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06b3545 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 | """Global configuration: CLEVRER-style attributes, palette and physics constants."""
# ---------------------------------------------------------------- attributes
# The 8 CLEVRER colors (RGB, roughly matched to CLEVRER's palette).
COLORS = {
"gray": (144, 144, 148),
"red": (196, 44, 38),
"blue": ( 46, 71, 190),
"green": ( 62, 131, 55),
"brown": ( 96, 58, 33),
"purple": (110, 46, 150),
"cyan": ( 63, 156, 158),
"yellow": (196, 150, 18),
}
COLOR_NAMES = list(COLORS.keys())
SHAPES = ["cube", "sphere", "cylinder"]
MATERIALS = ["rubber", "metal"]
SIZES = ["small", "large"]
# physical radius range for each size class (world units)
SIZE_RADIUS = {"small": (0.14, 0.20), "large": (0.26, 0.34)}
# ---------------------------------------------------------------- world
WORLD_HALF = 2.0 # arena is [-WORLD_HALF, WORLD_HALF]^2 (top-down view)
SPAWN_HALF = 1.55 # objects spawn inside [-SPAWN_HALF, SPAWN_HALF]^2
# ---------------------------------------------------------------- physics
FRAME_DT = 1.0 / 25.0 # one rendered frame = 40 ms (25 fps)
SUBSTEPS = 5 # physics substeps per rendered frame
SUB_DT = FRAME_DT / SUBSTEPS # physics integration step
SPEED_RANGE = (0.7, 1.7) # initial speed range for moving objects
RESTITUTION = 0.95 # object-object bounciness
WALL_RESTITUTION = 0.90 # object-wall bounciness
DRAG = 0.9992 # velocity decay per substep (tiny air drag)
DENSITY = {"rubber": 1.0, "metal": 2.5}
MOVE_THRESH = 0.12 # |v| above this counts as "moving"
MIN_RUN_FRAMES = 4 # a motion segment must last this many frames
MIN_EVENT_GAP_FRAMES = 6 # same-pair contacts within this window = 1 event
CAUSE_WINDOW_FRAMES = 4 # collision this close to a start-of-motion explains it
# ---------------------------------------------------------------- probe (gym agent)
PROBE_COLOR = "gray"
PROBE_SIZE = "medium"
PROBE_RADIUS = 0.22
PROBE_IMPULSE = 1.1 # delta-v applied to the probe ball per action
ACTION_LABELS = ["noop", "push_east", "push_north", "push_west", "push_south"]
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