From b90252dd4293f4a83158716ca1eb218f124a17b1 Mon Sep 17 00:00:00 2001
From: Christian Schroeder de Witt <schroederdewitt@gmail.com>
Date: Wed, 13 Apr 2022 14:21:04 +0100
Subject: [PATCH] Multiagent Mujoco v1.1.0

---
 .gitignore                                    |   1 +
 .idea/workspace.xml                           |  29 ++++++++--
 README.md                                     |  16 ++++--
 .../__init__.py                               |   0
 .../assets/.gitignore                         |   0
 {src => multiagent_mujoco/assets}/__init__.py |   0
 .../assets/coupled_half_cheetah.xml           |   0
 .../assets/manyagent_ant.xml                  |   0
 .../assets/manyagent_ant.xml.template         |   0
 .../assets/manyagent_ant__stage1.xml          |   0
 .../assets/manyagent_swimmer.xml.template     |   0
 .../assets/manyagent_swimmer__bckp2.xml       |   0
 .../assets/manyagent_swimmer_bckp.xml         |   0
 .../coupled_half_cheetah.py                   |   0
 .../manyagent_ant.py                          |   0
 .../manyagent_swimmer.py                      |   0
 .../mujoco_multi.py                           |  21 +++++---
 .../multiagentenv.py                          |   0
 .../obsk.py                                   |   0
 setup.py                                      |  50 ++++++++++++++++++
 .../__pycache__/__init__.cpython-36.pyc       | Bin 323 -> 0 bytes
 .../coupled_half_cheetah.cpython-36.pyc       | Bin 2336 -> 0 bytes
 .../__pycache__/mujoco_multi.cpython-36.pyc   | Bin 7742 -> 0 bytes
 .../__pycache__/multiagentenv.cpython-36.pyc  | Bin 3468 -> 0 bytes
 .../__pycache__/obsk.cpython-36.pyc           | Bin 14521 -> 0 bytes
 src/multiagent_mujoco/assets/__init__.py      |   0
 26 files changed, 103 insertions(+), 14 deletions(-)
 rename {src/multiagent_mujoco => multiagent_mujoco}/__init__.py (100%)
 rename {src/multiagent_mujoco => multiagent_mujoco}/assets/.gitignore (100%)
 rename {src => multiagent_mujoco/assets}/__init__.py (100%)
 rename {src/multiagent_mujoco => multiagent_mujoco}/assets/coupled_half_cheetah.xml (100%)
 rename {src/multiagent_mujoco => multiagent_mujoco}/assets/manyagent_ant.xml (100%)
 rename {src/multiagent_mujoco => multiagent_mujoco}/assets/manyagent_ant.xml.template (100%)
 rename {src/multiagent_mujoco => multiagent_mujoco}/assets/manyagent_ant__stage1.xml (100%)
 rename {src/multiagent_mujoco => multiagent_mujoco}/assets/manyagent_swimmer.xml.template (100%)
 rename {src/multiagent_mujoco => multiagent_mujoco}/assets/manyagent_swimmer__bckp2.xml (100%)
 rename {src/multiagent_mujoco => multiagent_mujoco}/assets/manyagent_swimmer_bckp.xml (100%)
 rename {src/multiagent_mujoco => multiagent_mujoco}/coupled_half_cheetah.py (100%)
 rename {src/multiagent_mujoco => multiagent_mujoco}/manyagent_ant.py (100%)
 rename {src/multiagent_mujoco => multiagent_mujoco}/manyagent_swimmer.py (100%)
 rename {src/multiagent_mujoco => multiagent_mujoco}/mujoco_multi.py (90%)
 rename {src/multiagent_mujoco => multiagent_mujoco}/multiagentenv.py (100%)
 rename {src/multiagent_mujoco => multiagent_mujoco}/obsk.py (100%)
 create mode 100644 setup.py
 delete mode 100644 src/multiagent_mujoco/__pycache__/__init__.cpython-36.pyc
 delete mode 100644 src/multiagent_mujoco/__pycache__/coupled_half_cheetah.cpython-36.pyc
 delete mode 100644 src/multiagent_mujoco/__pycache__/mujoco_multi.cpython-36.pyc
 delete mode 100644 src/multiagent_mujoco/__pycache__/multiagentenv.cpython-36.pyc
 delete mode 100644 src/multiagent_mujoco/__pycache__/obsk.cpython-36.pyc
 delete mode 100644 src/multiagent_mujoco/assets/__init__.py

diff --git a/.gitignore b/.gitignore
index 4fce1fd..d60327e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
 #.idea/
 .DS_Store
 *.pyc
+__pycache__/
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 8c3805b..a3ab11b 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -3,6 +3,23 @@
   <component name="ChangeListManager">
     <list default="true" id="fc8d9951-0206-49b0-b2a7-427c017b16d7" name="Default Changelist" comment="">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/__init__.py" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/__init__.py" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/assets/.gitignore" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/assets/__init__.py" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/assets/coupled_half_cheetah.xml" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/assets/manyagent_ant.xml" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/assets/manyagent_ant.xml.template" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/assets/manyagent_ant__stage1.xml" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/assets/manyagent_swimmer.xml.template" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/assets/manyagent_swimmer__bckp2.xml" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/assets/manyagent_swimmer_bckp.xml" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/coupled_half_cheetah.py" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/manyagent_ant.py" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/manyagent_swimmer.py" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/mujoco_multi.py" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/multiagentenv.py" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/multiagent_mujoco/obsk.py" beforeDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -12,20 +29,25 @@
   <component name="Git.Settings">
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
+  <component name="MarkdownSettingsMigration">
+    <option name="stateVersion" value="1" />
+  </component>
   <component name="ProjectId" id="1cPm6TCQIav94k8TK5U8i52h4Sx" />
   <component name="ProjectViewState">
     <option name="hideEmptyMiddlePackages" value="true" />
-    <option name="showExcludedFiles" value="true" />
     <option name="showLibraryContents" value="true" />
   </component>
   <component name="PropertiesComponent">
+    <property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
+    <property name="RunOnceActivity.ShowReadmeOnStart" value="true" />
     <property name="SHARE_PROJECT_CONFIGURATION_FILES" value="true" />
     <property name="WebServerToolWindowFactoryState" value="false" />
-    <property name="last_opened_file_path" value="$PROJECT_DIR$/../pymarl-bei" />
+    <property name="last_opened_file_path" value="$PROJECT_DIR$" />
     <property name="nodejs_interpreter_path.stuck_in_default_project" value="undefined stuck path" />
     <property name="nodejs_npm_path_reset_for_default_project" value="true" />
     <property name="settings.editor.selected.configurable" value="configurable.group.appearance" />
   </component>
+  <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
   <component name="SvnConfiguration">
     <configuration />
   </component>
@@ -40,11 +62,12 @@
       <workItem from="1579092952173" duration="102000" />
       <workItem from="1590438427675" duration="9000" />
       <workItem from="1597079541219" duration="639000" />
+      <workItem from="1649854279827" duration="1028000" />
     </task>
     <servers />
   </component>
   <component name="TypeScriptGeneratedFilesManager">
-    <option name="version" value="1" />
+    <option name="version" value="3" />
   </component>
   <component name="WindowStateProjectService">
     <state x="195" y="1238" key="#com.intellij.execution.impl.EditConfigurationsDialog" timestamp="1597079568866">
diff --git a/README.md b/README.md
index d414293..0086557 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,12 @@
 ```diff
-+ New Addition: Multi-Agent Mujoco now supports Scenarios with Coupled Robots (using Tendons). 
-+ Check out instructions below.
+-  PLEASE NOTE: To use the legacy version of Multiagent Mujoco please check out tag v1.0
+```
+
+```diff
++ New Version: Multi-Agent MuJoCo is now at Version 1.1.0. Changes and added features are as follows:
++ Fixed a bug in action mapping in the step function (thanks go to Paul Barde). This fixes several unphysical mappings found in previous versions.
++ Multi-Agent MuJoCo can now be installed as a PIP package.
++ I am in the process of establishing comprehensive benchmarks of all Multi-Agent MuJoCO scenarios across a variety of RL algorithms. 
 ```
 
 ```diff
@@ -17,20 +23,20 @@ Described in the paper [Deep Multi-Agent Reinforcement Learning for Decentralize
 
 # Installation
 
-**Note: You require OpenAI Gym Version 0.10.8 and Mujoco 2.0**
+**Note: You require OpenAI Gym Version 0.10.8 and Mujoco 2.1**
 
 Simply clone this repository and put ./src on your PYTHONPATH.
 To render, please also set the following environment variables:
 
 ```
-LD_LIBRARY_PATH=${HOME}/.mujoco/mujoco200/bin;
+LD_LIBRARY_PATH=${HOME}/.mujoco/mujoco210/bin;
 LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so
 ```
 
 # Example
 
 ```python
-from src.multiagent_mujoco.mujoco_multi import MujocoMulti
+from multiagent_mujoco.mujoco_multi import MujocoMulti
 import numpy as np
 import time
 
diff --git a/src/multiagent_mujoco/__init__.py b/multiagent_mujoco/__init__.py
similarity index 100%
rename from src/multiagent_mujoco/__init__.py
rename to multiagent_mujoco/__init__.py
diff --git a/src/multiagent_mujoco/assets/.gitignore b/multiagent_mujoco/assets/.gitignore
similarity index 100%
rename from src/multiagent_mujoco/assets/.gitignore
rename to multiagent_mujoco/assets/.gitignore
diff --git a/src/__init__.py b/multiagent_mujoco/assets/__init__.py
similarity index 100%
rename from src/__init__.py
rename to multiagent_mujoco/assets/__init__.py
diff --git a/src/multiagent_mujoco/assets/coupled_half_cheetah.xml b/multiagent_mujoco/assets/coupled_half_cheetah.xml
similarity index 100%
rename from src/multiagent_mujoco/assets/coupled_half_cheetah.xml
rename to multiagent_mujoco/assets/coupled_half_cheetah.xml
diff --git a/src/multiagent_mujoco/assets/manyagent_ant.xml b/multiagent_mujoco/assets/manyagent_ant.xml
similarity index 100%
rename from src/multiagent_mujoco/assets/manyagent_ant.xml
rename to multiagent_mujoco/assets/manyagent_ant.xml
diff --git a/src/multiagent_mujoco/assets/manyagent_ant.xml.template b/multiagent_mujoco/assets/manyagent_ant.xml.template
similarity index 100%
rename from src/multiagent_mujoco/assets/manyagent_ant.xml.template
rename to multiagent_mujoco/assets/manyagent_ant.xml.template
diff --git a/src/multiagent_mujoco/assets/manyagent_ant__stage1.xml b/multiagent_mujoco/assets/manyagent_ant__stage1.xml
similarity index 100%
rename from src/multiagent_mujoco/assets/manyagent_ant__stage1.xml
rename to multiagent_mujoco/assets/manyagent_ant__stage1.xml
diff --git a/src/multiagent_mujoco/assets/manyagent_swimmer.xml.template b/multiagent_mujoco/assets/manyagent_swimmer.xml.template
similarity index 100%
rename from src/multiagent_mujoco/assets/manyagent_swimmer.xml.template
rename to multiagent_mujoco/assets/manyagent_swimmer.xml.template
diff --git a/src/multiagent_mujoco/assets/manyagent_swimmer__bckp2.xml b/multiagent_mujoco/assets/manyagent_swimmer__bckp2.xml
similarity index 100%
rename from src/multiagent_mujoco/assets/manyagent_swimmer__bckp2.xml
rename to multiagent_mujoco/assets/manyagent_swimmer__bckp2.xml
diff --git a/src/multiagent_mujoco/assets/manyagent_swimmer_bckp.xml b/multiagent_mujoco/assets/manyagent_swimmer_bckp.xml
similarity index 100%
rename from src/multiagent_mujoco/assets/manyagent_swimmer_bckp.xml
rename to multiagent_mujoco/assets/manyagent_swimmer_bckp.xml
diff --git a/src/multiagent_mujoco/coupled_half_cheetah.py b/multiagent_mujoco/coupled_half_cheetah.py
similarity index 100%
rename from src/multiagent_mujoco/coupled_half_cheetah.py
rename to multiagent_mujoco/coupled_half_cheetah.py
diff --git a/src/multiagent_mujoco/manyagent_ant.py b/multiagent_mujoco/manyagent_ant.py
similarity index 100%
rename from src/multiagent_mujoco/manyagent_ant.py
rename to multiagent_mujoco/manyagent_ant.py
diff --git a/src/multiagent_mujoco/manyagent_swimmer.py b/multiagent_mujoco/manyagent_swimmer.py
similarity index 100%
rename from src/multiagent_mujoco/manyagent_swimmer.py
rename to multiagent_mujoco/manyagent_swimmer.py
diff --git a/src/multiagent_mujoco/mujoco_multi.py b/multiagent_mujoco/mujoco_multi.py
similarity index 90%
rename from src/multiagent_mujoco/mujoco_multi.py
rename to multiagent_mujoco/mujoco_multi.py
index b556c02..3dc7d57 100755
--- a/src/multiagent_mujoco/mujoco_multi.py
+++ b/multiagent_mujoco/mujoco_multi.py
@@ -30,10 +30,10 @@ class MujocoMulti(MultiAgentEnv):
 
     def __init__(self, batch_size=None, **kwargs):
         super().__init__(batch_size, **kwargs)
-        self.scenario = kwargs["env_args"]["scenario"] # e.g. Ant-v2
-        self.agent_conf = kwargs["env_args"]["agent_conf"] # e.g. '2x3'
+        self.scenario = kwargs["env_args"]["scenario"]  # e.g. Ant-v2
+        self.agent_conf = kwargs["env_args"]["agent_conf"]  # e.g. '2x3'
 
-        self.agent_partitions, self.mujoco_edges, self.mujoco_globals  = get_parts_and_edges(self.scenario,
+        self.agent_partitions, self.mujoco_edges, self.mujoco_globals = get_parts_and_edges(self.scenario,
                                                                                              self.agent_conf)
 
         self.n_agents = len(self.agent_partitions)
@@ -107,9 +107,18 @@ def __init__(self, batch_size=None, **kwargs):
 
     def step(self, actions):
 
-        # need to remove dummy actions that arise due to unequal action vector sizes across agents
-        flat_actions = np.concatenate([actions[i][:self.action_space[i].low.shape[0]] for i in range(self.n_agents)])
-        obs_n, reward_n, done_n, info_n = self.wrapped_env.step(flat_actions)
+        # we need to map actions back into MuJoCo action space
+        env_actions = np.zeros((sum([self.action_space[i].low.shape[0] for i in range(self.n_agents)]),)) + np.nan
+        for a, partition in enumerate(self.agent_partitions):
+            for i, body_part in enumerate(partition):
+                if env_actions[body_part.act_ids] == env_actions[body_part.act_ids]:
+                    raise Exception("FATAL: At least one env action is doubly defined!")
+                env_actions[body_part.act_ids] = actions[a][i]
+
+        if np.isnan(env_actions).any():
+            raise Exception("FATAL: At least one env action is undefined!")
+
+        obs_n, reward_n, done_n, info_n = self.wrapped_env.step(env_actions)
         self.steps += 1
 
         info = {}
diff --git a/src/multiagent_mujoco/multiagentenv.py b/multiagent_mujoco/multiagentenv.py
similarity index 100%
rename from src/multiagent_mujoco/multiagentenv.py
rename to multiagent_mujoco/multiagentenv.py
diff --git a/src/multiagent_mujoco/obsk.py b/multiagent_mujoco/obsk.py
similarity index 100%
rename from src/multiagent_mujoco/obsk.py
rename to multiagent_mujoco/obsk.py
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..0226c57
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,50 @@
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+from setuptools import setup
+
+description = """MAMuJoCo - Multi-Agent MuJoCo
+
+Benchmark for Continuous Multi-Agent Robotic Control, based on OpenAI's Mujoco Gym environments.
+Described in the paper Deep Multi-Agent Reinforcement Learning for Decentralized Continuous Cooperative Control 
+by Christian Schroeder de Witt, Bei Peng, Pierre-Alexandre Kamienny, Philip Torr, Wendelin Böhmer and Shimon Whiteson, 
+Torr Vision Group and Whiteson Research Lab, University of Oxford, 2020
+
+Contact CSDW at cs@robots.ox.ac.uk
+"""
+
+extras_deps = {
+      "dev": [
+            "pre-commit>=2.0.1",
+            "black>=19.10b0",
+            "flake8>=3.7",
+            "flake8-bugbear>=20.1",
+      ],
+}
+
+setup(
+      name="MAMujoco",
+      version="1.1.0",
+      description="MAMuJoCo - Multi-Agent MuJoCo.",
+      long_description=description,
+      author="Christian Schroeder de Witt",
+      author_email="cs@robots.ox.ac.uk",
+      license="Apache 2.0 License",
+      keywords="Robotics, MuJoCo, Multi-Agent Reinforcement Learning",
+      url="https://github.com/schroederdewitt/multiagent_mujoco",
+      packages=[
+            "multiagent_mujoco",
+            "multiagent_mujoco.assets",
+      ],
+      extras_require=extras_deps,
+      install_requires=[
+            "numpy>=1.22.3",
+            "gym==0.10.8",
+            "mujoco-py>=2.1.2.14",
+            "scipy>=1.8.0",
+            "Jinja2>=3.0.3",
+            "glfw>=2.5.1",
+            "Cython>=0.29.28"
+      ],
+)
\ No newline at end of file
diff --git a/src/multiagent_mujoco/__pycache__/__init__.cpython-36.pyc b/src/multiagent_mujoco/__pycache__/__init__.cpython-36.pyc
deleted file mode 100644
index f09f7b8a0f3972bfa4ca697313d043610a7809c5..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 323
zcmX|+J5Izf5QgnM&<e5zk3*1xbwP^|XcvhlG~1=IjAMwACywl7Q7*v^H~?2lOT`ta
z7{?NpX8d~|-;A%<>tpq~;U9#MZ?ylDpt?izm*^VOP(y&$lm?xc1kyTPbZRol>l}5q
zCuROavAm@7Nj1J%X{*r;8lPudJN8C3kHWlcTcrlkV)VQc-E{w|x?%sW0hD{_4o~IL
zT)@)IA#}U2$$TLrfVW8CG9p|WQm23v5h&b8jLR_oMcfLn#r^JBYe6yT+0M!lu-3DF
t0^!Wnv(n5v$y9gnY?&BYaR<h^?)1R<rl0234cKNh>Nb4Rham+m=pSbMT%!O0

diff --git a/src/multiagent_mujoco/__pycache__/coupled_half_cheetah.cpython-36.pyc b/src/multiagent_mujoco/__pycache__/coupled_half_cheetah.cpython-36.pyc
deleted file mode 100644
index 7f43ad9bd5b33e4f3f3bd5c83a9c86454982596f..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2336
zcmah~&5qne5N`jD=Vud$7IyOkNI4)JV252m0u+&m5I`VSk+}JQ<#qSW+VRh%+p|el
z-qVC*9su4TkH9JK(Gn68r+ozuh_Bi^%LFFER#%r@)z#HiUsZp&u`&4V<7YqK=rQ&O
zTX{V2w=vWgAe?clV3CE{F6`2Y9E<)rg<E=&XLzgdBmZm0UG6<$+!J2j6HXp1+^Em3
zA6V$0!VcRHE$z*ltWaPE<vg#`Iu_MYO2Xx1gSm~NZh{E2ZDezc+fP{JaEH5?u?_bz
zd%VX3%s%h)0p=bb@)72MZ(!34`qG_xJ}U(OCMhO&4uxov!_<OVdT1XX<2wwqSHp5E
zw_DaYxtn{2`iAzJU|}sR@?ilF7C3&>&j+Ntu;}>M%iWLsL@Cjz<L$KDG(N<xaoTOW
z^QbINDXQU6I+%3-dvpA|)sYV3IIFTIj<sDY?aq?sP`i1ZRl3JBStX^=z2rcd|InRe
zg@|KG{_EiG@x3g)Ux?7wt`fyW`}ZFva;ly&`6?9tyf;3qOEFH>_{%z-m!fLac=otV
zWbyui$i_;hV<bS0%X!gc$rSRq%gcD}DQ1r)puz$S<$^HlJ?r@Df1|v!JW@(-(zAil
z$GC%`{sL)PZUWA&%j^W9?7kXj$syqO6$Tmoaa#-2TiDi%>)fUGnspvz{(_zOyw~*d
zphW_qMTvynpX|#>Ufy4@O?CnhbsGQ3`HLDs>$dhb?LD~4PWr9aI_F=5w$}z*!2VU%
z_S-?nZLyOf_fAHw-wxYRGlZnq4%&eGPu+<N!1VVeA@P*rGyUafdVak%#RomNzY1MF
zlme;bv7A@CdUW=YHnP}V745ws+FP1>e$Ip=?WnBOE>D_7yANi-m{W)<+Te8z!MsSC
ztgfQLL;`8Cx}VK}$f;=J`ao&BnrUA>m?u)e%)Hb#Z(u4*n{Y#3gsa+5QnP;e2$m1T
zq?TegTKU+E1|&%)jgY%5{2tJLAYX$CxkY4?$m_;pcUEjuSHi%!BbP|%sz%I4;M6q`
zW?itZVGs?h>v)OZwp?pu9dE6{C9OVh0h9njvBBiqV5kKk$98U701Doq;Ovi|dsBNs
z-OS!UrKMp{zJW;()4EENMpPJb8-L_wB3DS}P7q#1{YVs{WdioE14%jt4Moj}!ShQm
zsi?D*oO@4ggw`1EzXbz7X`qRrP0~4V3T{7jfJIY1M&_IUJ!)s03=*n5)JAKc)fOtk
zw6i6CZiNouQa{x0VKzlyQrWRs%ASXVsBc=AK~=w+#WJaQUFzPv%7BDYdu7c<5!uy)
zr6wYwJyNRxt|Q$?&x}<=p`$2-P8TE!p1eVX+Sp3|Q5Cepn7s~>qF%(1{wtL7H`k<m
zWx;vuD1B6UCU%rEMB%I(Z4!^j#hz*G_WoH>{(dX;<p)qD2qsPBi$_R#qy3{yJQOl=
z(xlV@&mgQ)u|C;))G5a}!hH4)j49I}t>d@WIKHa8-tz%0m`t;*!=>I3vrHl6agmi-
z11~;>%FCP~M4|iR_L<c0{*N=Oy8B_DE-kv5aA^%<%Ep{7B|VB`^opXBn5#lkU76I%
zkBIw($Y(_UNvz?hx+PU3T`-C&Jg@>ccqQ=hIz|!>v{%hbTtcSqoay7zT!Ya?a65F5
m?R1xyxnd<DLsEsv3q;8Fx=nR(v-AIRLWRLo04$BH!1)`C_DY8U

diff --git a/src/multiagent_mujoco/__pycache__/mujoco_multi.cpython-36.pyc b/src/multiagent_mujoco/__pycache__/mujoco_multi.cpython-36.pyc
deleted file mode 100644
index 98d402237832801a4df7a7f142e9be5666f0a9e6..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 7742
zcma)B-EZ91mFFcnGn~<AEXlGZf5;wx#IagMN|VK=1-x$ECQj0A1*{z)&1||1HJ6e&
z;*jG@O0lP-edxHb^N=6~+J^#t=*vD7*rx&o7Q6q*g0K7J{sDb37TEorb4hAOlH1PU
ze(>CLKhF2L<lD2ejZY8O-FMoC@ju4I&qn`yD9I3&G^7ZPzUT-+eKRyWCR!`B`gX@=
zm>pL7)lM}ZuXP+*k=3x?Z*&@fRb(xk={Gyg{%mKq-|Do4@xCD)S$}HCx^MQ*jIGWb
zAPqSK$c*2>^Sm@48mrA0*xy(cS#98{H1NVr^sVp5kI~dW3i|$!f_{*`5E^Or$NOO#
z+}rV^^u6d{)ymH9_^I2AgD6d0FLn21kfa(&%K;Wi*OxnflGV5NgHXEhR??*%i=T<k
z_fV3XsC=U%qygH6G@lwBOIp%KYZI+#K_yP?Wb>P`>U&`@^yR&78pKi3rDf<xt%dRf
zl;llRBO%2SSbE7g6eBS*dPYyz=CbjfBbfOP_p!XSsVbQFf>r{7O^<hQlY!UuGkZ7K
z+0Cpl{(RNU?8FbZv#Lh;y`knY<K+h%yK&#&=q4NQ#@+os7?o@cp7cExzOm&88;R;}
z_|ZYK(I-ZF#7MWl-;293Ak^Rq1M7n)S<Tfe&tlocL1l=hSVS3KI6?n<jyuH%qJa6(
zK!+$FiLn5M0wPvt0b4cI88n?*P9syGs|CQ-94f*~n7d-Qd~#nsb86dT?AI*+_5`an
zWZ76@m=uc;&+-KOXJ~Jd!K$U2)NfHmY{(DH2RnAy?2N1Y179V6&WiKEpJv;&lgB?c
zXLGfhIj$RdecyGnhU@lYxgS!$>AH{hy-<%Z^YkGW>1ZVQiHdngJSReuDk{fxs*a@y
z)<r3Q<OJxK{0>#A{5PK&+b{rWJ*~q8p!{qCRas*bV59C-wJCRM@-^9%vrh#aLQ9?j
zMqSRyd9)3=AkU(mk&E&i+NL}&m(b42WqAQ@OJ0<h(4LW(<qFz4c|~4DJ1^Vv8rlVU
zUEV-@_L*TDoki%)t!(DUtfTA%HcO!s6(lDn_dlU4sWB!i6Wd~Beg&5{f<a$^kS`d|
zP1nqyEPk?5`?=XOQLM4~sfF<hN)@G+I)GNj0{wd0(0m}syT%xL4Cstrsn?X?%@}LA
zvn9ll218mUq@LrP!5S@T?A5;(Dk?`Cyy6_j<}l`9>^%CWyt!9Z|1FzXdoH@kkk<hD
zlf){3EHLEOUiE83{jZ!S7(-qMM5sA=ma(dGF&~-h&C7FR@r8H>-asCer%p<1wB*tf
zs3OXMdA2;&GCyN>Z!tgdF7>g>g|Udt9pdLXp0DZo)iV?8UM$zGmunI=OTA^_FPE!d
zl9!oB7ch1~UfwgmHr351=hKVnrQT)0%$(0F9~;r8Z2)?ucXh7;thO-dFIVK1u-(6Q
zXbA(euBSIfkYEpTCdre`zY=4dv9~O*eu>qv`^qOqWd6j6TC(=FnY@+Wl<l$jIYxRb
zz1J{)i?C5{xvx{rFu>8fJ;sjct<s9_H_)r2{U%d<?G%dFpueyj;IYPhVWe+7Gk|T%
z8^^KvWb4v^j^EzQ9QbF~Q#(oKBwau9R1jwk?WwzQwB4mpNI!Clr1}q067mB(aI!yb
z9*UG5?Jvzo_CxI!D58dbgpgsbznO{fn6G%*xDz65cH{ow?rmC(R<0Vu+Y{Ed?z%w~
zq^`SuCycvZnA}CDn3OFbs=A((?oJqQd7(Rqll#S)F|?P>>+@6J<!+KS_uQ_R`a7`-
z{N!czUX;FZ@YZnY5$3KvI`G4_?zZZ>{^N8+pqDcr?DxGW4kWN%E))+BQv~?^0nPl@
z$(d_iUMGlrm99Oa<q$6Ry);&O&Bg=Y>+brBrmq}L-wvW3%m@Z9WfP2=Eq3GmLFh|&
z*9*5@O!8B2cX<0~QtC(U57(#$r+3m_?qd768>CN0!&Zr@w-%!*Ig*p+NcW9Gj@J*x
zbI36@p2H~j40Uk?gCiH#LqahYTDk~O6sKN_wHN<~AHvgRJZ6<-5C$opR_ICWQFgV5
z3<5wcdX5lRG58NCxwv_yY(AIZk!TbhY3i_b0Qj(!GO^NK)=KvrheI(@EToU(%SwJs
z^F9vq2CzG|JuUuKTh;KK&1uEp+>bM<teNK_oVBTIKq?4vG;Sb~K2Y9pjFxu+(zMvw
z4A~GxV<cya<9VJyIuG7^|HFqLJ@^DXneTg#U4IZHvGm;}^#{ptE{fB3(1)ZcbMoc2
zDZ=T*O!(iS!-TI9;i-V5Hg|}0YZ21oXXEG@j4%s%y`UHjg36R4_%jL4R+P15W;Dnu
zo>JbE%!zVCDX16j>16*4CgviXI_%%-8dznDO-yfa%sD7hlh0nU2XU4e(nE(CvPBGe
zE_z@|k76sX6C?2ps4du%KT$rcAyntMm16WS;f@P7nmR{bt!lPekoHlgmRZSuzev}#
z1$c0M$dhHzPfpVuuOv@^$E4NZ$7^WRE$R#Px^Bohu5Q4*_6NSAL`}Oyb&*gnQAKI8
zqO@Oq3su(2by*u#!mL)`p%DwZm(?L-eSgR-++$RmCX&Xh>!>;llOECyy)8dfYZ%BX
z$|DbTgOHX^7;KKYL6|Um8FbSmvpJy57TO-trAoaG6iy1U{gZxX_q{zooB3RMg8@7p
zn3`35rDBy;-s8pwC{d*RinL2noXA@Dl7zfv95Ir*L%`V-H#gpdmgy|GCrk}Q_=%rp
zO}fBQ_(*V_%AB$%qHG=yzB=$|?fm{zNy!VdtYI_c1hU4Kmv(pc^y=Q{OlK3Dx)YXO
zcinF2C5h|8V}6&8zD^Z85%z`m@JNcDY@ss5oM?%bSrv<BQ=AtI<^oC+(57ezhf7mb
z@#L6Qz^|Bd;);bad(LVAw<%1_qMOp2W((N)-*Uu7V7A197%rX`TFZo%w1^l?J|P*Q
zO5s?MJP0HYbTf5Q6J}%S<Z3Jq>B;U@Mo4i!wGXXB`>=9YeJ*UHSC!T~NEF;^U>w#)
zwO(yh9aBPFQ3`W_({m78deR=%WaW+#IkKvIBYRXC)wV69B(=>czw*jZg$$dl8TL*=
z3N8^XS#uEsHWmBei8~c6Y1bS0h4T>s%rw6Xo@%GN#E(2VxjD%}a^9yUCLGi5s}C{n
zqt&{42W>WkB#NS2gre>P!Um~+L}NBBgi}#0$g2ATNjNln)zQjA&bHIs4)Lm?u-po%
zY?L|5hwe%AsxppzYJ+GyMr%{cUKNDW0uy@o86JHU&fg5H4XtUJwrHS0pG?Ob&K;+-
z6b5MrX~_?0KKX?m++iPINA?HylWzQU@z5MW5O}soH%Ri2=01ji=n_8sX8VDk?yD$i
zdtun-*xD{E?rnOh(GH@v*QPA54Pz@=1y2h95Xo$|FkPMt%VK-#;w0)WRY%uSvazg|
zqkoPEeK7`=bD(&5c9O;%t273ZHw8^5^ZV$~^_}iWYLN)VEdd#DYEd7>ChbF8L8+qP
z7B@mBg4>uS%`dADF%!h&9m_{pX;pM;2Y#0_HfRSsUiMy&n;$|^s-xbg>IPM`z0!^q
z7+#txh?J>*i$<miRsmrDijvTK41?SNT#6%X{tqvlLbML~rG&{|N<Z-TctC~$VnF(N
z^xz4`AfJfm3p>55awv?_rBz>2K`zO<GQ3sFI^Ff#Y<2B;yG;*;$RY8zHqml_Vm;-T
z9O5a+afn~w5KrueMirT8q2H8$GU2&VD`L#)iOW|QDXe+zG-gmlIL)dN_E}cMUzjYg
z6e-7%hEDER^x4fn1lkw0Ejcm6Y>1{gTz=KoQyNI3U=1WygkFJs(mQ&WWpc<<dl<;I
zA+uB8>mO5xtWHXmKx_P80+lH@%;CA?+cQQf0@|0vz<bk6j@-PFPq7hSeYIeDA)JUs
z5@Tw?ifJ{?TIIPoi2fRw#o;cVdN@X#I-ymZkglN=tiU05I~1_Kq?4NT&hJw?gst7M
z4JVms*ZVGkCsTSpAp4AYI-7Uk1!3WDe*<KFJTY83e!MBnDfyKrBwH*_h<6qF>4s}l
zeB^b!t<Z1hUcL<vu3e-X$aX=B#iXc5SW+<&uXYC6(gY>^)-_-Gw<SI1@Ww0XnZ%#s
zd#RPA&!m;C6L+U*N#oQD+tGf1%U5Lc1w|g5J1yMC%{G*6dUx4QkpL2Pe@!C1W+9Q^
zO;B(`B2$>BpPf8hplwNek<(S7G@s<($_>To<}>{|zGTvgjkLHZ-g{|s+*~=jc{@97
zvdQl!_B`RaORSPWGFdABNYj>4NtlF7BI1CB3=A=u9f&!+U5bmY6Zir$>5>tgBiUwC
zPIUfcD-Y|bf1>IERdn~t9gq5i0Mqu(NdFFa?)0h%M8o+>P2)s->gZ%Gd~`BG(yN}>
zM%qB{QaOH>UN5UEWCDH}22b1nG1mA4?N1Cb#BgDHZ<=0iPO>WHMQLzq{2aksJ6e&Q
z-Hg)@k8bCD;dq7TsC2_P@&AY=ihZYO=Fuq+QEp3Wl5eT?F}Lau06)fC`UK<4|Crch
zI$gtHNg7dKM`2G+*AL?Bm{o#n<T0caC^kwZt@dh^?EluG??zyNwRs<(o@Q7TT#n#b
zol;Nkvc+m|`XQFiX0?^;TT@azCaz4M4E$_9(%-MjZxsph+X3b&3Xm$Lif*Z#`s#}{
zr_QzQF!s{7-zvf!zo{&<Tg@AG+kB~`I~WcA7gkCLY#{xizfOQ`+@4Mb-(nJfB-&g(
zr_Rwi=v#_fqUs)1pHW3>&zXikGzB<KgQ8wS6%(>gJ<2(?wU9O{`sS&AM%5TqHk)4$
zyM7qD?vae4TK`N)ba+KpOm7pC>!=*Fb>CTVYR-(~G;GIqER+hj_|QUs#$R2?>f8HK
zH;v;k;p?*cA!c_PxNfiW7rlhvV04-U&=+r&@Z~zIz-14f=wLZ}^tBEQQsnJBHiW;&
zFVXZ{2hy!<_8z}a_?WNoitqM(kRzHVq~zSupO@~E>T{Bc8!he~bg#viK5Jp&{{e?}
B{Hy=~

diff --git a/src/multiagent_mujoco/__pycache__/multiagentenv.cpython-36.pyc b/src/multiagent_mujoco/__pycache__/multiagentenv.cpython-36.pyc
deleted file mode 100644
index cc2a027f82394bbc0750375dc7d7a374fa37d8c4..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 3468
zcmb_fOK;mo5MDk-NtWZ-PMkOoGtQ$?;Y0;;=^;o{G-(>N)gih0P=e;HZORm>?yg)|
zP%c%@J@(W;Q1l=1+Ef2RPn}sxjHJkw3seGUR^)K!o7c|hNuyC~HvahGq{`TzZ0cj<
z`Z-?mGbF&kNLbg{Hw;>viMelq1@?QkZ@*&Tfcu_-%bk(6?}GW3H7kGNTdZm1wKVK<
zQ2k!Q+mS&x@k89g>nptECK84F4_U_;v5|SmhU^yu_b}Ue{S{BSh@%&Aq?)EMQ8c$t
z_?e`g0dK}x8j7>unQ-yZ->+N8S(mpW*?N&h{Vq?HZ1v8%p-3Jb@VF&K)Z*!>Y<2sI
zio+v(9(4PiEXt<tpupqaSzd{<^pp$b5Jb|;4B;V-XgT?i4bSnCzarsm-vG96!aXp-
zdT*eIY;ed!;6eqt10Gb7yHJBV@(Qd#1GxvQa0z)8*5ESo8mz+x@;Yq7733>$6}FH!
z;2K;<z6#rL1NkMm3Ad21!EM+<ei?kYgM1x!;V$wGATQp}8{d<;Uy`{m)6;gOtwF#P
zVY<G>OMZuBXo7K_y|WY>TFMxiVq2L*Yh=8$hSrb;ma>Ny+Qvo}u#>9zW@vRByzeNt
zQ|WjZKWBtd4649Tuhq^y^koo=BbnQhb7<D`S}fyKsxXasZd3fUPjg!fRgSm{l@g+k
zSaLJ%<*o=*$hvv`jplFhG0#mQn>Ov39OkuyP({aqj0Ze-Pky3p#45h6)1e?0+RO`r
zIE_^h)bN)i31)gm&F~D@TthmzI^(0q6Y<hl<TJ`zow1Y$iv4V8|C)nc{|#4tkxE~1
zgaCWK;-VX;2o~3IdYJib%-4-}re1fk4k#}<yc8l6nA4R0c_q}TEa!3CQt{pulqgcr
z9IVgcq{lN=bsok~ON?QX_&W9d>_BpH8d42Ogz1NV5=%u`#WhrkjIhl^q9_IU>h&p9
zS7uR-CH|xHrr`L8nJ7R8F?;|tc9vIEZVdC#8e_$Q7PvJ9@Ww)bh1`Yw_n`EjI_ADS
z4tw0s4t@GDjeCjjRwe)`Ved@g+g^;1#FoILQZtsQt&&=-I>qmoI*q~B$2zsl5{3F?
z9_*a&5536}M5`qtUAqrUSmxm7Ik2?g5^NW7#${3+o`!J}jEios)NTxRKGr@Xd!d}(
zn{keQKRigdKi2oJ*)47&n)$@un!>ER)_A8@iQF9AKNtD*8%rEm1ozntewC>(@zZ|y
zfD6j`i4`H97__w?W&H$vj@{B%;R*jxuZs^59RR)QBmhrJGpt1cn2}v#z(q2kEC=~{
zsrcM-kc%TueKRhU>0nI`a)+}2qhnkjOySXyE<*WqO6!7ysgzq{Y7wi4Wvr;d#Tcon
z^GN#GH+@}@a!Exxf=jNxD505yjoF0K&zC^Di1%H=Q{X~3(qgU}Y|d*Uf&W336D67C
zUzau+^ET<{ivwKt_*t8Z7NjSXxgyo~UQg+oZ`C*fl{S&#G_h(g+`|P9Pi#aKM_{C;
zrZ{wUY%qRv-Wfw3?RL}2>pGl)Zb5k!gFRWMlXA*ETvBDqyuo|1%zy_;+>KS!5kBe?
zw~5>(@`%V|B$NErBO8q@bJpd$b<sRW4{2DGD@d5(>aUHn)L=mqo4i0RYLlig`Zo{+
zc`XRK8T1ocuLQx5{V*w>h%MYyY!kUbgqnDPcZXI!5o(-bmx#83+$SCo`Gg4d644|=
zW2B&eFH^RV(*=!$0{`zY3bLe~JhN8!?D5w^PM0(07XGrde6y0*qby1Icv_<{<_;c>
jy)&_f>tdR9vx5#w=r<Or&b_CF@y}>llLTqSARYezAfpk#

diff --git a/src/multiagent_mujoco/__pycache__/obsk.cpython-36.pyc b/src/multiagent_mujoco/__pycache__/obsk.cpython-36.pyc
deleted file mode 100644
index ff1387d63f61e2419971c19b4e0caea89a85d04b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 14521
zcmc&*33yw_aefDGg5V)pmt`4}C0TT2Nu=aUmSxF0?Ko^3C6$B3K|ss{2oeOS#iLBp
z3&$~)SWaU{wsXh1@B2QQrcK*iPTD4Ejy8S0(xw;N)VUK!x%$sM;1M7t`Jg|S_};vo
zJ!WQSXJ>ZzEw^`eCcb*lmh9~}8pd~xmOmTmJ$P!*03d_RvXSxMX2v>XkVW<hgX|eA
zV*?9O7+4rsh`K0Bu@hz{Ox+Zx1X2;|pyUZ76Qxc{;T<FMh|$+G3(Ce|o?-JZgv1^^
zwT%Fdkuk~0SQHa(X2$mUfJcO)pc584aW6DjC1)@nM;rd*w}odPp4uJ&ZE7QHXbaHP
zHlU?LfVPeRhIEvS(U`iVWK=92MNU|U0V6sFh%$(34)(>oa5*>Rl)c!o@oFtwq8d`i
zowB5&xx6ch$WWC^PR)xuldj5Tt3x#}ima(@q2fhdr$W_Atq%g%oN__2iWT=*g&9N`
zu<R<zAjTj8@Ge6o@jAU{>u`0<*_y9y-Cxa5j5!szwsm}JET_ts4mqW*HI?7$RF2oS
zj!l%^Qm%;d?AXLeHDBEdF-EtHPkFIywp1y(*(~#`^#T}XB>448YPyq^xusb%Z*ndC
z@tYq}DvPR(k%nqa=}DidI*={0`k)i27tLmCuF7V+fz)_Z40Af!U?ByI=73%)XB;e+
zw6JLQ!Y}Cy4dSma!WyXL#++={OJuWSRhlSsI+@KLo5+>@5|siO)y05iZs`w?g5pjo
z?gtNCjTI3y6CE*I^4e^fEA8P*n*jn_HpznJ+5}t18}o)DV#z#b49t``%q`)?4^NFd
z>Hrm;Ks`*3pF>QNWprWJGi=$IB)*MWo?UZXFYKUQt<UnuV;QQpbVB6k<|~*E6U2b@
z2JGerUW!oK<SPTu_Q<no#2AhEJWa(68qB;<$#ur&abxx7s}(m_s?@UC^HICWc3CUi
zxhg@I+1{AFux9O(Il^{_ZiBfsINcc#*mP^Xug~%#g{m6MxxP$iG)NiQH7!E)1T@h1
zg%<gk_^Xv5d@kl}QEOY6w<+GY)xo}~>R~cGKNZ`wZ;?D+k6@NdQDr%v8vBlz8MFDP
zIQL+lr#%1h9Obl)r}hc}9ZJHUT<CVjyu;+dU1`+A6u;9bm|~^zdc-x0#*A5yHr}z4
zQIAjF<XYOM@N$&wH*P*$Pv}JLCfC$q)QnY@y7ozwm<F6|3}zZ#Vbo(fIuc?Gl)|p$
z`<|R)cUwBH6T6IK2ag(B=0NWA82<G21V2_POr>+>a(bj%g40Xq+%%PHZmyDd(z~un
zkERQ%I+hlX=R>&SL?Vs9o#Q!`YZM`KXSzh`YN1ipt)_>ZG|aA6B1bv2umxJXCAWkc
zJJV%w<hCM1+MO6LJGFGFlCCN=4u~Qww33mDIM=q(YLn3D-|W*G=xc2;x-&iM4yVZ}
zD#vLnkp4lCXQ&A$y$LSeQOBKDwQ$EOjlPwTPS;A6V%bSoD^9vp>w~1}gSm1IjY}0O
z9WN1FUZXojm8(pYbE@P{HKb9FJE1B&MFQ3&mGW--mJ&o8P3LOqQD<s1xKX=WWN6&s
zmhqAH(<?@O;nS6>n=Xw(bsW7MT6-|x^fGLY9QMSA??S>g#N@2WE!u#2ZM+Ndd&G1N
z*BY_KG})2HPQvtN%zN;_sH|ft7>@<lU=Id9gc-1_7Q*Y0D8hr>ysB=Vgd-b`sE~$F
z838s768BoiLPvaW36I8(%}Y?JP=I;B*x+BRE!#ZP=`%gE?0Y$Or>7IU*gEpnvGLtk
z0vGodF{XDG9XIRSY&Pd+N7-n%>?&9D7=_(ivN;;b<)MeUtT{4$A$1;e4^LEJeqJ1I
zRk_t_x#orQ!*Ha1wr7`Xt`}`+*0V8S5Gygval`ljrn&$mBw%^*fZGlhko|*UA#j-+
z&FPJgPRv>M#(`QH;pYe*iGmB41D-iKKN7@tm2+c5l-qrPo8d90H=L7uvp%|J!{++T
zgMCpiwYLW2=XrTRsj6yd3MO21yzsb!k5Ctav=^yW6|Bq)@#yq*crkxbR3fk2PtDD5
zwSgO$qv|5OGfBVLA3DWLQC_h*70<3Xw|J4!EYAkd%8p9^u<+s5zM_|$p*vh!TMb}z
zq^y{gio!LUA+r}x0)vpmFswG!6)4a1dV>ErPViE2AD-IRVZ-pak)lzLo-!xjj!6JN
zJz~v>+3z<_nKz$;Z?$v`o;!{jx5JAgEhVa+K+cGc3--Kvhwjjc5gV3&2fua4O3a5D
zb0jol)RXYf?3a_SIb*3woveg(vWR(M8prnQ4(dXy&$(D4kHkjex?{#dIzjeG0%^1W
z_jU@OT0o(DG;+#Ri8ImQ__L4(Y8wlv^gxdNkiLUrqj9x=@+7C>ByOvBqIZ!|Xi4pI
zlQSH9I(8Ylliw>1$zR{fTX(KB{GLlsuv?*y6UK~<7Rec_y*Hrw;#Ns~nj@XMll61T
zJhuKQw1nq!Jgbk&h)sS?halI3taa)|-z~Lf^5fbbNl_B+%|h9pda6|-q*G_tDB7o5
zWdPT2A2lj8IV3bY8#JFD=)qF^&!`7WZI-ca8Ox?F8ZjIC3i@Up+kBLJ_-VM;FzXz0
zJm_|fbnCF&qoXtC3WHKbb1Ceo-i4g58M9HNS8Ab#?kZZmYHQ+f(o1rk@F0gu#~nni
zv_Gl*P=1Cvv^gz1Dg+@v^5uB?r;j^%x2m?Z1$&<m!l=yB))2}Yx1DK*>B_{|IMx(O
z<)+$dU_*x*fM=@#j@hzP!Ahc#9^}YcsiwzsL<qGIk)!LhqpFu8D~<I<qqfhYHKZ==
zgw*ju%o`9gPDgI7%bv3HSV85p*kMlO&{;2(=PHqWsRAG9#qwMT-3-dsF^H!e_5%OR
z@lW%T*&Ose7B&hXtu`Tlo{Ls}oQKEv&gTzJl*+{W*w!fJ`*1JPaFDWHWoC$(9RJi+
zoHo@?e%b13&f<`+uHlT<I!n|R&ff~)h2Y<7vg`FCZk1iO7eT+UXZ8{$EM@!!pBII3
z<Xl%_t5X{DLX>lJ{;FG~kf3Q}JUkoqJgYM9g=LfxF5$mBu-eP#Kod`2w`XI&tS)2b
z$<Zw57pn@p_e@8zTph}leK+6JK<3K5Xk%P6owB#bo=d7`qR>+oVOb4;W+sFdHAD&5
zGxJ`UH%2wj9P-Q&&xU!-)4LZBG<`i9%c+ae6EZ{ADg=vOGld}0YpzDPSc71Z09=Fo
zganTSN|)ic+DzLBDN=Kdx!&rPbPD;atc1A&*ius+1@#41B4LKDq_LB1Sc&RKmMCbx
zw4J`RFiKt>zl0@bi!*F>6JS99Mj*V6vGLS?gw3Ni=pG3HTd?7<>7{fEhen~g1uR1M
z(tQ*IW&?}U{q!>G02Tt4q?gkxs1sNiSc+aruc8F72(T`CHNA$Sz_2~Rxekt`@V2!j
zZwuQI#=|-y?+DzLRSef-XxWX;cbHyFJ=9A}P8cPVmfjt%$5C<~j+|oj0B9zFEyM9u
z2fYqh2Q9}o1p%~ZmrR5QlU9scrwsKF^VL?t#`#f1hYNPms&`f{NBK&WV~eaq1;~WQ
z!V|?4!4oc+#R%%9T#HsA6mtONEm$W`o{|Oo2y5&0(3Y)sQLLV#j(Qh$*1IWD@1bbD
zmqPU=w7R~OE~uYJYwFAB!uoPb*H_Tm`bt_?Uj@l8qBqbRsY9pO{nC2wC2hDnQa>MM
z8|h8-X6n>kx?A@YZMrxpU5(OB^cH$6CD5`LE&GD93s80my^Y>ZQQfPT=%r}+l%RAC
zN;lIx=$#Zo%k$9k(xB`@lx?AR(YtB2K2I;x%h7UcP?|>RHhK@em%?bd0xkQ4vb881
zp!d=HDW+HGm3kFgZVyV=VRYB&wKBS^_4)E%qc4zmT3;ydwfcO00n(wy$nTJm{{USk
zR4x~Ig}^Hxu*C{4!bo3KG#jIQ6-Log-v*V{ptGhB(iiHqUaQv?LNd}BjPy>a^DC)?
zQq)1smO5+=SEG)t)^nYLC6p|tgf!E#ilIlah7ZCTLTWekaSeTlK8#-MrfXU5hV8CL
z$sYO$eH7NaoA$PpY(U9%^fCH4EO|HWYbn_X{cY46L{A&^ddv>1Wp;dm_KRK)2t4?J
zHE)i564Va0P@9`Ce~6O9EhP)*&h^knNNv>XF&8%A*@*dIKY|861r0=0FM4w${Skdy
zyvN1B2I-IKPsDp{0`|M~8TwQ49(}-`PJc#!F5cr3V9%h>(&xl`JO$V@>GSjj@gAFj
z{XTt>9;6Uv`lY~*(wFGVv>F(DtDERA=r8F4U|WGbi~fqfLTi9+1D2t$($@&~RqqG(
zZ2D{ZI;DXP0DBI7gT6^?fo%tNGkuHxhSmYw0qnW-xAbi~0_-wiS^7Kj==XqK4(xgK
z_w*0+G+<X?g!=Twdee-J)Fpbeeu|{F=xutdq^{7H>B}XxLl5ZflIqufc?fMTZM5Pv
zYBs2afuVK_CR`fraOmTgG}=ar9d$nVVXv3N$c5GEIa)$zhrXf^_gnjIz_-5;lNoX@
zANP+krVqo%T?rp|6@1)I^gmDkME?wLaHYNq-k^u5VM`AD*VQO5(0Axx;1RCUJ5gQ~
z`y3Wnf|YWuUFgBpdKWAj2T~NSUjxs{b7zG9mA*^=2KyXsvCnH!Ql@{W|DgXw$yiIt
z9(|48U9|MIdJi~N9^j3ENmb||qQ0ZAhUM;p<+8^=S1<nyy^N~og3B?QrT-So<$fso
zANrnHZkxOfO*5CMI{2u${4cn~6#Ic|=pp*PaPhsu59o)&#rFh1q94or*oc}g{e*rh
z^J6ct3HllRT;|7hz>d?y^b46E`=HG>KLLE7zE1qcb$YM7*YlfwY(sjEjxm+wc9`Wh
z*VlU+(eYfmI*nc=)J6*5#cKhZeo4Qg@JYL9-ia7WlNg&AP03hK3%nIxTVurib;Pgf
zH!bUk-=4zx_}oeYn2E=lTTKA7@r3496u`oG@R13#FA53jz_6)=SDlmMHj(1_!vFR*
zDfXkq3s4(dacn4gMRNc-cL3|alN4DFB4-9zC!UnZatJvmfOX+Pj7O`($ax{K9z4Aw
z%k|Ltqgvsh-a&mp#^iwBFYo>Okh~A+!}30?ug6#={ILQjSq*{H63n$1aewBohfuZ@
zQUx9!_<6t=`t>_8>IrOAWlhvr5k*)Yy<cCi59>pP$Ro`b&|W4s@X*vYmyhVebk__<
zWhHMhZ)nNEF~^K~m!)qwX)QJGGO-yR2;q!yGyw@-W*YUUn#T0f_Vv|K<5^he63T9S
z>P`6Ocaw3a39EWB{lSTt8^H+U7=lj~?=s|^@g;u#NsRsq<Z_9xvpbDDt%5~&`{nwE
zMi~wSn(H@SO>bI`ozb9|9L|*s+5E7B-OKRl)L~%zeB{#O172jv9WE7zXZiR?@lMJM
z57mZCmDw<7T<m8Qs#SNE7wNOS)W)X{zYVXgy>Nl6<HeP{hyu(`%08^^#Eu)vi5-8(
zadGU)XRNX>#I}t09qI-EY~7y5Y5wBk1NmsgJHxl&X*sv!1GHKe=fGJxa$LAa1Svji
zY)CZScu%Qok(sdvCbwto%P0G%FMQ_UQwM+N=peSzjT3k5r}=2UP%7?B-&#K%*;{d;
zs9E0R%`(N=I0Np+EPv6MWm#ugOfNKC8t)HwAlzftne>{sBHU|uZwtpwHXotMX|bqy
z_P6-MewForU3R%NuJ$4c&FseOtefS}qEJ+Vin0e~$-GFeGFo;XmmG?>-winwQ+`xp
ze6A^mC}806DB$ri{(QjL@AH$$`U?ST9`x-`UZ1}hF!uZWB(i=mV9kBr@#OXSO95lQ
z&rc%jF9)nc1$-83b7}1Ug2~MvAx3aA4)<=p5a-dD+}5BPK^4rW19+)}3>xQCXLEAj
zKpmOUkCoAL<}>2cuyc6RZ=R7+;I8<Sfw(JU1RuRdLIk(Py~2XXn!)h^ZZ$}-5bxzr
z-mve*#cRy<SI*te?$p246az|P)%b^a+=yNDj!X!EGWL$ifz$EB)p2}a;+WMT;m7~J
zB`w;t6?7sEGTaF~xPQalKrFXc8vI!SYc9Vd;X##W#$y1pzlIww{fvEaq@_0;m|BML
z5j6Wf)RrOi;$^4k3%NM?a)Ermc>?5nD3C9~5&MY{kXH$!K(U0yD)0wQ0o$~;==H--
z&q(&%#$q;%rN!!lzAm<#KWoZ^;2oHLTbKX;Wcztjw#CU4817<q^>9<3jJ<ub|8&RU
ziLqRzS|T`u)4fgP2(D$&#5g;Mcy5SrVXcy#n&r=#bNKWu-*1`2CujM#mDi!L1a`BC
zYT3zIzM<5bGu?_zc?rMnXvJ~7MA<1cnzf{-ThdeP1yDz-clk|g!_|p0u5R>u^D^Ms
z{2ESqsCtW+l9qF|+wp-07pXgKU!|`+op`#F!#ZDlr2mCvTiXEglKu#u8h`p&;2GiG
zXV_QbX5yT$oWbdWtkdD}pNCenzk&-=uSE)Xg?PCt%Xa=EQfYCKY|oyZuhz~Hf%agt
zAt(3C%;xgdU$6UDRN4d&A}wDi;z-M1Y~>B%R`?5PFJ8dPoj=Zx<10>1;Ui3+nMv{o
zJ^56EI}+!RW<N^<;_cTA7O5}^EVqHEV$iBE^#JG2g-LM$uj5K*kCg{n6_!Z_y~PJ0
zeD@KR$NYY0C)>2QXxE9IY$K#K8B9H~3~p>PXj(#Zlh%JaapacL*qGRKCZwwFfWYmi
zJC5ecqmCM2AK-QS3j&!hVm>@~iuhWJndjqO66;zrmgcK`k&3ddyW<7DT7n^w8;@*k
zyu3S!D{B6(wPjW3h4Ec4dqZRFaA73k-?yE&gT1%e%QiO1^d}|nD4T2+vPdusd`K+1
z!{@M(`xe6@$t>`Nx0>h6SZ6oH`<qO#XnPlgR_|f(UH}Xq_rl+JNBxt9fwtbVEj~J>
z3h6+l>fKCNjs=1ffd`s$v~hTJ`V^VZ(Z|;<hPJ5U?D~6slQs@t`0RuaVc0weyr_S$
zf($uS;kOjDb#T$s`J+w#8M}YH-|Imvo${|8)%>|82Mz&G=EtWCGHjcXkZWw~>xdO3
zCmJ)j!q$PW{L78z8{ZQ{{)M(ab2^4uo4s`>)nOe>OTL*S&DU`~v&7S-lC3$#TFdbA
zE!nTKnA`yO*)C=`evTs_ctE)WcV?m2fk^Z2oeLo~)^!XCS5^`9tfr{4n}JbqlxYa4
zKFVoRPL1Zt_q93s&dhdGlWm%H#SBm4qKeO!Q@o*SUi<?KURgpJVY#Z=#@-V4UXQP)
zEOtRz8L#;o`^KC^X#XtGQyGBLY2G$4nEfS3?@w|8hj1SR0ZQG@c>?$xNEY++0K_bz
zsPr&X6z~g92?)6O3?4HV(ALcMG09`8JGjjZ3-tpQMZottCE$mg67VBV3HULm1pI_k
z0)EOV0lfW_^=j$ooD%Q^cNaZ<HB0@N#{doA!VPZ^Krm1!dMk40#`>|30!X}bkt7zw
zexa#-1kzyDBu<0pq!&LhnRmwd;)gg9&&GvIFI*chmt4i3sqaSle~?VF^)OdG8zt&y
z23ZC}42XflU>Sn~gCc`r0NnJETR6D#Dn2I@#_gwC6>Bbqe<tvk6<A+n!nujbY=0&y
z2d+qT`Q`o^KBzFztT2#?4dwEqXy0hMy;-t7lkyw2m+xqn?@-5BHkZK!gX0WtVKB*H
ziorBMCc&pvjgyf&=RTjo3mBYW@FE5$8N8UmOBmeE;2s7qWpIkYy$tSSa6f~WF?czH
zS1@=bgI57$!o0TL=D+&Y8#w<p3|`NL@ms2@Ok6{~ku%@K;LQx)#^CJ?-ofB~4BpS+
z0}MXM;6n^P4B*8oO?St~QsRYiNtu_3>SGK(!9dmryfpCS9_+kW!QH8S1@6%>6Lt!h
zmKr}?YVv<cTvO`ybCHT6g^NyB%1T%XTx>ea&svSEP%TeDt=sO#e>8RDjxAq_!n*<e
z|9DC^==vpG+Rb-yt!~s@g&(*IM@TCC18JL5&wmRS=E0Y;l2Y1jF11748k8DbL#@3@
zuzV=xvTiGBaSxey1ac&-RHH69TS;65Ys+bJ4|<E%r~#cdIS5zbfV$ndJcgf@0tY`&
zaL%)v+Mjzftt8s;kM)p3KUnUhZ3&$uU^=`4l7_4mruqy<6rqj>_8|YOTwJA*^ult<
y(%+v3-b1cA%Oy0qDJE_Gke)=Fx!~@_cKQFFwVTPx>L2o1sU@jYVtry?Ec|~gd^tb>

diff --git a/src/multiagent_mujoco/assets/__init__.py b/src/multiagent_mujoco/assets/__init__.py
deleted file mode 100644
index e69de29..0000000