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_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):
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
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 = 2
num_good_agents = 5
num_adversaries = 15
num_agents = num_adversaries + num_good_agents
num_landmarks = 4
self.num_adv = num_adversaries
self.adv_vision_count = 2
self.gd_vision_count = 2
self.land_vision_count = 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 * 0.65 if agent.adversary else 0.05 * 0.65
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
num_good_agents = 1
num_adversaries = 1
num_agents = num_adversaries + num_good_agents
# add agents
world.agents = [Agent() for i in range(num_agents)]
for i, agent in enumerate(world.agents): # agent的设置
agent.name = 'agent %d' % i
agent.collide = True
agent.adversary = True if i < num_adversaries else False
agent.size = 0.25 if agent.adversary else 0.2
# 加速度 enviroment.py line 188
agent.accel = 1.4 if agent.adversary else 1
# agent.max_speed = 1.0 if agent.adversary else 1.0
agent.initial_mass = 1.0 if agent.adversary else 1.0 # chh 10.19 质量的差别影响很大，红球总是能追上小球
# 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 = 3
num_landmarks = 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 = 0.05
# 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, n_agents=3, by_stander=False):
world = World()
# set any world properties first
world.dim_c = 0
num_agents = n_agents
num_walls = 4
# add landmarks
world.landmarks = []
# add agents
world.agents = [Agent() for i in range(num_agents)]
world.goals = ['top', 'bottom', 'left', 'right']
cm = plt.cm.get_cmap('rainbow')
world.colors = [
np.array(cm(float(i) / float(len(world.agents)))[:3])
for i in range(len(world.agents))
]
for i, agent in enumerate(world.agents):
if by_stander and i == 0:
agent.goal = None
else:
agent.goal = np.random.choice(world.goals)
agent.name = 'agent %d' % i
agent.silent = True
agent.collide = True
agent.size = 0.05
agent.accel = 1.5
agent.max_speed = 1.5
agent.adversary = False
agent.clip_positions = np.array([[-1.02, -1.02], [1.02, 1.02]])
agent.is_colliding = {
other_agent.name: False
for other_agent in world.agents if agent is not other_agent
}
# add walls to force the "leader" through a longer path
world.walls = [Wall() for i in range(num_walls)]
# 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.agent_lives = 1
world.adv_lives = 1
num_good_agents = 1
num_adversaries = 2
num_agents = num_adversaries + num_good_agents
num_landmarks = 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 = 0.050 if agent.adversary else 0.05
agent.accel = 1.0 if agent.adversary else 1.0
#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 = 0.15
landmark.boundary = False
# make initial conditions
print("Setting agent's lives...")
for i in range(len(world.agents)):
if world.agents[i].adversary:
world.agents[i].lives = world.agent_lives
elif not world.agents[i].adversary:
world.agents[i].lives = world.adv_lives
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 = False
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.zeros(2)
p_angle = np.random.uniform(size=1)
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
landmark.state.p_angle = p_angle
else:
landmark.size = 0.08
landmark.name = 'obstacle %d' % (i - world.num_goals)
landmark.collide = True
landmark.movable = False
landmark.state.p_vel = np.zeros(2)
self.reset_world(world)
return world
def make_world(self, args):
self.obsid = (('obsid' in args.keys()) and args['obsid'])
self.absobs = (('absobs' in args.keys()) and args['absobs'])
if ('boundary' in args.keys()) and args['boundary']:
world = World(boundary=args['boundary'])
else:
world = World()
# set any world properties first
world.dim_c = 2
if ('num_agents' in args.keys()) and args['num_agents']:
num_agents = args['num_agents']
else:
num_agents = 3
self.num_agents = num_agents
num_landmarks = 1
self.num_landmarks = num_landmarks
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.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)
self.self_obs_indices = np.arange(2*world.dim_p+num_landmarks*world.dim_p)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
num_good_agents = 2 #1
num_adversaries = 4 #3
num_agents = num_adversaries + num_good_agents
num_landmarks = 2
observing_range = 0.7
world.num_adversaries = num_adversaries
world.observing_range = observing_range
world.neighbors_pred = 1
world.neighbors_prey = 1
world.min_corridor = 0.06
# 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.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.id = 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, keys: {'num_agents'}
:return: World, the world instance
"""
world = World()
num_agents = kwargs['num_agents']
num_landmarks = 2
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.color = np.array([0.75, 0.75, 0.75])
# here the landmark is the ball needs to be pushed
world.landmarks = [Landmark() for _ in range(num_landmarks)]
ball, target = world.landmarks
ball.name = 'BALL'
ball.collide = True
ball.movable = True
ball.color = np.array([229 / 255, 132 / 255, 129 / 255])
ball.size *= 8.0
ball.initial_mass *= 144
self._agent_size = ball.size * self._agent_shaping
target.name = 'TARGET'
target.collide = False
target.movable = False
target.color = np.array([0.1, 0.1, 0.1])
self.reset_world(world)
return world
def make_world(self, **kwargs):
self.before_make_world(**kwargs)
world = World()
world.np_random = self.np_random
# 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 _ 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
self.change_entity_attribute(agent, **kwargs)
# add landmarks
world.landmarks = [Landmark() for _ 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
self.change_entity_attribute(landmark, **kwargs)
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
world.num_agents = 10
world.dim_c = 1
world.adj = torch.randint(low=0,
high=2,
size=(world.num_agents, world.num_agents))
mask = torch.eye(world.num_agents, world.num_agents).bool()
world.adj.masked_fill_(mask, 1)
world.nact = 3
world.agents = [GraphCommAgent() for _ in range(world.num_agents)]
for i, agent in enumerate(world.agents):
agent.id = i
agent.name = 'agent %d' % i
agent.collide = False
agent.speaker = True
agent.movable = False
self.reset_world(world)
return world
def make_world(self, num_agents=3):
world = World()
# set any world properties first
num_adversaries = 1
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):
self.args = args
world = World()
# set any world properties first
self.num_agents = self.args.n_student
self.num_tasks = self.args.n_task
self.maxTask = self.args.maxTask
# add agents
world.agents = [
Agent(i, self.num_tasks, self.maxTask, self.num_agents)
for i in range(self.num_agents)
]
world.int_matrix = self.generate_graph(world)
for i, agent in enumerate(world.agents):
_, agent.state[0], agent.nghd = self.secondhop(world.int_matrix, i)
agent.c = np.random.uniform(0, 100, self.num_tasks)
world.initializeCommDictionaries()
world.updateCommNeighbors()
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
agent.size = 0.15
# 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
landmark.size = 0.05
# make initial conditions
self.reset_world(world)
for agent in world.agents:
agent.state.p_pos = np.random.uniform(-1,+1, world.dim_p)
agent.state.p_vel = np.zeros(world.dim_p)
agent.state.c = np.zeros(world.dim_c)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2 ## TODO: was 2
num_agents = 3
num_landmarks = 3
#world.collaborative = True # TODO: in earlier experiments this was set, Iqbal doesn't have this
# 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 # TODO: was true
agent.silent = True
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
# make initial conditions
self.reset_world(world)
return world
def make_world(self, num_agents = 2, num_adversaries = 1, num_landmarks = 2, **kwargs):
world = World()
# set any world properties first
world.dim_c = 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):
world = World()
# set any world properties first
num_humans = 2
num_zombies = 5
num_agents = num_humans + num_zombies
# add agents
agents = []
# add humans' team
for i in range(num_humans):
agent = Agent()
agent.collide = True
agent.team = 0
agent.name = 'human %d' % i
agent.size = 0.05
agent.accel = 4.0
agent.max_speed = 1.3
agent.health_decay = 0.99
agents.append(agent)
# add zombies' team
for i in range(num_zombies):
agent = Agent()
agent.collide = True
agent.team = 1
agent.name = 'zombie %d' % i
agent.size = 0.05
agent.accel = 3.0
agent.max_speed = 1.0
agents.append(agent)
world.agents = agents
# 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 = 3
num_landmarks = 0
num_obstacles = 2
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 = 0.08
# add edges
world.edges = []
for i in range(len(world.agents)):
world.edges.append(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
# add obstacles
world.obstacles = [Landmark() for i in range(num_obstacles)]
for i, landmark in enumerate(world.obstacles):
landmark.name = 'obstacles %d' % i
landmark.collide = True
landmark.movable = False
landmark.size = 0.15
landmark.boundary = False
world.landmarks += world.obstacles
# 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 = 3
num_agents = 5
world.num_agents = num_agents
self.num_adversaries = 1
self.scenario_dead_agents = 0
self.kill_reward = 5
# num_landmarks = num_agents - 1
num_landmarks = 10
# add agents
world.agents = [Agent() for i in range(num_agents)]
self.one_time_reward = True
# setting agent alive status
for i in range(num_agents):
world.agents[i].alive = True
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_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, random_starts=False, done_on_detection=False):
world = World(is_dynamic=False, position_scale=50000.0)
world.discrete_action_space = True
world.dt = 1.0
self.random_starts = random_starts
self.done_on_detection = done_on_detection
# 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.silent = True
agent.fusioned_sa = IngressObservation(agent, world)
agent.max_speed = 350.0 # 700.0
agent.min_speed = 0.8 * agent.max_speed
agent.accel = [1.0 * 9.81, 8.0]
agent.sensor = Sensor([1 * np.pi / 3], [20000.0], [2.5e-5])
agent.fire_action = FireAction(2)
if i == 0:
route = [Landmark() for i in range(2)]
route[0].state.p_pos = np.array([-10000.0, 0])
route[0].state.p_vel = np.zeros(world.dim_p)
route[1].state.p_pos = np.array([10000.0, 0])
route[1].state.p_vel = np.zeros(world.dim_p)
agent.platform_action = RouteAction(route=route)
else:
agent.platform_action = HeadingAction()
# add landmark for target
world.landmarks = [Landmark()]
world.landmarks[0].name = 'target_landmark'
world.landmarks[0].collide = False
world.landmarks[0].movable = False
world.landmarks[0].state.p_pos = np.array([0.0, 0.0])
world.landmarks[0].state.p_vel = np.zeros(world.dim_p)
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.contact_force = 100
world.dim_c = 2
num_agents = 42
world.num_agents = num_agents
num_adversaries = num_agents - 1
# add goal locations
world.goals = [[-0.7, -0.4], [-0.7, -0.3], [-0.7, -0.2], [-0.7, -0.1],
[-0.7, 0], [-0.7, 0.1], [-0.7, 0.2], [-0.7, 0.3],
[-0.6, -0.05], [-0.6, 0.3], [-0.5, -0.05], [-0.5, 0.3],
[-0.4, -0.05], [-0.4, 0.3], [0, -0.4], [0, -0.3],
[0, -0.2], [0, -0.1], [-0.05, 0], [0.05, 0],
[-0.1, 0.1], [0.1, 0.1], [-0.15, 0.2], [0.15, 0.2],
[-0.2, 0.3], [0.2, 0.3], [0.4, -0.4], [0.4, -0.3],
[0.4, -0.2], [0.4, -0.1], [0.4, 0], [0.4, 0.1],
[0.4, 0.2], [0.4, 0.3], [0.5, 0.3], [0.6, 0.28],
[0.68, 0.2], [0.7, 0.1], [0.68, 0], [0.6, -0.08],
[0.5, -0.1], [0, 0]]
# add landmarks
world.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.adversary = True if i < num_adversaries else False
agent.size = 0.02 if i < num_adversaries else 0.15
agent.density = 80.0 if i < num_adversaries else 15.0
agent.max_speed = None if i < num_adversaries else None
agent.accel = 1 if i < num_adversaries else None
agent.goal = np.array(world.goals[i])
# 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 = 3
num_agents = 5
world.num_agents = num_agents
self.num_adversaries = 1
self.kill_reward = 10
self.num_goals = 2
# Need this to access in environment.py
world.num_goals = self.num_goals
self.goal_reward = 5
# num_landmarks = num_agents - 1
num_landmarks = 10
# add agents
world.agents = [Agent() for i in range(num_agents)]
self.one_time_reward = True
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_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):
world = World()
# set any world properties first
world.dim_c = 2
num_agents = 2
num_adversaries = 1
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
if i < num_adversaries:
agent.adversary = True
agent.color = np.array([0.75, 0.25, 0.25])
else:
agent.adversary = False
agent.color = np.array([0.25, 0.25, 0.75])
# add landmarks for goal posts and puck
goal_posts = [[-0.25, -1.0], [-0.25, 1.0], [0.25, -1.0], [0.25, 1.0]]
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
if i > 0:
landmark.collide = True
landmark.movable = False
landmark.state.p_pos = np.array(goal_posts[i - 1])
landmark.state.p_vel = np.zeros(world.dim_p)
else:
landmark.collide = True
landmark.movable = True
# add landmarks for rink boundary
#world.landmarks += self.set_boundaries(world)
# 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_landmarks = kwargs.get("num_landmarks", 3)
# add agents
world.agents = [SkilledAgent() for _ 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
# self.change_entity_attribute(agent, world, **kwargs)
# add landmarks
world.landmarks = [Landmark() for _ in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
landmark.size = 0.075
# self.change_entity_attribute(landmark, world, **kwargs)
# make initial conditions
self.reset_world(world, **kwargs)
return world
def make_world(self, conf):
world = World()
# set any world properties first
world.dim_c = 2
num_agents = conf.num_agents
world.num_agents = num_agents
num_adversaries = num_agents / 3
num_landmarks = num_agents - 1
# add agents
world.agents = mbti.getAgentListFromUserConfig(conf)
for i, agent in enumerate(world.agents):
agent.name = 'agent_%d' % i + '_' + agent.personality.type
agent.collide = False
agent.silent = True
agent.size = 0.15
if i < num_adversaries:
agent.name = 'adversary_%d' % i + '_' + agent.personality.type
agent.adversary = True
print("Created ", agent.name)
else:
agent.name = 'agent_%d' % (
i - num_adversaries) + '_' + agent.personality.type
agent.adversary = False
print("Created ", agent.name)
# 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):
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
# add goals (used only for vis)
world.goals = [Goal() for i in range(1)]
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_agents = 2
num_landmarks = num_agents
num_goals = num_agents
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 = False
agent.silent = True
agent.size = 0.20
# 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
# add goals (used only for vis)
world.goals = [Goal() for i in range(num_goals)]
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
world.num_agents = num_agents = 1
world.num_goals = num_goals = 1
# world.num_obstacles = num_obstacles = 3
world.num_humans = num_humans = 5
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 = 0.05
# add goals:
world.goals = [Goal() for i in range(num_goals)]
for i, goal in enumerate(world.goals):
goal.name = 'goal %d' % i
goal.collide = True
goal.movable = False
goal.size = 0.05
# add humans:
world.humans = [Human() for i in range(num_humans)]
for i, human in enumerate(world.humans):
human.name = 'human %d' % i
human.collide = True
human.movable = False
human.size = 0.02
self.reset_world(world)
return world
def make_world(self):
world = World()
# By Yuan Zhang
world.collaborative = True
# 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 # 3.0 4.0
#agent.accel = 20.0 if agent.adversary else 25.0
agent.max_speed = 1.0 if agent.adversary else 1.3 # 1.0 1.3
# By Yuan Zhang:
agent.action_callback = random_action if not agent.adversary else None
# 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 # 0.2
landmark.boundary = False
# make initial conditions
self.reset_world(world)
self.done = False
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 5
num_landmarks = 6
num_obstacles = 6
world.collaborative = True
# 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
world.agents[1].collide = 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
# add obstacles
world.obstacles = [Landmark() for i in range(num_obstacles)]
for i, landmark in enumerate(world.obstacles):
landmark.name = 'obstacle %d' % i
landmark.collide = True
landmark.movable = False
landmark.size = 0.04
landmark.color = np.array([0.15, 0.15, 0.15])
# make initial conditions
self.reset_world(world)
return world
