def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
num_agents = 7
world.num_agents = num_agents
num_adversaries = num_agents - 1
num_balls = 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 = True
agent.silent = True
agent.adversary = True if i < num_adversaries else False
agent.size = 0.08 if i < num_adversaries else 0.08
# add landmarks
world.balls = [Landmark() for i in range(num_balls)]
for i, ball in enumerate(world.balls):
ball.name = 'ball %d' % i
ball.collide = False
ball.movable = False
ball.size = 0.03
# 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
