def make_world(self, **kwargs):
self.before_make_world(**kwargs)
world = World()
world.np_random = self.np_random
# set any world properties first
num_agents = 3
num_adversaries = 1
num_landmarks = 2
world.dim_c = 4
# add agents
world.agents = [CryptoAgent() for _ 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
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 = False
landmark.movable = False
self.change_entity_attribute(landmark, **kwargs)
# 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 = 1 #1
num_adversaries = 3 #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 = 2
num_agents = 2
num_landmarks = 1
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 = 0.1
# 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 = True
landmark.movable = False
landmark.size = 0.06
# make initial conditions
self.n = num_agents
self.x = [0.0, 0.0] * num_agents
self.y = [0.0, 0.0] * num_agents
self.theta = [0.0, 0.0] * num_agents
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 = 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
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
world.dim_c = 2
num_agents = 20
num_landmarks = 20
world.collaborative = False
# Control partial observability of the agents
self.vision_range = 3 # multiplier of agent size
self.land_vision_count = 4
self.agent_vision_count = 4 # include the self agent, so effectively get one less vision than +1
# 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.size = 0.15 / (num_agents / 6)
# 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 = 0.05 / (num_landmarks / 6)
self.occ_land_dist = world.agents[0].size + world.landmarks[0].size
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 = True
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.random.normal(size=2)
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
else:
landmark.name = 'obstacle %d' % (i - world.num_goals)
landmark.collide = True
landmark.movable = False
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
num_agents = 6
num_landmarks = 6
# 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
agent.index = 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.timestep = 0
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2
self.num_agents = 6
self.num_good_agent = 2 # Cannot see landmark
self.num_comm_agents = self.num_agents - self.num_good_agent # Needs to split up
num_landmarks = self.num_comm_agents
# define vision
self.adv_vision_count = 2 # Comm agent vision
self.gd_vision_count = 1 # Need to capture agent
self.land_vision_count = 3
# 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 = False
agent.silent = True
agent.adversary = True if i < self.num_comm_agents else False
# 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 is equal to communication channel dimensionality
#### in this class the number of communication channel's dimension is changed to 10 channel per each agent
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
# physical motor noise amount
# agent.u_noise = 1e-1
# communication noise amount
# 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_agents = 7
num_landmarks = 7
world.collaborative = False
world.discrete_action = True
world.num_agents_obs = 3
world.num_landmarks_obs = 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):
world = World()
# set any world properties first
world.dim_c = 2
world.num_agents = num_agents = 2
world.num_goals = num_goals = 2
world.num_obstacles = num_obstacles = 0
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 = 0.1
# add landmarks
world.landmarks = [Landmark() for i in range(num_goals+num_obstacles)]
for i, landmark in enumerate(world.landmarks):
if i < num_goals:
landmark.name = 'goal %d' % i
landmark.collide = True
landmark.movable = False
else:
landmark.name = 'obstacle %d' % (i-num_goals)
landmark.size = 0.1
landmark.collide = True
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
world.agents_num = self.num_agents
num_landmarks = 0
# 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.index = 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 = 200.0 if agent.adversary else 250.0
agent.max_speed = 0.2 if agent.adversary else 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 = 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 = 2
num_agents = 7
world.num_agents = num_agents
num_adversaries = num_agents - 1
num_balls = 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 = 0.08 if i < num_adversaries else 0.08
# add landmarks
world.balls = [Landmark() for i in range(num_balls)]
for i, ball in enumerate(world.balls):
ball.name = 'ball %d' % i
ball.collide = False
ball.movable = False
ball.size = 0.03
# 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 = self.num_agents
num_landmarks = 2
world.collaborative = False
# add agents
world.agents = [Agent(iden=i) 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 = 0.03
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
landmark.size = 0.02
# make initial conditions
self.reset_world(world)
world.dists = []
return world
def make_world(self, mode=0):
world = World()
self.mode = mode
# set any world properties first
world.dim_c = 2
num_agents = 2
num_landmarks = 2
world.collaborative = True
assert num_agents == 2, "This env is only for two agents"
# 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 = 0.15
# 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, n_preds=2, n_preys=1, prey_variance=0., use_dense_rewards=False):
world = World()
world.use_dense_rewards = use_dense_rewards
# set any world properties first
num_agents = n_preds + n_preys
num_landmarks = 0 # No landmark to avoid lucky catches since the prey is scripted and cannot avoid them
# add policy for always_scripted agents
self.runner_policy = RunnerPolicy(var=prey_variance)
# 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.adversary = False if i < n_preds else True
agent.size = 0.04 if agent.adversary else 0.05
agent.accel = 1.5 if agent.adversary else 1.
agent.max_speed = 1.5 if agent.adversary else 1.
agent.always_scripted = True if agent.adversary else False
agent.clip_positions = np.array([[-world.scale, -world.scale], [world.scale, world.scale]])
if agent.adversary and agent.always_scripted:
agent.action_callback = self.runner_policy.action
# 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 *= 2
# make initial conditions
self.reset_world(world)
return world
def make_world(self, n_agents=5):
world = World()
# set any world properties first
world.clip_positions = True
world.dim_c = 0
num_landmarks = 1
num_agents = n_agents
# add agents
world.agents = [Agent() for i in range(num_agents)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.adversary = False
agent.silent = True
agent.collide = True
agent.is_colliding = {
other_agent.name: False
for other_agent in world.agents if agent is not other_agent
}
agent.size = 0.05
agent.accel = 0.75
agent.max_speed = 0.50
# 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 = 0.1
# make initial conditions
self.reset_world(world)
return world
def make_world(self, args=None):
world = World()
# set any world properties first
world.dim_c = 2
num_good_agents = 2
num_adversaries = 6
num_agents = num_adversaries + num_good_agents # deactivate "good" agent
num_landmarks = 4
# 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 # last agent is good agent
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
agent.action_callback = None if i < (num_agents-num_good_agents) else self.prey_policy
agent.view_radius = getattr(args, "agent_view_radius", -1)
print("AGENT VIEW RADIUS set to: {}".format(agent.view_radius))
# 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)
self.score_function= getattr(args, "score_function", "sum")
return world
def make_world(self, rngseed):
world = World(rngseed)
np.random.seed(rngseed)
# 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, **kwargs):
self.before_make_world(**kwargs)
world = World()
world.np_random = self.np_random
# add agents
world.agents = [Agent() for _ in range(1)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = False
agent.silent = True
self.change_entity_attribute(agent, **kwargs)
# add landmarks
world.landmarks = [Landmark() for _ in range(1)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
self.change_entity_attribute(landmark, **kwargs)
# 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
# set any world properties first
world.dim_c = 10
world.collaborative = True # whether agents share rewards
# add agents
world.agents = [Agent() for _ in range(2)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = False
# add landmarks
world.landmarks = [Landmark() for _ in range(3)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
self.change_entity_attribute(landmark, **kwargs)
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
self.viewers = [None]
# set any world properties first
world = World()
world.dim_c = 2
num_agents = 3
rew_landmarks = 3
car_landmarks = 6
num_landmarks = car_landmarks + rew_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.size = 0.1
agent.accel = 2
agent.max_speed = 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.car = True if i < car_landmarks else False
landmark.size = 0.1 if landmark.car else 0.02
landmark.collide = True if landmark.car else False
landmark.movable = True if landmark.car else 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
self.num_agents = 16
self.num_landmarks = 16
print("NUMBER OF AGENTS:", self.num_agents)
print("NUMBER OF LANDMARKS:", self.num_landmarks)
world.collaborative = True
self.pen_existence = 0.01
# 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.movable = True
agent.silent = True
agent.size = 0.1 #was 0.15
agent.prevDistance = 0.0
# add landmarks
world.landmarks = [Landmark() for i in range(self.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,
use_dense_rewards=False,
shuffle_landmarks=False,
color_objects=False):
world = World()
world.use_dense_rewards = use_dense_rewards
self.shuffle_landmarks = shuffle_landmarks
self.color_objects = color_objects
# set any world properties first
num_agents = n_agents
num_landmarks = n_agents
# add agents
world.agents = [Agent() for i in range(num_agents)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.clip_positions = np.array([[-world.scale, -world.scale],
[world.scale, world.scale]])
agent.is_colliding = {
other_agent.name: False
for other_agent in world.agents if agent is not other_agent
}
# 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 *= 2
# 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 # UAV Team
num_adversaries = 1 # Target
num_agents = num_adversaries + num_good_agents
num_landmarks = 0
desire_angle_form = 2 * np.pi / num_good_agents
# 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 = 0.055 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
agent.max_speed = 1.3 if agent.adversary else 1 # adv is the target
# 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 = 0.075
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
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: fixed in YJ experiments
# world.agents[0].movable = False
# listener: fixed in YJ experiments
# 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
num_landmarks = 0
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
# 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
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 0
# First half will be vertical, second half will be horizontal
num_agents = 4
# Make sure number of agents is even for now
assert num_agents % 2 == 0
num_adversaries = 0
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
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
world.dim_c = 2
num_agents = 5
num_landmarks = 5
observing_range = 0.7
world.observing_range = observing_range
world.num_adversaries = num_agents
world.collaborative = False
world.neighbors_pred = 2
world.neighbors_prey = 2
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.collide = True
agent.silent = True
agent.size = 0.10
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)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 0
num_agents = 12
num_landmarks = 12
# 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.ID = i
agent.collide = True
agent.silent = True
agent.accel = 2.5
agent.size = 0.09
# 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 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