = kwargs.get("num_good_agents", 1)
# num_adversaries = kwargs.get("num_adversaries", 1)
# num_agents = num_adversaries + num_good_agents
num_landmarks = kwargs.get("num_landmarks", 2)
num_balls = kwargs.get("num_balls", 1)
# add agents
world.agents = [SkilledAgent() for i in range(num_agents)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = True
agent.silent = kwargs.get("agent_silence", True)
agent.size = 0.025
# agent.adversary = True if i < num_adversaries else False
# agent.type = "adversary" if agent.adversary else "agent"
# agent.size = 0.075 if agent.adversary else 0.05
# agent.accel = 3.0 if agent.adversary else 4.0
# agent.max_speed = 1.0 if agent.adversary else 1.3
self.change_entity_attribute(agent, world, **kwargs)
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = True
landmark.movable = False
# landmark.size = 0.075
self.change_entity_attribute(landmark, world, **kwargs)
# add balls
world.balls = [Landmark() for i in range(num_balls)]
for i, landmark in enumerate(world.balls):
landmark.name = 'ball %d' % i
landmark.collide = True
landmark.movable = True
landmark.size = 0.2
self.change_entity_attribute(landmark, world, **kwargs)
# make initial conditions
self.reset_world(world, **kwargs)
return world
def make_world(self):
world = World()
# add agents
world.agents = [Agent() for i in range(1)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = False
agent.silent = True
# add landmarks
world.landmarks = [Landmark() for i in range(1)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 10
# add agents
world.agents = [Agent() for i in range(2)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = False
# agent.u_noise = 1e-1
# agent.c_noise = 1e-1
# add landmarks
world.landmarks = [Landmark() for i in range(3)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 4
#world.damping = 1
num_good_agents = 2
num_adversaries = 4
num_agents = num_adversaries + num_good_agents
num_landmarks = 1
num_food = 2
num_forests = 2
# 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.leader = True if i == 0 else False
agent.silent = True if i > 0 else False
agent.adversary = True if i < num_adversaries else False
agent.size = 0.075 if agent.adversary else 0.045
agent.accel = 3.0 if agent.adversary else 4.0
#agent.accel = 20.0 if agent.adversary else 25.0
agent.max_speed = 1.0 if agent.adversary else 1.3
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = True
landmark.movable = False
landmark.size = 0.2
landmark.boundary = False
world.food = [Landmark() for i in range(num_food)]
for i, landmark in enumerate(world.food):
landmark.name = 'food %d' % i
landmark.collide = False
landmark.movable = False
landmark.size = 0.03
landmark.boundary = False
world.forests = [Landmark() for i in range(num_forests)]
for i, landmark in enumerate(world.forests):
landmark.name = 'forest %d' % i
landmark.collide = False
landmark.movable = False
landmark.size = 0.3
landmark.boundary = False
world.landmarks += world.food
world.landmarks += world.forests
#world.landmarks += self.set_boundaries(world) # world boundaries now penalized with negative reward
# make initial conditions
self.reset_world(world)
return world
