Function func

dm_control/entities/props/duplo/utils.py:66–82

Returns +1 if the bricks separate under this force, and -1 otherwise.

(force)

  bound_attachment_frame = physics.bind(attachment_frame)

  def func(force):
    """Returns +1 if the bricks separate under this force, and -1 otherwise."""
    with physics.model.disable('gravity'):
      # Reset the simulation.
      physics.reset()
      # Get the initial height.
      initial_height = bound_attachment_frame.xpos[2]
      # Apply an upward force to the attachment frame.
      bound_attachment_frame.xfrc_applied[2] = force
      # Advance the simulation until either the height threshold or time limit
      # is reached.
      while physics.time() < time_limit:
        physics.step()
        distance_lifted = bound_attachment_frame.xpos[2] - initial_height
        if distance_lifted > height_threshold:
          return 1.0
    return -1.0

  # Ensure that the min and max forces bracket the true separation force.
  while func(min_force) > 0: