Multi Agent Example

With HoloOcean, you can control more than one agent at once. Instead of calling .step(), which both

1. passes a single command to the main agent, and

2. ticks the simulation

you should call .act(). Act supplies a command to a specific agent, but doesn’t tick the game.

Once all agents have received their actions, you can call .tick() to tick the game.

After calling .act(), every time you call .tick() the same command will be supplied to the agent. To change the command, just call .act() again.

The state returned from tick is also somewhat different.

The state is now a dictionary from agent name to sensor dictionary.

Press tab to switch the viewport between agents. See Hotkeys for more.

import holoocean
import numpy as np

cfg = {
    "name": "test_rgb_camera",
    "world": "SimpleUnderwater",
    "package_name": "Ocean",
    "main_agent": "auv0",
    "ticks_per_sec": 60,
    "agents": [
        {
            "agent_name": "auv0",
            "agent_type": "TorpedoAUV",
            "sensors": [
                {
                    "sensor_type": "IMUSensor"
                }
            ],
            "control_scheme": 0,
            "location": [0, 0, -5]
        },
        {
            "agent_name": "auv1",
            "agent_type": "HoveringAUV",
            "sensors": [
                {
                    "sensor_type": "DVLSensor"
                }
            ],
            "control_scheme": 0,
            "location": [0, 2, -5]
        }
    ]
}

env = holoocean.make(scenario_cfg=cfg)
env.reset()

env.act('auv0', np.array([0,0,0,0,75]))
env.act('auv1', np.array([0,0,0,0,20,20,20,20]))
for i in range(300):
    states = env.tick()

    # states is a dictionary
    imu = states["auv0"]["IMUSensor"]

    vel = states["auv1"]["DVLSensor"]