MPE fix agent dynamics (#970)

Co-authored-by: vateseif <vateseif@gmail.com>

docs/environments/mpe.md

@@ -36,9 +36,9 @@ pip install pettingzoo[mpe]
 ### Usage
 To launch a [Simple Tag](https://pettingzoo.farama.org/environments/mpe/simple_tag/) environment with random agents:
 
-```python
-from pettingzoo.mpe import simple_tag_v2
-env = simple_tag_v2.env(render_mode='human')
+``` python
+from pettingzoo.mpe import simple_tag_v3
+env = simple_tag_v3.env(render_mode='human')
 
 env.reset()
 for agent in env.agent_iter():

pettingzoo/mpe/_mpe_utils/core.py

@@ -168,6 +168,7 @@ def integrate_state(self, p_force):
         for i, entity in enumerate(self.entities):
             if not entity.movable:
                 continue
+            entity.state.p_pos += entity.state.p_vel * self.dt
             entity.state.p_vel = entity.state.p_vel * (1 - self.damping)
             if p_force[i] is not None:
                 entity.state.p_vel += (p_force[i] / entity.mass) * self.dt
@@ -184,7 +185,6 @@ def integrate_state(self, p_force):
                         )
                         * entity.max_speed
                     )
-            entity.state.p_pos += entity.state.p_vel * self.dt
 
     def update_agent_state(self, agent):
         # set communication state (directly for now)

pettingzoo/mpe/simple/simple.py

@@ -9,7 +9,7 @@
 
 This environment is part of the <a href='..'>MPE environments</a>. Please read that page first for general information.
 
-| Import             | `from pettingzoo.mpe import simple_v2` |
+| Import             | `from pettingzoo.mpe import simple_v3` |
 |--------------------|----------------------------------------|
 | Actions            | Discrete/Continuous                    |
 | Parallel API       | Yes                                    |
@@ -31,7 +31,7 @@
 ### Arguments
 
 ``` python
-simple_v2.env(max_cycles=25, continuous_actions=False)
+simple_v3.env(max_cycles=25, continuous_actions=False)
 ```
 
 
@@ -69,7 +69,7 @@ def __init__(self, max_cycles=25, continuous_actions=False, render_mode=None):
             max_cycles=max_cycles,
             continuous_actions=continuous_actions,
         )
-        self.metadata["name"] = "simple_v2"
+        self.metadata["name"] = "simple_v3"
 
 
 env = make_env(raw_env)

pettingzoo/mpe/simple_adversary/simple_adversary.py

@@ -9,7 +9,7 @@
 
 This environment is part of the <a href='..'>MPE environments</a>. Please read that page first for general information.
 
-| Import             | `from pettingzoo.mpe import simple_adversary_v2` |
+| Import             | `from pettingzoo.mpe import simple_adversary_v3` |
 |--------------------|--------------------------------------------------|
 | Actions            | Discrete/Continuous                              |
 | Parallel API       | Yes                                              |
@@ -39,7 +39,7 @@
 ### Arguments
 
 ``` python
-simple_adversary_v2.env(N=2, max_cycles=25, continuous_actions=False)
+simple_adversary_v3.env(N=2, max_cycles=25, continuous_actions=False)
 ```
 
 
@@ -80,7 +80,7 @@ def __init__(self, N=2, max_cycles=25, continuous_actions=False, render_mode=Non
             max_cycles=max_cycles,
             continuous_actions=continuous_actions,
         )
-        self.metadata["name"] = "simple_adversary_v2"
+        self.metadata["name"] = "simple_adversary_v3"
 
 
 env = make_env(raw_env)

pettingzoo/mpe/simple_crypto/simple_crypto.py

@@ -9,7 +9,7 @@
 
 This environment is part of the <a href='..'>MPE environments</a>. Please read that page first for general information.
 
-| Import             | `from pettingzoo.mpe import simple_crypto_v2` |
+| Import             | `from pettingzoo.mpe import simple_crypto_v3` |
 |--------------------|-----------------------------------------------|
 | Actions            | Discrete/Continuous                           |
 | Parallel API       | Yes                                           |
@@ -45,7 +45,7 @@
 ### Arguments
 
 ``` python
-simple_crypto_v2.env(max_cycles=25, continuous_actions=False)
+simple_crypto_v3.env(max_cycles=25, continuous_actions=False)
 ```
 
 
@@ -90,7 +90,7 @@ def __init__(self, max_cycles=25, continuous_actions=False, render_mode=None):
             max_cycles=max_cycles,
             continuous_actions=continuous_actions,
         )
-        self.metadata["name"] = "simple_crypto_v2"
+        self.metadata["name"] = "simple_crypto_v3"
 
 
 env = make_env(raw_env)

pettingzoo/mpe/simple_push/simple_push.py

@@ -9,7 +9,7 @@
 
 This environment is part of the <a href='..'>MPE environments</a>. Please read that page first for general information.
 
-| Import             | `from pettingzoo.mpe import simple_push_v2` |
+| Import             | `from pettingzoo.mpe import simple_push_v3` |
 |--------------------|---------------------------------------------|
 | Actions            | Discrete/Continuous                         |
 | Parallel API       | Yes                                         |
@@ -38,7 +38,7 @@
 ### Arguments
 
 ``` python
-simple_push_v2.env(max_cycles=25, continuous_actions=False)
+simple_push_v3.env(max_cycles=25, continuous_actions=False)
 ```
 
 
@@ -74,7 +74,7 @@ def __init__(self, max_cycles=25, continuous_actions=False, render_mode=None):
             max_cycles=max_cycles,
             continuous_actions=continuous_actions,
         )
-        self.metadata["name"] = "simple_push_v2"
+        self.metadata["name"] = "simple_push_v3"
 
 
 env = make_env(raw_env)

pettingzoo/mpe/simple_reference/simple_reference.py

@@ -9,7 +9,7 @@
 
 This environment is part of the <a href='..'>MPE environments</a>. Please read that page first for general information.
 
-| Import             | `from pettingzoo.mpe import simple_reference_v2` |
+| Import             | `from pettingzoo.mpe import simple_reference_v3` |
 |--------------------|--------------------------------------------------|
 | Actions            | Discrete/Continuous                              |
 | Parallel API       | Yes                                              |
@@ -40,7 +40,7 @@
 
 
 ``` python
-simple_reference_v2.env(local_ratio=0.5, max_cycles=25, continuous_actions=False)
+simple_reference_v3.env(local_ratio=0.5, max_cycles=25, continuous_actions=False)
 ```
 
 
@@ -87,7 +87,7 @@ def __init__(
             continuous_actions=continuous_actions,
             local_ratio=local_ratio,
         )
-        self.metadata["name"] = "simple_reference_v2"
+        self.metadata["name"] = "simple_reference_v3"
 
 
 env = make_env(raw_env)

pettingzoo/mpe/simple_speaker_listener/simple_speaker_listener.py

@@ -9,7 +9,7 @@
 
 This environment is part of the <a href='..'>MPE environments</a>. Please read that page first for general information.
 
-| Import               | `from pettingzoo.mpe import simple_speaker_listener_v3` |
+| Import               | `from pettingzoo.mpe import simple_speaker_listener_v4` |
 |----------------------|---------------------------------------------------------|
 | Actions              | Discrete/Continuous                                     |
 | Parallel API         | Yes                                                     |
@@ -37,7 +37,7 @@
 ### Arguments
 
 ``` python
-simple_speaker_listener_v2.env(max_cycles=25, continuous_actions=False)
+simple_speaker_listener_v4.env(max_cycles=25, continuous_actions=False)
 ```
 
 
@@ -75,7 +75,7 @@ def __init__(self, max_cycles=25, continuous_actions=False, render_mode=None):
             max_cycles=max_cycles,
             continuous_actions=continuous_actions,
         )
-        self.metadata["name"] = "simple_speaker_listener_v3"
+        self.metadata["name"] = "simple_speaker_listener_v4"
 
 
 env = make_env(raw_env)

pettingzoo/mpe/simple_spread/simple_spread.py

@@ -9,7 +9,7 @@
 
 This environment is part of the <a href='..'>MPE environments</a>. Please read that page first for general information.
 
-| Import               | `from pettingzoo.mpe import simple_spread_v2` |
+| Import               | `from pettingzoo.mpe import simple_spread_v3` |
 |----------------------|-----------------------------------------------|
 | Actions              | Discrete/Continuous                           |
 | Parallel API         | Yes                                           |
@@ -36,7 +36,7 @@
 ### Arguments
 
 ``` python
-simple_spread_v2.env(N=3, local_ratio=0.5, max_cycles=25, continuous_actions=False)
+simple_spread_v3.env(N=3, local_ratio=0.5, max_cycles=25, continuous_actions=False)
 ```
 
 
@@ -91,7 +91,7 @@ def __init__(
             continuous_actions=continuous_actions,
             local_ratio=local_ratio,
         )
-        self.metadata["name"] = "simple_spread_v2"
+        self.metadata["name"] = "simple_spread_v3"
 
 
 env = make_env(raw_env)

pettingzoo/mpe/simple_tag/simple_tag.py

@@ -9,7 +9,7 @@
 
 This environment is part of the <a href='..'>MPE environments</a>. Please read that page first for general information.
 
-| Import             | `from pettingzoo.mpe import simple_tag_v2`                 |
+| Import             | `from pettingzoo.mpe import simple_tag_v3`                 |
 |--------------------|------------------------------------------------------------|
 | Actions            | Discrete/Continuous                                        |
 | Parallel API       | Yes                                                        |
@@ -45,7 +45,7 @@ def bound(x):
 ### Arguments
 
 ``` python
-simple_tag_v2.env(num_good=1, num_adversaries=3, num_obstacles=2, max_cycles=25, continuous_actions=False)
+simple_tag_v3.env(num_good=1, num_adversaries=3, num_obstacles=2, max_cycles=25, continuous_actions=False)
 ```
 
 
@@ -100,7 +100,7 @@ def __init__(
             max_cycles=max_cycles,
             continuous_actions=continuous_actions,
         )
-        self.metadata["name"] = "simple_tag_v2"
+        self.metadata["name"] = "simple_tag_v3"
 
 
 env = make_env(raw_env)

pettingzoo/mpe/simple_world_comm/simple_world_comm.py

@@ -9,7 +9,7 @@
 
 This environment is part of the <a href='..'>MPE environments</a>. Please read that page first for general information.
 
-| Import             | `from pettingzoo.mpe import simple_world_comm_v2`                                   |
+| Import             | `from pettingzoo.mpe import simple_world_comm_v3`                                   |
 |--------------------|-------------------------------------------------------------------------------------|
 | Actions            | Discrete/Continuous                                                                 |
 | Parallel API       | Yes                                                                                 |
@@ -117,7 +117,7 @@ def __init__(
             max_cycles=max_cycles,
             continuous_actions=continuous_actions,
         )
-        self.metadata["name"] = "simple_world_comm_v2"
+        self.metadata["name"] = "simple_world_comm_v3"
 
 
 env = make_env(raw_env)

pettingzoo/test/api_test.py

@@ -32,13 +32,13 @@
 ]
 env_graphical_obs = ["knights_archers_zombies_v10"]
 env_diff_obs_shapes = [
-    "simple_adversary_v2",
-    "simple_world_comm_v2",
-    "simple_tag_v2",
+    "simple_adversary_v3",
+    "simple_world_comm_v3",
+    "simple_tag_v3",
     "knights_archers_zombies_v10",
-    "simple_push_v2",
-    "simple_speaker_listener_v3",
-    "simple_crypto_v2",
+    "simple_push_v3",
+    "simple_speaker_listener_v4",
+    "simple_crypto_v3",
 ]
 env_all_zeros_obs = ["knights_archers_zombies_v10"]
 env_obs_space = [
@@ -54,36 +54,36 @@
     "gin_rummy_v4",
 ]
 env_diff_agent_obs_size = [
-    "simple_adversary_v2",
-    "simple_world_comm_v2",
-    "simple_tag_v2",
-    "simple_crypto_v2",
-    "simple_push_v2",
-    "simple_speaker_listener_v3",
+    "simple_adversary_v3",
+    "simple_world_comm_v3",
+    "simple_tag_v3",
+    "simple_crypto_v3",
+    "simple_push_v3",
+    "simple_speaker_listener_v4",
 ]
 env_pos_inf_obs = [
-    "simple_adversary_v2",
-    "simple_reference_v2",
-    "simple_spread_v2",
-    "simple_tag_v2",
-    "simple_world_comm_v2",
+    "simple_adversary_v3",
+    "simple_reference_v3",
+    "simple_spread_v3",
+    "simple_tag_v3",
+    "simple_world_comm_v3",
     "multiwalker_v9",
-    "simple_crypto_v2",
-    "simple_push_v2",
-    "simple_speaker_listener_v3",
-    "simple_v2",
+    "simple_crypto_v3",
+    "simple_push_v3",
+    "simple_speaker_listener_v4",
+    "simple_v3",
 ]
 env_neg_inf_obs = [
-    "simple_adversary_v2",
-    "simple_reference_v2",
-    "simple_spread_v2",
-    "simple_tag_v2",
-    "simple_world_comm_v2",
+    "simple_adversary_v3",
+    "simple_reference_v3",
+    "simple_spread_v3",
+    "simple_tag_v3",
+    "simple_world_comm_v3",
     "multiwalker_v9",
-    "simple_crypto_v2",
-    "simple_push_v2",
-    "simple_speaker_listener_v3",
-    "simple_v2",
+    "simple_crypto_v3",
+    "simple_push_v3",
+    "simple_speaker_listener_v4",
+    "simple_v3",
 ]
 
 

pettingzoo/test/state_test.py

@@ -4,26 +4,26 @@
 import numpy as np
 
 env_pos_inf_state = [
-    "simple_adversary_v2",
-    "simple_reference_v2",
-    "simple_spread_v2",
-    "simple_tag_v2",
-    "simple_world_comm_v2",
-    "simple_crypto_v2",
-    "simple_push_v2",
-    "simple_speaker_listener_v3",
-    "simple_v2",
+    "simple_adversary_v3",
+    "simple_reference_v3",
+    "simple_spread_v3",
+    "simple_tag_v3",
+    "simple_world_comm_v3",
+    "simple_crypto_v3",
+    "simple_push_v3",
+    "simple_speaker_listener_v4",
+    "simple_v3",
 ]
 env_neg_inf_state = [
-    "simple_adversary_v2",
-    "simple_reference_v2",
-    "simple_spread_v2",
-    "simple_tag_v2",
-    "simple_world_comm_v2",
-    "simple_crypto_v2",
-    "simple_push_v2",
-    "simple_speaker_listener_v3",
-    "simple_v2",
+    "simple_adversary_v3",
+    "simple_reference_v3",
+    "simple_spread_v3",
+    "simple_tag_v3",
+    "simple_world_comm_v3",
+    "simple_crypto_v3",
+    "simple_push_v3",
+    "simple_speaker_listener_v4",
+    "simple_v3",
 ]