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
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()
# 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
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 = 2
num_adversaries = 1
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_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()
# 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 = 2 #original=10
world.collaborative = True # whether agents share rewards
# 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
# 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