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# Copyright (c) 2024 Lara Bergmann, Bielefeld University #
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from typing import Any
import numpy as np
from pettingzoo import ParallelEnv
from magbotsim import BasicMagBotEnv
[docs]
class BasicMagBotMultiAgentEnv(BasicMagBotEnv, ParallelEnv):
"""A base class for multi-agent reinforcement learning environments in the field of Magnetic Robotics that follow the PettingZoo
API. A more detailed explanation of all parameters can be found in the documentation of the ``BasicMagneticRoboticsEnv``.
:param layout_tiles: the tile layout
:param num_movers: the number of movers
:param tile_params: tile parameters such as the size and mass, defaults to None
:param mover_params: mover parameters such as the size and mass, defaults to None
:param initial_mover_zpos: the initial distance between the bottom of the mover and the top of a tile, defaults to 0.005 [m]
:param table_height: the height of a table on which the tiles are placed, defaults to 0.4 [m]
:param std_noise: the standard deviation of a Gaussian with zero mean used to add noise, defaults to 1e-5
:param render_mode: the mode that is used to render the frames ('human', 'rgb_array' or None), defaults to 'human'
:param default_cam_config: dictionary with attribute values of the viewer's default camera,
https://mujoco.readthedocs.io/en/latest/XMLreference.html?highlight=camera#visual-global, defaults to None
:param width_no_camera_specified: if render_mode != 'human' and no width is specified, this value is used, defaults to 1240
:param height_no_camera_specified: if render_mode != 'human' and no height is specified, this value is used, defaults to 1080
:param collision_params: a dictionary that can be used to specify collision parameters, defaults to None
:param initial_mover_start_xy_pos: the initial (x,y) starting positions of the movers, defaults to None
:param initial_mover_goal_xy_pos: the initial (x,y) goal positions of the movers, defaults to None
:param custom_xml_strings: a dictionary containing additional XML strings to provide the ability to add actuators, sensors,
objects, robots, etc. to the model. The keys determine where to add a string in the XML structure and the values contain
the XML string to add. The following keys are accepted:
- ``custom_compiler_xml_str``:
A custom 'compiler' XML section. Note that the entire default 'compiler' section is replaced.
- ``custom_visual_xml_str``:
A custom 'visual' XML section. Note that the entire default 'visual' section is replaced.
- ``custom_option_xml_str``:
A custom 'option' XML section. Note that the entire default 'option' section is replaced.
- ``custom_assets_xml_str``:
This XML string adds elements to the 'asset' section.
- ``custom_default_xml_str``:
This XML string adds elements to the 'default' section.
- ``custom_worldbody_xml_str``:
This XML string adds elements to the 'worldbody' section.
- ``custom_contact_xml_str``:
This XML string adds elements to the 'contact' section.
- ``custom_outworldbody_xml_str``:
This XML string should be used to include files or add sections.
- ``custom_mover_body_xml_str_list``:
This list of XML strings should be used to attach objects to a mover. Note that this a list with length num_movers.
If nothing is attached to a mover, add None at the corresponding mover index.
If set to None, only the basic XML string is generated, containing tiles, movers (excluding actuators),
and possibly goals; defaults to None. This dictionary can be further modified using the ``_custom_xml_string_callback()``.
:param use_mj_passive_viewer: whether the MuJoCo passive_viewer should be used, defaults to False. If set to False, the Gymnasium
MuJoCo WindowViewer with custom overlays is used.
"""
def __init__(
self,
layout_tiles: np.ndarray,
num_movers: int,
tile_params: dict[str, Any] | None = None,
mover_params: dict[str, Any] | None = None,
initial_mover_zpos: float = 0.005,
table_height: float = 0.4,
std_noise: np.ndarray | float = 1e-5,
render_mode: str | None = 'human',
default_cam_config: dict[str, Any] | None = None,
width_no_camera_specified: int = 1240,
height_no_camera_specified: int = 1080,
collision_params: dict[str, Any] | None = None,
initial_mover_start_xy_pos: np.ndarray | None = None,
initial_mover_goal_xy_pos: np.ndarray | None = None,
custom_model_xml_strings: dict[str, str] | None = None,
use_mj_passive_viewer: bool = False,
) -> None:
super(BasicMagBotEnv, self).__init__(
layout_tiles=layout_tiles,
num_movers=num_movers,
tile_params=tile_params,
mover_params=mover_params,
initial_mover_zpos=initial_mover_zpos,
table_height=table_height,
std_noise=std_noise,
render_mode=render_mode,
default_cam_config=default_cam_config,
width_no_camera_specified=width_no_camera_specified,
height_no_camera_specified=height_no_camera_specified,
collision_params=collision_params,
initial_mover_start_xy_pos=initial_mover_start_xy_pos,
initial_mover_goal_xy_pos=initial_mover_goal_xy_pos,
custom_model_xml_strings=custom_model_xml_strings,
use_mj_passive_viewer=use_mj_passive_viewer,
)
self.agents = self.mover_names
self.possible_agents = self.mover_names
