UML_multiagent-particle-envs

Entity

self.name = '' self.size = 0.050 self.movable = False self.collide = True self.density = 25.0 self.color = None self.max_speed = None self.accel = None self.state = EntityState() self.initial_mass = 1.0

+ mass(params):return self.initial_mass

InteractivePolicy

+ action(params):returnType- key_press(params)- key_release()

World

self.agents = [] self.landmarks = [] self.dim_c = 0 self.dim_p = 2 self.dim_color = 3 self.dt = 0.1 self.damping = 0.25 self.contact_force = 1e+2 self.contact_margin = 1e-3

EntityState

+ attribute1:self.p_pos = None+ attribute2:self.p_vel = None

Interactivate

+ operation1(params):returnType- operation2(params)- operation3()

obs_n = env.reset()

AgentStateattr:c = None

act_n

reward()、observation()

Agent

self.movable = True self.silent = False self.blind = False self.u_noise = None self.c_noise = None self.u_range = 1.0 self.state = AgentState() self.action = Action() self.action_callback = None

Action

+ attribute1:self.u = None+ attribute2:self.c = None

MultiAgentEnv

Scenario

+make_world()- reset_world()- reward()- observation()

step()

p_vel、p_pos