* init

* added raycasting with multiple angles

* out commenting the old

* aemnd

* aemnd

* aemnd

* aemnd

* aemnd

* aemnd

* aemnd

---------

Co-authored-by: Zartris <Jonas.le.fevre@gmail.com>

* amend

* amend

* amend

* amend

* amend

* amend

* amend

* amend

…dimension (#119)

* support custom nvec for discrete actions

Changes:
- add action_nvec property to the Dynamics ABC (defaults to 3s as before when not overridden)
- add Agent.action_nvec
- In Environment: update get_agent_action_space, get_random_action, _set_action to support Agent.action_nvec

* add composite dynamics

Changes:
- add simulator.dynamics.composite with Composite class
- add Rotation to simulator.dynamics.holonomic_with_rot

* revert changes to dynamics, improve logic for bc-compatibility

* Apply suggestions from code review

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* fix discrete to multi-discrete mapping, add tests

* Apply suggestions from code review

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* improve tests

---------

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* 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

* amend

* amend

* amend

* 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

* [environment rendering] implementing boundary visualization for limited environments

* [navigation] ensure entity placement within constrained environment boundaries

* [environment rendering] implementing boundary visualization for limited environments

* [Features] world_spawning_x, world_spawning_y and enforce_bounds

* [Bug Fix] world_spawning_x, world_spawning_y and enforce_bounds

* Update vmas/scenarios/navigation.py

* Update vmas/scenarios/navigation.py

* [Bug Fix] world_spawning_x, world_spawning_y and enforce_bounds

* [Bug Fix] world_spawning_x, world_spawning_y and enforce_bounds

---------

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

…very and flocking scenarios (#141)

* introduce "n_lidar_rays_entities" and "n_lidar_rays_agents"

* introduce "n_lidar_rays"

* introduce "n_lidar_rays"

* Update vmas/scenarios/discovery.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* Update vmas/scenarios/flocking.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* Update vmas/scenarios/navigation.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

---------

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* add boundary visualization for limited-size environments

* add boundary visualization for limited-size environments

* add boundary visualization for limited-size environments

* introduce "visualize_semidims" to display boundaries

* Update vmas/simulator/environment/environment.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* Update vmas/simulator/environment/environment.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* Update vmas/simulator/environment/environment.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* Update vmas/simulator/environment/environment.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* Update vmas/simulator/environment/environment.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* Update vmas/simulator/scenario.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* add boundary visualization for limited-size environments

* disabled "visualize_semidims" as boundaries are already being plotted in this scenario

* Update vmas/simulator/environment/environment.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* Update vmas/simulator/environment/environment.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* disabled "visualize_semidims" as boundaries are already being plotted in this scenario

* add boundary visualization for limited-size environments

* Update vmas/simulator/environment/environment.py

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* add boundary visualization for limited-size environments

---------

Co-authored-by: Matteo Bettini <55539777+matteobettini@users.noreply.github.com>

* add gymnasium integration but maintain openai gym support

* update documentation (default being gym)

* by default preserve original interface of all functions

* Update gymnasium/ gym integration
- base VMAS environment uses OpenAI gym spaces
- base VMAS environment has new flag `terminated_truncated` (default:
  False) that determines whether `done()` and `step()` return the
  default `done` value or separate values for `terminated` and
  `truncated`
- update `gymnasium` wrapper to convert gym spaces of base environment
  to gymnasium spaces
- add `gymnasium_vec` wrapper that can wrap vectorized VMAS environment
  as gymnasium environment
- add new installation options of VMAS for optional dependencies (used
  for features like rllib, torchrl, gymnasium, rendering, testing)
- add `return_numpy` flag in gymnasium wrappers (default: True) to
  determine whether to convert torch tensors to numpy --> passed through by `make_env` function
- add `render_mode` flag in gymnasium wrappers (default: "human") to
  determine mode to render --> passed through by `make_env` function

* use gymnasium and shimmy tools to convert spaces + use vmas to_numpy
conversion

* update VMAS wrappers
- add base VMAS wrapper class for type conversion between tensors and np
  for singleton and vectorized envs
- change default of gym wrapper to return np data
- update interactive rendering to be compatible with non gym wrapper
  class (to preserve tensor types)
- add error messages for gymnasium and rllib wrappers without installing
  first

* update vmas wrapper base class, move wrappers and add wrapper tests

* incorporate feedback
- update github dependency installation
- unify get scenario test function and limit wrapper tests to fewer
  scenarios
- allow import of all gym wrappers from `vmas.simulator.environment.gym`
- consider env continuous_actions for action type conversion in wrappers
- compress info to single nested info if needed rather than combining
  keys

* remove import error

* Revert "remove import error"

This reverts commit 2d0ad62.

* import optional deps only when needed

* relative imports

* installation docs

* interactive render

* docs

* more docs

* various

* small nits

* gym wrapper tests for dict spaces check obs shapes matching obs key

---------

Co-authored-by: Matteo Bettini <mb2389@cl.cam.ac.uk>