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definitionsOfObjects.md

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The Objects

The objects you can spawn in an arena are split among three categories:

  • movable
  • immovable
  • rewards

Below is a list of objects you can spawn. For each we describe the name you should use in your configuration files 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.

Each object has an orientation, we provide the three axes for all of those that are not symmetrical. The color code of the axes is as depicted below:

Note: the Y axis is the vertical axis and Z is the forward axis (following conventions used in Unity).

Immovable

These objects are fixed and cannot be moved:

  • a cylinder tunnel
    • name: CylinderTunnel
    • size range (2.5,2.5,2.5)-(10,10,10)
    • can randomize color
  • a transparent cylinder tunnel
    • name: CylinderTunnelTransparent
    • size range (2.5,2.5,2.5)-(10,10,10)
    • cannot randomize color
  • a ramp the agent can climb on
    • name: Ramp
    • size range (0.5,0.1,0.5)-(40,10,40)
    • can randomize color
  • a wall
    • name: Wall
    • size range (0.1,0.1,0.1)-(40,10,40)
    • can randomize color
  • a transparent wall
    • name: WallTransparent
    • size range (0.1,0.1,0.1)-(40,10,40)
    • cannot randomize color

Movable

These are objects the agent can move and which will be affected by each other, fixed objects and rewards if they collide. Note that different object types weight 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.

  • a light cardbox that can be pushed
    • name: Cardbox1
    • size range (0.5,0.5,0.5)-(10,10,10)
    • cannot randomize color
  • a heavier cardbox that can be pushed
    • name: Cardbox2
    • size range (0.5,0.5,0.5)-(10,10,10)
    • cannot randomize color
  • a U-shaped object with a wooden texture
    • name: UObject
    • size range (1,0.3,3)-(5,2,20)
    • cannot randomize color
  • a L-shaped object with a wooden texture
    • name: LObject
    • size range (1,0.3,3)-(5,2,20)
    • cannot randomize color
  • symmetric of the L-shaped object
    • name: LObject2
    • size range (1,0.3,3)-(5,2,20)
    • cannot randomize color
  • a wood log cylinder
    • name: WoodLog
    • size range (1,1,1)-(10,10,10)
    • cannot randomize color

Rewards

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.

  • Good Goals: Green spheres with a positive reward equal to their size. Ends the episode on collection.
    • Stationary food with positive reward.
      • name: GoodGoal
      • size range 0.5-5

    • Moving food with positive reward. Starts by moving in the direction provided by the rotation parameter.
      • name: GoodGoalBounce
      • size range 0.5-5

  • Bad Goals: Red spheres with a negative reward equal to their size. Ends the episode on collection.
    • Stationary food with negative reward.
      • name: BadGoal
      • size range 0.5-5

    • Moving food with negative reward. Starts by moving in the direction provided by the rotation parameter.
      • name: BadGoalBounce
      • size range 0.5-5

  • Good Goal Multi: Golden spheres with a positive reward equal to their size. Does not terminate the episode. However, the episode is terminated if all goals are collected. So, in an episode with only these rewards the episode will terminate when the last one is obtained.
    • Stationary food with positive reward (non-terminating).
      • name: GoodGoalMulti
      • size range 0.5-5

    • Moving food with positive reward (non-terminating). Starts by moving in the direction provided by the rotation parameter.
      • name: GoodGoalMultiBounce
      • size range 0.5-5
  • Deathzone:
    • a a red zone with reward -1 that terminates the episode on contact:
      • name: DeathZone
      • size range (1,0,1)-(40,0,40)
      • the deathzone is always flat and located on the ground
      • terminates an episode
  • HotZone:
    • a an orange zone with reward min(-10/T,-1e-5) (or -1e-5 if T=0) that does not end an episode
      • name: HotZone
      • size range (1,0,1)-(40,0,40)
      • the hotzone is always flat and located on the ground
      • does not terminate and episode