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[Feature] Enable to set the number of lidar rays in navigation, discovery and flocking scenarios #141

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merged 6 commits into from
Sep 17, 2024
Merged

[Feature] Enable to set the number of lidar rays in navigation, discovery and flocking scenarios #141

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6be9bc0
introduce "n_lidar_rays_entities" and "n_lidar_rays_agents"
Giovannibriglia Sep 16, 2024
9204002
introduce "n_lidar_rays"
Giovannibriglia Sep 16, 2024
1fd0144
introduce "n_lidar_rays"
Giovannibriglia Sep 16, 2024
f557b00
Update vmas/scenarios/discovery.py
Giovannibriglia Sep 17, 2024
0b2b655
Update vmas/scenarios/flocking.py
Giovannibriglia Sep 17, 2024
34e68e9
Update vmas/scenarios/navigation.py
Giovannibriglia Sep 17, 2024
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14 changes: 12 additions & 2 deletions vmas/scenarios/discovery.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,17 @@ def make_world(self, batch_dim: int, device: torch.device, **kwargs):
self._min_dist_between_entities = kwargs.pop("min_dist_between_entities", 0.2)
self._lidar_range = kwargs.pop("lidar_range", 0.35)
self._covering_range = kwargs.pop("covering_range", 0.25)

self.use_agent_lidar = kwargs.pop("use_agent_lidar", False)
if self.use_agent_lidar:
self.n_lidar_rays_entities = kwargs.pop("n_lidar_rays_entities", 15)
else:
if "n_lidar_rays_entities" in kwargs:
raise ValueError(
'Cannot set "n_lidar_rays_entities" when "use_agent_lidar" is False.'
)
self.n_lidar_rays_agents = kwargs.pop("n_lidar_rays_agents", 12)
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self._agents_per_target = kwargs.pop("agents_per_target", 2)
self.targets_respawn = kwargs.pop("targets_respawn", True)
self.shared_reward = kwargs.pop("shared_reward", False)
Expand Down Expand Up @@ -74,7 +84,7 @@ def make_world(self, batch_dim: int, device: torch.device, **kwargs):
[
Lidar(
world,
n_rays=15,
n_rays=self.n_lidar_rays_entities,
max_range=self._lidar_range,
entity_filter=entity_filter_targets,
render_color=Color.GREEN,
Expand All @@ -86,7 +96,7 @@ def make_world(self, batch_dim: int, device: torch.device, **kwargs):
world,
angle_start=0.05,
angle_end=2 * torch.pi + 0.05,
n_rays=12,
n_rays=self.n_lidar_rays_agents,
max_range=self._lidar_range,
entity_filter=entity_filter_agents,
render_color=Color.BLUE,
Expand Down
4 changes: 3 additions & 1 deletion vmas/scenarios/flocking.py
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Expand Up @@ -20,6 +20,8 @@ def make_world(self, batch_dim: int, device: torch.device, **kwargs):
n_obstacles = kwargs.pop("n_obstacles", 5)
self._min_dist_between_entities = kwargs.pop("min_dist_between_entities", 0.15)

self.n_lidar_rays = kwargs.pop("n_rays", 12)
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self.collision_reward = kwargs.pop("collision_reward", -0.1)
self.dist_shaping_factor = kwargs.pop("dist_shaping_factor", 1)
ScenarioUtils.check_kwargs_consumed(kwargs)
Expand Down Expand Up @@ -51,7 +53,7 @@ def make_world(self, batch_dim: int, device: torch.device, **kwargs):
sensors=[
Lidar(
world,
n_rays=12,
n_rays=self.n_lidar_rays,
max_range=0.2,
entity_filter=goal_entity_filter,
)
Expand Down
3 changes: 2 additions & 1 deletion vmas/scenarios/navigation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,7 @@ def make_world(self, batch_dim: int, device: torch.device, **kwargs):
self.lidar_range = kwargs.pop("lidar_range", 0.35)
self.agent_radius = kwargs.pop("agent_radius", 0.1)
self.comms_range = kwargs.pop("comms_range", 0)
self.n_lidar_rays = kwargs.pop("n_rays", 12)
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self.shared_rew = kwargs.pop("shared_rew", True)
self.pos_shaping_factor = kwargs.pop("pos_shaping_factor", 1)
Expand Down Expand Up @@ -115,7 +116,7 @@ def make_world(self, batch_dim: int, device: torch.device, **kwargs):
[
Lidar(
world,
n_rays=12,
n_rays=self.n_lidar_rays,
max_range=self.lidar_range,
entity_filter=entity_filter_agents,
),
Expand Down