# Copyright 2019 The dm_control Authors.

#

# Licensed under the Apache License, Version 2.0 (the "License");

# you may not use this file except in compliance with the License.

# You may obtain a copy of the License at

#

# http://www.apache.org/licenses/LICENSE-2.0

#

# Unless required by applicable law or agreed to in writing, software

# distributed under the License is distributed on an "AS IS" BASIS,

# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

# See the License for the specific language governing permissions and

# limitations under the License.

# ============================================================================

"""Interactive viewer for MuJoCo soccer environment."""

import functools

from absl import app

from absl import flags

from dm_control.locomotion import soccer

from dm_control import viewer

FLAGS = flags.FLAGS

flags.DEFINE_enum("walker_type", "BOXHEAD", ["BOXHEAD", "ANT", "HUMANOID"],

"The type of walker to explore with.")

flags.DEFINE_bool(

"enable_field_box", True,

"If `True`, enable physical bounding box enclosing the ball"

" (but not the players).")

flags.DEFINE_bool("disable_walker_contacts", False,

"If `True`, disable walker-walker contacts.")

flags.DEFINE_bool(

"terminate_on_goal", False,

"If `True`, the episode terminates upon a goal being scored.")

def main(argv):

if len(argv) > 1:

raise app.UsageError("Too many command-line arguments.")

viewer.launch(

environment_loader=functools.partial(

soccer.load,

team_size=2,

walker_type=soccer.WalkerType[FLAGS.walker_type],

disable_walker_contacts=FLAGS.disable_walker_contacts,

enable_field_box=FLAGS.enable_field_box,

keep_aspect_ratio=True,

terminate_on_goal=FLAGS.terminate_on_goal))

if __name__ == "__main__":

app.run(main)