Questions about MAMujoco

[kaiyama12345679]

Hi, I'm very instersted in your work, and I want to test your MAT for MAMujoco.
So, Do you have any experimental results or config of the MAMujoco Envirionment other than "HalfCheetah"?

[morning9393]

hiya, thank you for your interesting, but we don't have results on other ma-mujoco map w.r.t MAT, since we use ma-mujoco mainly to simulate robot failure scenarios (for Table 3)....thus only choose the simplest case~

[kaiyama12345679]

@morning9393 , thanks for your reply.

Can I ask one more question? I want to know whether get_obs_agent() in your MAMujoco is globally observable or partially observable, because there is differences between the obsk.py of original MAMujoco and that of yours.

[morning9393]

@kaiyama12345679 hiya, Questions are always welcome~~ :))

in the file "train_mujoco.sh", you may find that we set agent_obsk=0, which means each agent obs returned by get_obs_agent() contained only the information corresponding to its own node, without neighbors, which is different from the original MA-Mujoco settings (usually agent_obsk=1 or agent_obsk=2, means it will contain information from the current node and all the nearest neighbor nodes with distances 1 or 2).

you can also change the agent_obsk if you would like to include more information into the agent obs~

hoping it might help you~

[kaiyama12345679]

@morning9393,
I'm sorry I didn't make the question clear enough.
I would like to know why there is a difference between "build_obs()" in obsk.py and that of original MAMujoco, which seems to be the same as the commented out part in yours.

Multi-Agent-Transformer/mat/envs/ma_mujoco/multiagent_mujoco/obsk.py

Lines 74 to 242 in be3ff49

	# def build_obs(env, k_dict, k_categories, global_dict, global_categories, vec_len=None):
	# """Given a k_dict from get_joints_at_kdist, extract observation vector.
	#
	# :param k_dict: k_dict
	# :param qpos: qpos numpy array
	# :param qvel: qvel numpy array
	# :param vec_len: if None no padding, else zero-pad to vec_len
	# :return:
	# observation vector
	# """
	#
	# # TODO: This needs to be fixed, it was designed for half-cheetah only!
	# #if add_global_pos:
	# # obs_qpos_lst.append(global_qpos)
	# # obs_qvel_lst.append(global_qvel)
	# body_set_dict = {}
	# obs_lst = []
	# # Add parts attributes
	# for k in sorted(list(k_dict.keys())):
	# cats = k_categories[k]
	# for _t in k_dict[k]:
	# for c in cats:
	# if c in _t.extra_obs:
	# items = _t.extra_obs[c](env).tolist()
	# obs_lst.extend(items if isinstance(items, list) else [items])
	# else:
	# if c in ["qvel","qpos"]: # this is a "joint position/velocity" item
	# items = getattr(env.sim.data, c)[getattr(_t, "{}_ids".format(c))]
	# obs_lst.extend(items if isinstance(items, list) else [items])
	# elif c in ["qfrc_actuator"]: # this is a "vel position" item
	# items = getattr(env.sim.data, c)[getattr(_t, "{}_ids".format("qvel"))]
	# obs_lst.extend(items if isinstance(items, list) else [items])
	# elif c in ["cvel", "cinert", "cfrc_ext"]: # this is a "body position" item
	# if _t.bodies is not None:
	# for b in _t.bodies:
	# if c not in body_set_dict:
	# body_set_dict[c] = set()
	# if b not in body_set_dict[c]:
	# items = getattr(env.sim.data, c)[b].tolist()
	# items = getattr(_t, "body_fn", lambda _id,x:x)(b, items)
	# # obs_lst.extend(items if isinstance(items, list) else [items])
	# body_set_dict[c].add(b)
	#
	# # Add global attributes
	# body_set_dict = {}
	# for c in global_categories:
	# if c in ["qvel", "qpos"]: # this is a "joint position" item
	# for j in global_dict.get("joints", []):
	# items = getattr(env.sim.data, c)[getattr(j, "{}_ids".format(c))]
	# obs_lst.extend(items if isinstance(items, list) else [items])
	# else:
	# for b in global_dict.get("bodies", []):
	# if c not in body_set_dict:
	# body_set_dict[c] = set()
	# if b not in body_set_dict[c]:
	# obs_lst.extend(getattr(env.sim.data, c)[b].tolist())
	# body_set_dict[c].add(b)
	#
	# if vec_len is not None:
	# pad = np.array((vec_len - len(obs_lst))*[0])
	# if len(pad):
	# return np.concatenate([np.array(obs_lst), pad])
	# return np.array(obs_lst)
	def build_obs(env, k_dict, k_categories, global_dict, global_categories, vec_len=None):
	"""Given a k_dict from get_joints_at_kdist, extract observation vector.
	:param k_dict: k_dict
	:param qpos: qpos numpy array
	:param qvel: qvel numpy array
	:param vec_len: if None no padding, else zero-pad to vec_len
	:return:
	observation vector
	"""
	# TODO: This needs to be fixed, it was designed for half-cheetah only!
	#if add_global_pos:
	# obs_qpos_lst.append(global_qpos)
	# obs_qvel_lst.append(global_qvel)
	body_set_dict = {}
	obs_lst = []
	# Add parts attributes
	# print("start=========================================================")
	# print("k_categories: ", k_categories)
	# print("k_dict: ", k_dict)
	for k in sorted(list(k_dict.keys())):
	cats = k_categories[k]
	# print("cats: ", cats)
	for _t in k_dict[k]:
	# print("_t: ", _t)
	for c in cats:
	# print("c: ", c)
	if c in _t.extra_obs:
	items = _t.extra_obs[c](env).tolist()
	# print("extra_obs %s items: %s" % (c, items))
	obs_lst.extend(items if isinstance(items, list) else [items])
	elif c in ["qvel","qpos"]: # this is a "joint position/velocity" item
	items = getattr(env.sim.data, c)[getattr(_t, "{}_ids".format(c))]
	# print("%s items: %s" % (c, items))
	obs_lst.extend(items if isinstance(items, list) else [items])
	elif c in ["qfrc_actuator"]: # this is a "vel position" item
	items = getattr(env.sim.data, c)[getattr(_t, "{}_ids".format("qvel"))]
	# print("qfrc_actuator items: ", items)
	obs_lst.extend(items if isinstance(items, list) else [items])
	elif c in ["cvel", "cinert", "cfrc_ext"]: # this is a "body position" item
	if _t.bodies is not None:
	for b in _t.bodies:
	# print("b: ", b)
	if c not in body_set_dict:
	body_set_dict[c] = set()
	if b not in body_set_dict[c]:
	items = getattr(env.sim.data, c)[b].tolist()
	items = getattr(_t, "body_fn", lambda _id,x:x)(b, items)
	# print("%s items: %s" % (c, items))
	# obs_lst.extend(items if isinstance(items, list) else [items])
	body_set_dict[c].add(b)
	# Add global attributes
	body_set_dict = {}
	# print("global_categories: ", global_categories)
	# print("global_dict: ", global_dict)
	for c in global_categories:
	# print("global c: ", c)
	for j in global_dict.get("joints", []):
	if c in j.extra_obs:
	items = j.extra_obs[c](env).tolist()
	# print("global extra_obs %s items: %s" % (c, items))
	if c not in ["cfrc_ext"]:
	obs_lst.extend(items if isinstance(items, list) else [items])
	elif c in ["qvel", "qpos"]: # this is a "joint position" item
	items = getattr(env.sim.data, c)[getattr(j, "{}_ids".format(c))]
	# print("global %s items: %s" % (c, items))
	obs_lst.extend(items if isinstance(items, list) else [items])
	elif c in ["qfrc_actuator"]: # this is a "vel position" item
	items = getattr(env.sim.data, c)[getattr(j, "{}_ids".format("qvel"))]
	# print("global qfrc_actuator items: ", items)
	obs_lst.extend(items if isinstance(items, list) else [items])
	elif c in ["cvel", "cinert", "cfrc_ext"]: # this is a "body position" item
	if j.bodies is not None:
	for b in j.bodies:
	# print("global b: ", b)
	if c not in body_set_dict:
	body_set_dict[c] = set()
	if b not in body_set_dict[c]:
	items = getattr(env.sim.data, c)[b].tolist()
	items = getattr(j, "body_fn", lambda _id,x:x)(b, items)
	# print("global %s items: %s" % (c, items))
	# obs_lst.extend(items if isinstance(items, list) else [items])
	body_set_dict[c].add(b)
	for b in global_dict.get("bodies", []):
	if c not in body_set_dict:
	body_set_dict[c] = set()
	if b not in body_set_dict[c]:
	# print("global body items: ", getattr(env.sim.data, c)[b].tolist())
	obs_lst.extend(getattr(env.sim.data, c)[b].tolist())
	body_set_dict[c].add(b)
	if vec_len is not None:
	pad = np.array((vec_len - len(obs_lst))*[0])
	if len(pad):
	# print("len_pad: ", len(pad))
	# print("obs_lst: ", obs_lst)
	# print("end=========================================================")
	return np.concatenate([np.array(obs_lst), pad])
	# print("obs_lst: ", obs_lst)
	# print("end=========================================================")
	return np.array(obs_lst)