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=(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()
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()