# Copyright 2018 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.

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

"""Suite-specific arena class."""

from dm_control import composer

class Standard(composer.Arena):

"""Suite-specific subclass of the standard Composer arena."""

def _build(self, name=None):

"""Initializes this arena.

Args:

name: (optional) A string, the name of this arena. If `None`, use the

model name defined in the MJCF file.

"""

super()._build(name=name)

# Add visual assets.

self.mjcf_model.asset.add(

'texture',

type='skybox',

builtin='gradient',

rgb1=(0.4, 0.6, 0.8),

rgb2=(0., 0., 0.),

width=100,

height=100)

groundplane_texture = self.mjcf_model.asset.add(

'texture',

name='groundplane',

type='2d',

builtin='checker',

rgb1=(0.2, 0.3, 0.4),

rgb2=(0.1, 0.2, 0.3),

width=300,

height=300,

mark='edge',

markrgb=(.8, .8, .8))

groundplane_material = self.mjcf_model.asset.add(

'material',

name='groundplane',

texture=groundplane_texture,

texrepeat=(5, 5),

texuniform='true',

reflectance=0.2)

# Add ground plane.

self.mjcf_model.worldbody.add(

'geom',

name='ground',

type='plane',

material=groundplane_material,

size=(1, 1, 0.1),

friction=(0.4,),

solimp=(0.95, 0.99, 0.001),

solref=(0.002, 1))

# Add lighting

self.mjcf_model.worldbody.add(

'light',

pos=(0, 0, 1.5),

dir=(0, 0, -1),

diffuse=(0.7, 0.7, 0.7),

specular=(.3, .3, .3),

directional='false',

castshadow='true')

# Always initialize the free camera so that it points at the origin.

self.mjcf_model.statistic.center = (0., 0., 0.)

def attach_offset(self, entity, offset, attach_site=None):

"""Attaches another entity at a position offset from the attachment site.

Args:

entity: The `Entity` to attach.

offset: A length 3 array-like object representing the XYZ offset.

attach_site: (optional) The site to which to attach the entity's model.

If not set, defaults to self.attachment_site.

Returns:

The frame of the attached model.

"""

frame = self.attach(entity, attach_site=attach_site)

frame.pos = offset

return frame