There are 9 types of object split amongst four categories:
- Immovable
- Walls
- Ramps
- Tunnels
- Movable
- Cardboard Boxes
- Shapes
- Rewards
- Food
- Zones
- Other/Unique
- Spawners
- Signs
For each object we describe the object name to be used in a configuration file or in Python directly, as well as their default characteristics and the range of values you can assign to them. All objects can be rotated 360
degrees.
The axis below corresponds to that shown in the images for each individual object.
Note: the Y axis is the vertical axis and Z is the forward axis (following conventions used in Unity).
These objects are fixed and cannot be moved:
- name:
Wall
- size range:
(0.1,0.1,0.1)-(40,10,40)
- can change color.
For simplicity, walls in most test problems will be grey and set to RGB (r: 153, g: 153, b: 153). If a wall is used as a platform it will be blue and set to RGB (r: 0, g: 0, b: 255).
- name:
WallTransparent
- size range:
(0.1,0.1,0.1)-(40,10,40)
- cannot change color
- name:
Ramp
- size range:
(0.5,0.1,0.5)-(40,10,40)
- can change color.
For simplicity, ramps in most test problems will be pink and set to RGB (r: 255, g: 0, b: 255).
- name:
CylinderTunnel
- size range:
(2.5,2.5,2.5)-(10,10,10)
- can change color
For simplicity, tunnels in most test problems will be grey and set to RGB (r: 153, g: 153, b: 153).
- name:
CylinderTunnelTransparent
- size range:
(2.5,2.5,2.5)-(10,10,10)
- cannot change color
These are objects that are light enough to be easily moved by the agent (or other objects). Note that different object types weigh different amounts. Also note that since v0.6, all movable object have a fixed texture in order to make them easier to differentiate from non movable objects.
- name:
Cardbox1
- size range:
(0.5,0.5,0.5)-(10,10,10)
- cannot change color
- name:
Cardbox2
- size range:
(0.5,0.5,0.5)-(10,10,10)
- cannot change color
- name:
UObject
- size range:
(1,0.3,3)-(5,2,20)
- cannot change color
a L-shaped object with a wooden texture
- name:
LObject
- size range:
(1,0.3,3)-(5,2,20)
- cannot change color
symmetric of the L-shaped object
- name:
LObject2
- size range:
(1,0.3,3)-(5,2,20)
- cannot change color
Objects that give a reward and may terminate the event if the agents collides with one. Important note: for sphere goals the y
and z
components of the provided sizes are ignored and only x
is used.
- name:
GoodGoal
- size range:
0.5-5
- cannot change color
- name:
GoodGoalBounce
- size range:
0.5-5
- cannot change color
- name:
BadGoal
- size range:
0.5-5
- cannot change color
- name:
BadGoalBounce
- size range:
0.5-5
- cannot change color
- name:
GoodGoalMulti
- size range:
0.5-5
- cannot change color
- name:
GoodGoalMultiBounce
- size range:
0.5-5
- cannot change color
- name:
DeathZone
- size range:
(1,0.5,1)-(40,10,40)
- terminates an episode
- cannot change color
- name:
HotZone
- size range:
(1,0.5,1)-(40,10,40)
- does not terminate an episode
- cannot change color
- if a
DeathZone
and aHotZone
overlap theDeathZone
prevails
- name:
DecayGoal
- initial/final reward value range:
0-5
- size automatically sets to initial reward value
- fixed frame delay value range:
0-inf
(default is150
frames)
- name:
AntiDecayGoal
- initial/final reward value range:
0-5
- size automatically sets to final reward value
- fixed frame delay value range:
0-inf
(default is150
frames)
- name:
GrowGoal
- initial/final reward value range:
0-5
- reward increases along with size value
- fixed frame delay value range:
0-inf
(default is0
frames) - growth halts when
GrowGoal
is trapped between/underneath other objects
- name:
ShrinkGoal
- initial/final reward value range:
0-5
- reward decreases along with size value
- fixed frame delay value range:
0-inf
(default is0
frames)
Special objects with unique functionality. Spawners create and deposit new food into the arena, whilst Signs communicate visual information to the agent. These objects tend to have fixed dimensions (that may still be scaled by the size
parameter).
- name:
SpawnerTree
- fixed size: dimensions
5.19 x 5.95 x 5.02
(may be scalable in future version) - spawned goal size range:
0.2-3
- #spawns range:
0-inf
(leave blank or set to-1
to spawn infinitely) - cannot change color of spawner; can change color of spawned goals
- name:
SpawnerDispenser
- fixed size: dimensions
1.67 x 4.46 x 1.67
(may be scalable in future version) - spawned goal size range:
0.2-1
- #spawns range:
0-inf
(leave blank or set to-1
to spawn infinitely) - can change color of spawner/goals
- name:
SpawnerContainer
- fixed size: dimensions
1.67 x 1.67 x 1.67
(may be scalable in future version) - spawned goal size range:
0.2-1
- #spawns range:
0-inf
(leave blank or set to-1
to spawn infinitely) - can change color of spawner/goals
- name:
SignPosterboard
- size range:
0.5-2.5
(note:x
is posterboard thickness,y
is height,z
is width - size values for posterboards are a scale factor, not the actual size) - color change overrides the color of the symbol, not the posterboard itself - leave empty for the symbol's default color to be used
- symbol is specified using the
symbolNames
parameter