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matteobettini committed Dec 22, 2024
1 parent ebb451c commit f0f2b01
Showing 1 changed file with 6 additions and 3 deletions.
9 changes: 6 additions & 3 deletions vmas/scenarios/football.py
Original file line number Diff line number Diff line change
@@ -130,7 +130,7 @@ def make_world(self, batch_dim: int, device: torch.device, **kwargs):
world = self.init_world(batch_dim, device)
self.init_agents(world)
self.init_ball(world)
self.init_background(world)
self.init_background()
self.init_walls(world)
self.init_goals(world)
self.init_traj_pts(world)
@@ -196,6 +196,7 @@ def init_world(self, batch_dim: int, device: torch.device):

def init_agents(self, world):
self.blue_color = (0.22, 0.49, 0.72)
self.red_color = (0.89, 0.10, 0.11)
# Add agents
self.red_controller = (
AgentPolicy(
@@ -284,7 +285,7 @@ def init_agents(self, world):
if not self.enable_shooting or self.ai_red_agents
else HolonomicWithRotation(),
action_size=2 if not self.enable_shooting or self.ai_red_agents else 4,
color=(0.89, 0.10, 0.11),
color=self.red_color,
alpha=1,
)
world.add_agent(agent)
@@ -604,7 +605,7 @@ def get_closest_agent_to_ball(self, team, env_index):

return min_dist

def init_background(self, world):
def init_background(self):
# Add landmarks
self.background = Landmark(
name="Background",
@@ -1065,6 +1066,7 @@ def process_action(self, agent: Agent):
..., 2
] # Red agents have the action rotation flipped

# You can shoot the ball only if you hae that action, are the closest to the ball, and the ball is within range and angle
if self.enable_shooting and agent.action_script is None:
agents_exclude_ball = [a for a in self.world.agents if a is not self.ball]
if self._agents_rel_pos_to_ball is None:
@@ -1521,6 +1523,7 @@ def extra_render(self, env_index: int = 0) -> "List[Geom]":
from vmas.simulator.rendering import Geom

# Background
# You can disable background rendering in case you are plotting the a function on the field
geoms: List[Geom] = (
self._get_background_geoms(self.background_entities)
if self._render_field

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