def set_boundaries(self, world):
boundary_list = []
landmark_size = 1
edge = 1 + landmark_size
num_landmarks = int(edge * 2 / landmark_size)
for x_pos in [-edge, edge]:
for i in range(num_landmarks):
l = Landmark()
l.state.p_pos = np.array([x_pos, -1 + i * landmark_size])
boundary_list.append(l)
for y_pos in [-edge, edge]:
for i in range(num_landmarks):
l = Landmark()
l.state.p_pos = np.array([-1 + i * landmark_size, y_pos])
boundary_list.append(l)
for i, l in enumerate(boundary_list):
l.name = 'boundary %d' % i
l.collide == True
l.movable = False
l.boundary = True
l.color = np.array([0.75, 0.75, 0.75])
l.size = landmark_size
l.state.p_vel = np.zeros(world.dim_p)
return boundary_list
def make_world(self,args):
world = World()
# set any world properties first
world.dim_c = 4
#world.damping = 1
num_good_agents = args.num_good_agents#2
num_adversaries = args.num_adversaries#4
num_agents = num_adversaries + num_good_agents
num_landmarks = args.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
def make_world(self, args):
world = World()
# set any world properties first
world.world_length = args.episode_length
world.dim_c = 10
world.collaborative = True # whether agents share rewards
# add agents
world.num_agents = args.num_agents #2
assert world.num_agents==2, ("only 2 agents is supported, check the config.py.")
world.agents = [Agent() for i in range(world.num_agents)]
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.num_landmarks = args.num_landmarks#3
world.landmarks = [Landmark() for i in range(world.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):
world = World()
world.world_length = args.episode_length
# set any world properties first
world.dim_c = 3
world.num_landmarks = args.num_landmarks#3
world.collaborative = True
# add agents
world.num_agents = args.num_agents #2
assert world.num_agents==2, ("only 2 agents is supported, check the config.py.")
world.agents = [Agent() for i in range(world.num_agents)]
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(world.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, args, now_agent_num=None):
world = World()
# set any world properties first
world.dim_c = 2
if now_agent_num==None:
num_agents = args.num_agents
num_landmarks = args.num_landmarks
else:
num_agents = now_agent_num
num_landmarks = now_agent_num
# 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 = 0.15
agent.size = 0.1
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
landmark.cover = 0
# landmark.size = 0.15
# make initial conditions
self.reset_world(world)
return world
def make_world(self, args):
world = World()
# set any world properties first
world.dim_c = 2
num_agents = args.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, args):
world = World()
# set any world properties first
world.dim_c = 2
num_good_agents = args.num_good_agents #1
num_adversaries = args.num_adversaries #3
num_agents = num_adversaries + num_good_agents
num_landmarks = args.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, args, now_agent_num=None, now_box_num=None):
world = World()
# set any world properties first
world.dim_c = 2
if now_agent_num == None:
num_people = args.num_agents
num_boxes = args.num_landmarks
num_landmarks = args.num_landmarks
else:
num_people = now_agent_num
num_boxes = now_box_num
num_landmarks = now_box_num
self.num_boxes = num_boxes
self.num_people = num_people
self.num_agents = num_boxes + num_people # deactivate "good" agent
# 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.adversary = True if i < num_people else False # people.adversary = True box.adversary = False
agent.size = 0.1 if agent.adversary else 0.15
# agent.accel = 3.0 if agent.adversary else 5
# agent.max_speed = 0.5 if agent.adversary else 0.5
agent.action_callback = None if i < num_people else self.box_policy # box有action_callback 即不做动作
# 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 = 0.15
landmark.cover = 0
# landmark.boundary = False
# make initial conditions
self.reset_world(world)
return world
def make_world(self, args):
world = World()
world.world_length = args.episode_length
# set any world properties first
world.dim_c = 2
world.num_agents = args.num_agents
world.num_landmarks = args.num_landmarks #3
world.collaborative = True
# 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 = 0.15
# add landmarks
world.landmarks = [Landmark() for i in range(world.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):
world = World()
# set any world properties first
num_agents = args.num_agents #3
num_adversaries = 1
num_landmarks = args.num_landmarks #2
world.dim_c = 4
# add agents
world.agents = [CryptoAgent() for i in range(num_agents)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = False
agent.adversary = True if i < num_adversaries else False
agent.speaker = True if i == 2 else False
agent.movable = 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, now_agent_num=None):
world = World()
# set any world properties first
world.dim_c = 2
if now_agent_num == None:
num_agents = args.num_agents
num_landmarks = args.num_landmarks
else:
num_agents = now_agent_num
num_landmarks = now_agent_num
# world.collaborative = True
# add walls
world.walls = [
Wall(orient='V',
axis_pos=-6.5,
endpoints=(-6, 6),
width=3.0,
hard=True),
Wall(orient='V',
axis_pos=6.5,
endpoints=(-6, 6),
width=3.0,
hard=True),
Wall(orient='H',
axis_pos=-4.5,
endpoints=(-6, 6),
width=3.0,
hard=True),
Wall(orient='H',
axis_pos=4.5,
endpoints=(-6, 6),
width=3.0,
hard=True),
# up left wall
Wall(orient='V',
axis_pos=-2,
endpoints=(0.2, 3),
width=2,
hard=True),
# down left wall
Wall(orient='V',
axis_pos=-2,
endpoints=(-3, -0.2),
width=2,
hard=True),
# up right wall
Wall(orient='V',
axis_pos=2,
endpoints=(0.2, 3),
width=2,
hard=True),
# down right wall
Wall(orient='V',
axis_pos=2,
endpoints=(-3, -0.2),
width=2,
hard=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 = 0.15
agent.size = 0.1
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
landmark.cover = 0
# landmark.size = 0.15
# make initial conditions
self.reset_world(world)
return world
def make_world(self, args, now_agent_num=None, now_box_num=None):
world = World()
# set any world properties first
world.dim_c = 2
if now_agent_num == None:
num_people = args.num_agents
num_boxes = args.num_landmarks
num_landmarks = args.num_landmarks
else:
num_people = now_agent_num
num_boxes = now_box_num
num_landmarks = now_box_num
self.num_boxes = num_boxes
self.num_people = num_people
self.num_agents = num_boxes + num_people # deactivate "good" agent
# add walls 10*2
world.walls = [
Wall(orient='V',
axis_pos=-6.5,
endpoints=(-6, 6),
width=3.0,
hard=True),
Wall(orient='V',
axis_pos=6.5,
endpoints=(-6, 6),
width=3.0,
hard=True),
Wall(orient='H',
axis_pos=-4,
endpoints=(-6, 6),
width=6.0,
hard=True),
Wall(orient='H',
axis_pos=4,
endpoints=(-6, 6),
width=6.0,
hard=True),
# up left wall
Wall(orient='V',
axis_pos=-2,
endpoints=(0.2, 3),
width=2,
hard=True),
# down left wall
Wall(orient='V',
axis_pos=-2,
endpoints=(-3, -0.2),
width=2,
hard=True),
# up right wall
Wall(orient='V',
axis_pos=2,
endpoints=(0.2, 3),
width=2,
hard=True),
# down right wall
Wall(orient='V',
axis_pos=2,
endpoints=(-3, -0.2),
width=2,
hard=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.adversary = True if i < num_people else False # people.adversary = True box.adversary = False
agent.size = 0.1 if agent.adversary else 0.15
# agent.accel = 3.0 if agent.adversary else 5
# agent.max_speed = 0.5 if agent.adversary else 0.5
agent.action_callback = None if i < num_people else self.box_policy # box有action_callback 即不做动作
# 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 = 0.15
landmark.cover = 0
# landmark.boundary = False
# make initial conditions
self.reset_world(world)
return world
