def __init__(self, n_agents=1, with_finish_zone=True, synchronized_activation=True, dampening=0.75):
self.n_agents = n_agents
self.n = n_agents
""" Environment configuration """
self.with_finish_zone = with_finish_zone
self.synchronized_activation = synchronized_activation
self.dampeding = dampening
""" Build required entities """
self.agents = [Entities.Agent() for _ in range(self.n_agents)]
self.landmarks = [Entities.Landmark() for _ in range(self.n_agents)]
""" Build per agent action space """
self.action_space = [gym.spaces.Box(-1.0, 1.0, (2,)) for _ in range(self.n_agents)]
"""
2 : agent position
2 : agent velocity
2 * (n_agents - 1) : relative position to other agents
2 * n_agents : relative position to landmarks
n_agents : landmark flags
"""
obs_dim = 2 + 2 + 2 * (n_agents - 1) + 2 * n_agents + n_agents
"""
If we are using finish zones :
2 : relative position to finish zone
1 : finish zone radius
"""
if with_finish_zone:
obs_dim = obs_dim + 2 + 1
self.finish_zone = Entities.FinishZone()
""" Build per agent observation space """
self.observation_space = [gym.spaces.Box(low=0, high=0, shape=(obs_dim,)) for _ in range(self.n_agents)]
self.render_geoms = None
self.render_geoms_xform = None
self.viewer = None
self.rebuild_geoms = False
