def _get_new_sim(self, seed):
world_params = WorldParams(size=(self.floorsize, self.floorsize, 2.5),
num_substeps=self.n_substeps)
builder = WorldBuilder(world_params, seed)
floor = Floor()
builder.append(floor)
# Walls
wallsize = 0.1
wall = Geom('box', (wallsize, self.floorsize, 0.5), name="wall1")
wall.mark_static()
floor.append(wall, placement_xy=(0, 0))
wall = Geom('box', (wallsize, self.floorsize, 0.5), name="wall2")
wall.mark_static()
floor.append(wall, placement_xy=(1, 0))
wall = Geom('box', (self.floorsize - wallsize*2, wallsize, 0.5), name="wall3")
wall.mark_static()
floor.append(wall, placement_xy=(1/2, 0))
wall = Geom('box', (self.floorsize - wallsize*2, wallsize, 0.5), name="wall4")
wall.mark_static()
floor.append(wall, placement_xy=(1/2, 1))
# Add agents
obj = ObjFromXML("particle", name="agent0")
floor.append(obj)
obj.mark(f"object0")
# Add food sites
for i in range(self.n_food):
floor.mark(f"food{i}", (.5, .5, 0.05), rgba=(0., 1., 0., 1.))
sim = builder.get_sim()
# Cache constants for quicker lookup later
self.food_ids = np.array([sim.model.site_name2id(f'food{i}') for i in range(self.n_food)])
return sim
def get_sim(seed):
world_params = WorldParams(size=(4., 4., 2.5))
builder = WorldBuilder(world_params, seed)
floor = Floor()
builder.append(floor)
obj = ObjFromXML("particle_hinge")
floor.append(obj)
obj.mark("object")
floor.mark("target", (.5, .5, 0.05))
return builder.get_sim()
def build_world_step(self, env, floor, floor_size):
env.metadata['n_agents'] = self.n_agents
successful_placement = True
for i in range(self.n_agents):
env.metadata.pop(f"agent{i}_initpos", None)
for i in range(self.n_agents):
obj = ObjFromXML("particle_hinge", name=f"agent{i}")
if self.friction is not None:
obj.add_transform(
set_geom_attr_transform('friction', self.friction))
if self.color is not None:
_color = (self.color[i] if isinstance(
self.color[0], (list, tuple, np.ndarray)) else self.color)
obj.add_transform(set_geom_attr_transform('rgba', _color))
if not self.damp_z:
obj.add_transform(set_joint_damping_transform(1, 'tz'))
if self.placement_fn is not None:
_placement_fn = (self.placement_fn[i] if isinstance(
self.placement_fn, list) else self.placement_fn)
obj_size = get_size_from_xml(obj)
pos, pos_grid = rejection_placement(env, _placement_fn,
floor_size, obj_size)
if pos is not None:
floor.append(obj, placement_xy=pos)
# store spawn position in metadata. This allows sampling subsequent agents
# close to previous agents
env.metadata[f"agent{i}_initpos"] = pos_grid
else:
successful_placement = False
else:
floor.append(obj)
return successful_placement
def build_world_step(self, env, floor, floor_size):
successful_placement = True
env.metadata['curr_n_ramps'] = np.ones((self.n_ramps)).astype(np.bool)
for i in range(self.n_ramps):
char = chr(ord('A') + i % 26)
geom = geom = ObjFromXML('ramp', name=f"ramp{i}")
geom.set_material(Material(texture="chars/" + char + ".png"))
if self.friction is not None:
geom.add_transform(
set_geom_attr_transform('friction', self.friction))
if self.placement_fn is not None:
_placement_fn = (self.placement_fn[i] if isinstance(
self.placement_fn, list) else self.placement_fn)
pos, _ = rejection_placement(env, _placement_fn, floor_size,
get_size_from_xml(geom))
if pos is not None:
floor.append(geom, placement_xy=pos)
else:
successful_placement = False
else:
floor.append(geom)
return successful_placement
def get_sim(seed):
world_params = WorldParams(size=(10., 6., 4.5))
builder = WorldBuilder(world_params, seed)
floor = Floor()
builder.append(floor)
obj = ObjFromXML("particle_hinge")
floor.append(obj)
floorsize = 4.
# Walls
wallsize = 0.1
wall = Geom('box', (wallsize, floorsize, 0.5), name="wall1")
wall.mark_static()
floor.append(wall, placement_xy=(0, 0))
wall = Geom('box', (wallsize, floorsize, 0.5), name="wall2")
wall.mark_static()
floor.append(wall, placement_xy=(1, 0))
wall = Geom('box', (floorsize - wallsize * 2, wallsize, 0.5), name="wall3")
wall.mark_static()
floor.append(wall, placement_xy=(1 / 2, 0))
wall = Geom('box', (floorsize - wallsize * 2, wallsize, 0.5), name="wall4")
wall.mark_static()
floor.append(wall, placement_xy=(1 / 2, 1))
# Add agents
obj = ObjFromXML("particle", name="agent0")
floor.append(obj)
obj.mark("object")
floor.mark("target", (.5, .5, 0.05))
return builder.get_sim()