def make_world(self, sort_obs=True):
world = World()
self.np_rnd = np.random.RandomState(0)
self.sort_obs = sort_obs
# set any world properties first
world.dim_c = 2
num_agents = 3
world.num_adversaries = 0
num_landmarks = 2
world.collaborative = True
self.world_radius = 1
# for partial observation
world.max_obs_dist = math.sqrt(2) / 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 = 0.06
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
if i < num_landmarks / 2:
landmark.name = 'landmark %d' % i
landmark.collide = True
landmark.movable = True
landmark.size = 0.1
landmark.initial_mass = 2.0
else:
landmark.name = 'target %d' % (i - num_landmarks / 2)
landmark.collide = False
landmark.movable = False
landmark.size = 0.05
landmark.initial_mass = 4.0
# make initial conditions
self.color = {
'green': np.array([0.35, 0.85, 0.35]),
'blue': np.array([0.35, 0.35, 0.85]),
'red': np.array([0.85, 0.35, 0.35]),
'light_blue': np.array([0.35, 0.85, 0.85]),
'yellow': np.array([0.85, 0.85, 0.35]),
'black': np.array([0.0, 0.0, 0.0])
}
self.reset_world(world)
return world
def make_world(self):
# world = World(self.scripted_agents, self.observation)
world = World(None, self.observation)
self.np_rnd = np.random.RandomState(0)
# set any world properties first
world.dim_c = 2
self.num_good_agents = 2
self.num_adversaries = 6
world.num_adversaries = self.num_adversaries
num_agents = self.num_adversaries + self.num_good_agents
num_landmarks = 3
self.world_radius = 1.5
world.collaborative = True
world.max_obs_dist = math.sqrt(2) / 2
self.n_group = 2
# add agents
# world.agents = [Agent() for _ in range(num_adversaries)] \
# + [Agent(action_callback) for _ in range(num_good_agents)]
world.agents = [Agent() for _ 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 < self.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.collide_th = self.good_agents(world)[0].size + self.adversaries(
world)[0].size
self.reset_world(world)
return world