def make_world(self):
# world = World(self.scripted_agents, self.observation)
world = World(None, self.observation)
self.np_rnd = np.random.RandomState(0)
# set any world properties first
world.dim_c = 2
num_good_agents = 3
num_adversaries = 2
world.num_adversaries = num_adversaries
num_agents = num_adversaries + num_good_agents
num_landmarks = 2
self.world_radius = 1
# add agents
world.agents = [Agent(), Agent(), Agent(), Agent(), Agent()]
# world.agents = [Agent(), Agent(), Agent(), Agent(action_callback)]
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 = 7
num_preys = 3
world.collaborative = False
world.discrete_action = True
world.num_agents_obs = 3
world.num_preys_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 = 0.04
agent.accel = 5.0
# add landmarks
world.preys = [Agent() for i in range(num_preys)]
for i, prey in enumerate(world.preys):
prey.name = 'prey %d' % i
prey.collide = False
prey.movable = True
prey.silent = True
prey.size = 0.05
prey.accel = 7.0
# make initial conditions
self.reset_world(world)
return world
def _create_agent_base(self, ind):
agent = Agent()
agent.i = ind
agent.name = 'agent %i' % agent.i
agent.collide = False
agent.size = 0.075
agent.accel = 1.5
agent.initial_mass = 1.0
agent.max_speed = 1.0
agent.predicted = False
return agent
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
world.num_agents = num_agents = 1
world.num_goals = num_goals = 1
world.num_obstacles = num_obstacles = 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_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.cache_dists = True
world.dim_c = 2
num_agents = 2
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.size = 0.03
agent.holding = 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 = True
landmark.movable = False
landmark.size = 0.02
landmark.collector = True if i < 2 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 = 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 = 3
num_landmarks = 3
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 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 noise field
noise_field = create_noise_field(world.dim_p)
world.landmarks.append(noise_field)
# make initial conditions
self.reset_world(world)
return world
def make_world(self, use_dense_rewards=True):
world = World()
world.use_dense_rewards = True # We always use_dense_rewards in this task
# set any world properties first
num_landmarks = 3
num_agents = 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.clip_positions = np.array([[-world.scale, -world.scale],
[world.scale, world.scale]])
agent.collide = False
if i == 0:
agent.role = "runner"
elif i == 1:
agent.role = "pursuer"
else:
raise ValueError(
'There should only be two agents in this scenario')
# 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
# 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 = 1
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 = 0.05
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 = 0.03
# make initial conditions
self.reset_world(world)
world.dists = []
return world
def make_world(self):
world = World(is_dynamic=False, position_scale=50000.0)
world.discrete_action_space = True
world.dt = 1.0
n_landmarks = 1
# 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.fusioned_sa = LandMarkObservation(n_landmarks, agent, world)
agent.platform_action = HeadingAction()
agent.fire_action = FireAction(2)
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([2 * np.pi / 3], [100000.0], [2.5e-5])
# add landmarks
world.landmarks = [Landmark() for i in range(n_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
# landmark.rwr = Rwr(max_range=200000.0, min_range=2.5e-5)
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
# set any world properties first
world.dim_c = 2 # communication channel dimensionality
num_observers = 3
num_targets = 0
# add agents
world.agents = [Agent() for i in range(num_observers)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.collide = True
agent.silent = True
agent.adversary = True
agent.size = 0.05
agent.accel = 4.0
agent.max_speed = 1.3
# add targets
world.landmarks = [Landmark() for i in range(num_targets)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'target %d' % i
landmark.collide = True
landmark.movable = True
landmark.size = 0.2
landmark.accel = 3.0
landmark.max_speed = 1.0
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
self.threshold_dist = 0.1
self.num_agents = 4
self.num_landmarks = 4
self.exist_pen = -0.001
self.cum_pen = [0] * self.num_agents
print("NUMBER OF AGENTS:", self.num_agents)
print("NUMBER OF LANDMARKS:", self.num_landmarks)
world.collaborative = True
# 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.silent = True
agent.size = 0.1
# Pairing landmarks i with N-i
# 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, **kwargs):
self.before_make_world(**kwargs)
world = World()
world.np_random = self.np_random
# set any world properties first
world.dim_c = 2
num_agents = 2
num_adversaries = 1
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
if i < num_adversaries:
agent.adversary = True
else:
agent.adversary = 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_agents = 1
num_landmarks = 1
num_obstacles = 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.size = 0.08
# 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, obstacle in enumerate(world.obstacles):
obstacle.name = 'obstacle %d' % i
obstacle.collide = True
obstacle.movable = False
obstacle.size = 0.30
obstacle.boundary = False
# make initial conditions
self.reset_world(world)
return world
def make_world(self):
world = World()
#setting the world properties...
world.dim_c=2
num_agents=2
world.num_agents = num_agents
num_adversaries=1
num_landmarks=2
#adding the agents...
#probability that agent is an enemy/ally
prob_enemy=np.random.uniform(0,1) # TODO: use uniform 0-1 and pick a threshold between 0, 1 (done & confirmed)
threshold = 0.5
world.agents = [Agent() for i in range(num_agents)]
for i,agent in enumerate(world.agents):
agent.name='agent %d' % i
agent.collide = False # TODO:
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.max_speed = 1.0 if agent.adversary else 1.3
# agent either an ally or an enemy
agent.ally= True if prob_enemy<threshold and i<num_agents else False
agent.enemy=True if prob_enemy>=threshold and i<num_agents else False
#adding the 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 = 0.2 #make landmark very big
landmark.boundary = False
#making the initial conditions...
self.reset_world(world)
return world
def make_world(self,
nb_agents=4,
nb_objects=1,
obs_range=0.4,
collision_pen=10.0,
relative_coord=True,
dist_reward=False):
world = PushWorld(nb_objects)
# add agent
self.nb_agents = nb_agents
world.agents = [Agent() for i in range(self.nb_agents)]
for i, agent in enumerate(world.agents):
agent.name = 'agent %d' % i
agent.silent = True
agent.size = AGENT_SIZE
agent.initial_mass = AGENT_MASS
agent.color = np.array([0.5, 0.0, 0.0])
# Objects and landmarks
self.nb_objects = nb_objects
# Scenario attributes
self.obs_range = obs_range
self.relative_coord = relative_coord
self.dist_reward = dist_reward
# Reward attributes
self.collision_pen = collision_pen
# Flag for end of episode
self._done_flag = 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 = agent_size if agent.adversary else adver_size
# agent.accel = 3.0 if agent.adversary else 4.0
agent.accel = 200.0 if agent.adversary else 250.0
agent.max_speed = agent_speed * 10 if agent.adversary else adver_speed * 10 #v = speed /10
# 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, args):
world = World()
# set any world properties first
world.dim_c = 2
world.num_agents = args.num_agents
world.num_landmarks = args.num_landmarks
world.step_unknown = args.step_unknown
world.unknown_decay = args.unknown_decay
world.decay_episode = args.decay_episode
world.critic_full_obs = args.critic_full_obs
world.num_reset = 0
# 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 = 0.15
# add landmarks
world.landmarks = [Landmark() for i in range(world.num_landmarks)]
for i, landmark in enumerate(world.landmarks):
landmark.name = 'landmark %d' % i
landmark.collide = False
landmark.movable = False
world.select_goal = np.random.randint(0, world.num_landmarks)
world.agents[0].goal = world.landmarks[world.select_goal]
# 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 = 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 = 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
# 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 = 3
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 = 2
num_agents = 3
num_landmarks = 3
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 = size_agents
# 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 = size_landmarks
# 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 = size_obstacles
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 = 1
num_landmarks = 20
world.observing_range = 0.7
world.min_corridor = 0.06
world.collaborative = True
# 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 = 0.03
# 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 = np.random.uniform(0.1, 0.2)
if i == (len(world.landmarks) - 1):
landmark.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 = 3
num_landmarks = 5
world.collaborative = True
# this will be the furthest any agent can move in any direction
world.size = 5
# 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 # I think this is irrelevant?
# speaker
world.agents[0].movable = False
# listener (discrete)
world.agents[1].silent = True
world.agents[1].hopper = 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 # I think this is irrelevant?
# make initial conditions
self.reset_world(world)
return world
def make_world(self, n_agents=3, use_dense_rewards=False):
world = World()
world.use_dense_rewards = use_dense_rewards
# set any world properties first
num_agents = n_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.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 *= 3
# 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_adversaries = 3
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,
size=6.0,
n_preds=3,
pred_vel=1.2,
prey_vel=1.0,
tax=0.1,
discrete=True,
partial=False,
symmetric=False,
action_penalty=0.0):
world = World()
# set any world properties
world.n_steps = 500
world.torus = True
world.dim_c = 2
world.size = size
world.origin = np.array([world.size / 2, world.size / 2])
world.use_sensor_range = False
world.partial = partial
world.tax = tax
world.symmetric = symmetric
world.action_penalty = action_penalty
print('world size = {}'.format(world.size))
print('pred vel = {}'.format(pred_vel))
print('prey vel = {}'.format(prey_vel))
print('tax = {}'.format(world.tax))
print('action penalty = {}'.format(world.action_penalty))
num_good_agents = 1
self.n_preds = num_adversaries = n_preds
num_agents = num_adversaries + num_good_agents
num_landmarks = 0
# add agents
world.agents = [Agent() for i in range(num_agents)]
for i, agent in enumerate(world.agents):
agent.name = 'agent {}'.format(i)
agent.id = i
agent.active = True
agent.captured = False
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 = 20.0 if agent.adversary else 20.0
if agent.adversary:
if isinstance(pred_vel, list):
agent.max_speed = pred_vel[i]
else:
agent.max_speed = pred_vel
else:
agent.max_speed = prey_vel
# discrete actions
world.discrete_actions = discrete
# 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 = 4
num_landmarks = 4
print("NUMBER OF AGENTS:", num_agents)
print("NUMBER OF LANDMARKS:", num_landmarks)
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 #was 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, 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, num_agents_inpt=2, num_adversaries_inpt=1):
world = World()
# set any world properties first
world.dim_c = 2
num_agents = num_agents_inpt
world.num_agents = num_agents_inpt
num_adversaries = num_adversaries_inpt
num_landmarks = num_agents - num_adversaries_inpt
# 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.color = np.array([0.0, 0.0, 0.0]) if i < num_adversaries else np.array([1.0, 1.0, 0.0])
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