update current vmas tasks

Signed-off-by: Matteo Bettini <[email protected]>
facebookresearch · Oct 5, 2023 · a4a76ca · a4a76ca
1 parent 3419ba2
commit a4a76ca
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Showing 6 changed files with 13 additions and 1 deletion.
diff --git a/benchmarl/conf/task/vmas/balance.yaml b/benchmarl/conf/task/vmas/balance.yaml
@@ -4,4 +4,6 @@ defaults:
 
 
 max_steps: 100
-n_agents: 3
+n_agents: 4
+random_package_pos_on_line: True
+package_mass: 5
diff --git a/benchmarl/conf/task/vmas/navigation.yaml b/benchmarl/conf/task/vmas/navigation.yaml
@@ -7,5 +7,8 @@ max_steps: 100
 n_agents: 3
 collisions: True
 agents_with_same_goal: 1
+split_goals: False
 observe_all_goals: False
 shared_rew: False
+lidar_range: 0.35
+agent_radius: 0.1
diff --git a/benchmarl/conf/task/vmas/sampling.yaml b/benchmarl/conf/task/vmas/sampling.yaml
@@ -7,3 +7,4 @@ max_steps: 100
 n_agents: 3
 shared_rew: False
 n_gaussians: 3
+lidar_range: 0.2
diff --git a/benchmarl/environments/vmas/balance.py b/benchmarl/environments/vmas/balance.py
@@ -5,3 +5,5 @@
 class TaskConfig:
     max_steps: int = MISSING
     n_agents: int = MISSING
+    random_package_pos_on_line: bool = MISSING
+    package_mass: float = MISSING
diff --git a/benchmarl/environments/vmas/navigation.py b/benchmarl/environments/vmas/navigation.py
@@ -9,3 +9,6 @@ class TaskConfig:
     agents_with_same_goal: int = MISSING
     observe_all_goals: bool = MISSING
     shared_rew: bool = MISSING
+    split_goals: bool = MISSING
+    lidar_range: float = MISSING
+    agent_radius: float = MISSING
diff --git a/benchmarl/environments/vmas/sampling.py b/benchmarl/environments/vmas/sampling.py
@@ -7,3 +7,4 @@ class TaskConfig:
     n_agents: int = MISSING
     shared_rew: bool = MISSING
     n_gaussians: int = MISSING
+    lidar_range: float = MISSING