Cross

class CrossScenario

Bases: Scenario

__init__(side: SupportsFloat = 2.0, tolerance: SupportsFloat = 0.25, agent_margin: SupportsFloat = 0.10000000149011612, add_safety_to_agent_margin: bool = True, target_margin: SupportsFloat = 0.5) → None

A scenario where agents move between two waypoints, one half of the agents vertically and the other horizontally. Agents are initialize at non-overlapping random poses in a box.

Registered properties:

• side (float, side)

• tolerance (float, tolerance)

• agent_margin (float, agent_margin)

• add_safety_to_agent_margin (bool, add_safety_to_agent_margin)

• target_margin (float, target_margin)

property add_safety_to_agent_margin

Type:

bool

Whenever the agent’s safety margin should be considered in addition to agent_margin when initializing the agents’ poses.

property agent_margin

Type:

float

The initial minimal distance between agents.

property side

Type:

float

The half-length of the squared arena. waypoints are placed at (+/-side, 0) and (0, +/-side)

property target_margin

Type:

float

The minimal distance between agents and targets at initialization.

property tolerance

Type:

float

The task goal tolerance (i.e., agents will change target when they arrive closer than this to their current target).