def _set_walls(self, world, num_room, arena_size):
num_wall = 3 * num_room + 1
length = arena_size / num_room
window_length = length / 2
#wall_orient = "H" * num_wall
wall_orient = ('HVH' * num_room) + 'V'
wall_axis_pos = np.zeros((num_wall))
wall_endpoints = []
for i in range(num_room):
#wall_orient[3*i:3*i+3] = 'HVH'
wall_axis_pos[3 * i:3 * i + 3] = np.array([
arena_size / 2, -arena_size / 2 + length * i,
arena_size / 2 - length
])
wall_endpoints.append((-arena_size / 2 + length * i,
-arena_size / 2 + length * (i + 1)))
wall_endpoints.append((arena_size / 2, arena_size / 2 - length))
wall_endpoints.append(
(-arena_size / 2 + length * i,
-arena_size / 2 + length * (i + 1) - window_length))
#wall_orient[num_room-1] = 'V'
# wall_orient = wall_orient[:num_room - 1] + 'V' + wall_orient[num_room:]
wall_axis_pos[num_wall - 1] = arena_size / 2
wall_endpoints.append((arena_size / 2, arena_size / 2 - length))
world.walls = [
Wall(orient=wall_orient[i],
axis_pos=wall_axis_pos[i],
endpoints=wall_endpoints[i]) for i in range(num_wall)
]
for room in world.rooms:
world.walls.append(room.window.wall)
# boundary_wall_orient = 'VHV'
# boundary_wall_axis_pos = np.array([-arena_size/2, -arena_size/2, arena_size/2])
# boundary_wall_endpoints = []
# boundary_wall_endpoints.append((-arena_size/2, arena_size/2 - length))
# boundary_wall_endpoints.append((-arena_size / 2, arena_size / 2))
# boundary_wall_endpoints.append((-arena_size / 2, arena_size / 2 - length))
# for i in range(len(boundary_wall_orient)):
# world.walls.append(Wall(orient=boundary_wall_orient[i], axis_pos=boundary_wall_axis_pos[i], endpoints=boundary_wall_endpoints[i]))
arena_size_larger = 3
boundary_wall_orient = 'VHVH'
boundary_wall_axis_pos = np.array([
-arena_size_larger / 2, -arena_size / 2, arena_size_larger / 2,
arena_size / 2
])
boundary_wall_endpoints = []
boundary_wall_endpoints.append((-arena_size / 2, arena_size / 2))
boundary_wall_endpoints.append(
(-arena_size_larger / 2, arena_size_larger / 2))
boundary_wall_endpoints.append((-arena_size / 2, arena_size / 2))
boundary_wall_endpoints.append(
(-arena_size_larger / 2, arena_size_larger / 2))
for i in range(len(boundary_wall_orient)):
world.walls.append(
Wall(orient=boundary_wall_orient[i],
axis_pos=boundary_wall_axis_pos[i],
endpoints=boundary_wall_endpoints[i]))
def make_world(self, staged=False, set_trap=True, use_dense_rewards=False):
world = World()
world.use_dense_rewards = use_dense_rewards
# set any world properties first
self.staged = staged
self.set_trap = set_trap
num_agents = 2
num_landmarks = 2 * num_agents
self.num_walls = 4 + int(self.staged)
# 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 *= 4
landmark.is_activated = False
# 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
if i == 0:
agent.role = 'imitator'
agent.clip_positions = np.array(
[[-world.scale, .55 * world.scale],
[world.scale, world.scale]])
agent.landmarks = [world.landmarks[2], world.landmarks[3]]
self.trap_width = agent.size * 4.
elif i == 1:
agent.role = 'demonstrator'
agent.clip_positions = np.array(
[[-world.scale, -world.scale],
[world.scale, .45 * world.scale]])
agent.landmarks = [world.landmarks[0], world.landmarks[1]]
else:
raise ValueError(
'There should only be two agents in this scenario')
# add walls to force the "leader" through a longer path
world.walls = [Wall() for i in range(self.num_walls)]
if self.set_trap:
world.trap = Wall()
world.walls.append(world.trap)
# make initial conditions
self.reset_world(world)
return world
def make_world(self, config):
self.shaping = config.shaping
self.predators_comm = config.predators_comm
world = World()
world.randomPreySpeed = True if config.prey_max_speed == 'random' else False
# set any world properties first
world.dim_c = config.predators_comm_size if config.predators_comm else 0
num_prey = config.num_prey
num_predators = config.num_predators
num_agents = num_predators + num_prey
num_landmarks = config.num_landmarks
# add walls
if config.bound_world:
world.walls.append(Wall(orient='H', axis_pos=1.3, endpoints=(-2, 2), width=0.2, hard=True))
world.walls.append(Wall(orient='H', axis_pos=-1.3, endpoints=(-2, 2), width=0.2, hard=True))
world.walls.append(Wall(orient='V', axis_pos=1.3, endpoints=(-2, 2), width=0.2, hard=True))
world.walls.append(Wall(orient='V', axis_pos=-1.3, endpoints=(-2, 2), width=0.2, 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.id = i
agent.collide = True
agent.adversary = True if i < num_predators else False
# if config.predators_comm:
# agent.silent = False if agent.adversary else True # Oren
# else:
# agent.silent = True
agent.silent = True
agent.size = 0.075 if agent.adversary else 0.05
# agent.accel = 3.0 if agent.adversary else 2.0
# agent.max_speed = 1.0 if agent.adversary else 0.5
agent.accel = config.pred_acc if agent.adversary else config.prey_acc
agent.max_speed = config.pred_max_speed if agent.adversary else config.prey_max_speed
# 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
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 = 0.1
agent.max_speed = 1
# add landmarks
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
if i < 3:
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
else:
landmark.name = 'obstacle %d' % i
landmark.collide = True
landmark.movable = False
landmark.size = 0.04
# add walls
world.walls = [Wall(*w) for w in walls]
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
wall = Wall()
# 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 = 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 = 0.05 if agent.adversary else 0.05
agent.accel = 3.0 if agent.adversary else 3.0
# agent.accel = 20.0 if agent.adversary else 25.0
agent.max_speed = 1.0 if agent.adversary else 1.0
# 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 = 0.06
landmark.boundary = False
# make initial conditions
self.reset_world(world)
return world
def __init__(self, p1, p2):
#list of two np arrays contain the two end_points of the window
self.p1 = p1
self.p2 = p2
if abs(p1.x - p2.x) < 1e-5:
wall_orient = 'V'
wall_axis_pos = p1.x
endpoints = (p1.y, p2.y)
if abs(p1.y - p2.y) < 1e-5:
wall_orient = 'H'
wall_axis_pos = p1.y
endpoints = (p1.x, p2.x)
self.wall = Wall(orient=wall_orient,
axis_pos=wall_axis_pos,
endpoints=endpoints)
self.wall.color = np.array([0, 0.9, 0.3])
def make_world(self, graph_obs=False):
world = World()
world.graph_obs = graph_obs
# set any world properties first
world.dim_c = 2
num_good_agents = 4
num_adversaries = 4
num_agents = num_adversaries + num_good_agents
num_landmarks = 2
num_walls = 0
# 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
world.walls = [Wall() for i in range(num_walls)]
for i, wall in enumerate(world.walls):
wall.name = 'wall %d' % i
wall.collide = True
wall.movable = False
wall.size = 0.0
wall.boundary = False
if num_walls != 0:
world.walls[0].state.p_pos = np.asarray([1, 0])
world.walls[1].state.p_pos = np.asarray([0, 1])
world.walls[2].state.p_pos = np.asarray([-1, 0])
world.walls[3].state.p_pos = np.asarray([0, -1])
# 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
# add agents
num_agents = 6
world.agent_attributes = []
world.other_entities = []
world.observability_mask = np.zeros((6, 28))
world.observable_range = 0.2 # each agent can see this far
world.agents = [Agent() for i in range(num_agents)]
for i, agent in enumerate(world.agents):
agent.i = i
agent.alive = True
agent.name = 'agent %d' % i
agent.collide = True
agent.silent = True
agent.at = -1
agent.hold = 0
agent.movable = True
agent.state.p_pos = np.zeros((2))
agent.state.p_vel = np.zeros((2))
agent.attribute = np.zeros((5))
agent.size = 0.04
# add other objects as landmarks [home, prey1, prey2, prey3, market]
num_landmarks = 8
world.landmarks = [Landmark() for i in range(num_landmarks)]
for i, landmark in enumerate(world.landmarks):
if i == 0:
landmark.i = i + num_agents
landmark.name = 'home'
landmark.alive = True
landmark.collide = True
landmark.movable = False
landmark.size = 0.08
landmark.load = 2
landmark.boundary = False
landmark.state.p_pos = np.array([0, 0])
landmark.color = np.array([0, 0, 0])
elif i < 7:
landmark.i = i + num_agents
landmark.name = str(i)
landmark.alive = True
landmark.collide = True
landmark.movable = False
landmark.size = 0.05
landmark.boundary = False
landmark.color = np.array([0, 0, 1])
landmark.state.p_pos = self.get_new_respawn_position()
elif i == 7:
landmark.i = i + num_agents
landmark.name = 'invader'
landmark.alive = True
landmark.collide = True
landmark.movable = False
landmark.size = 0.03
landmark.color = np.array([0., 0., 0.])
landmark.state.p_pos = np.array([0, 0])
landmark.boundary = False
self.invader_respawn_time = 0
self.n_entities = num_agents + num_landmarks
# add walls
world.walls = [
Wall('H', 1.4, width=1),
Wall('H', -1.4, width=1),
Wall('V', 1.4, width=1),
Wall('V', -1.4, width=1),
]
self.all_configurations = np.load("test.npy")
self.num_agents = 5
self.t = -1
return world