| """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"] | |