Introduce x_semidim and y_semidim kwargs to selected scenarios (#133)

* Introduce x_semidim and y_semidim parameters for managing environment dimensions

* [discovery]introduce x_semidim and y_semidim parameters for managing environment dimensions

* [navigation]introduce x_semidim and y_semidim parameters for managing environment dimensions

Author: Giovannibriglia

vmas/scenarios/discovery.py

@@ -23,6 +23,8 @@ class Scenario(BaseScenario):
     def make_world(self, batch_dim: int, device: torch.device, **kwargs):
         self.n_agents = kwargs.pop("n_agents", 5)
         self.n_targets = kwargs.pop("n_targets", 7)
+        self.x_semidim = kwargs.pop("x_semidim", 1)
+        self.y_semidim = kwargs.pop("y_semidim", 1)
         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)
@@ -47,8 +49,8 @@ def make_world(self, batch_dim: int, device: torch.device, **kwargs):
         world = World(
             batch_dim,
             device,
-            x_semidim=1,
-            y_semidim=1,
+            x_semidim=self.x_semidim,
+            y_semidim=self.y_semidim,
             collision_force=500,
             substeps=2,
             drag=0.25,

vmas/scenarios/navigation.py

@@ -24,6 +24,9 @@ def make_world(self, batch_dim: int, device: torch.device, **kwargs):
         self.n_agents = kwargs.pop("n_agents", 4)
         self.collisions = kwargs.pop("collisions", True)
 
+        self.x_semidim = kwargs.pop("x_semidim", None)
+        self.y_semidim = kwargs.pop("y_semidim", None)
+
         self.agents_with_same_goal = kwargs.pop("agents_with_same_goal", 1)
         self.split_goals = kwargs.pop("split_goals", False)
         self.observe_all_goals = kwargs.pop("observe_all_goals", False)
@@ -58,7 +61,13 @@ def make_world(self, batch_dim: int, device: torch.device, **kwargs):
             ), "Splitting the goals is allowed when the agents are even and half the team has the same goal"
 
         # Make world
-        world = World(batch_dim, device, substeps=2)
+        world = World(
+            batch_dim,
+            device,
+            substeps=2,
+            x_semidim=self.x_semidim,
+            y_semidim=self.y_semidim,
+        )
 
         known_colors = [
             (0.22, 0.49, 0.72),