Provide an option to make walls corridor arena have a minimum padding before the first obstacle. Example environment is modified to use previous defaults (so no change to example). For new use cases, the new setting is largely preferable so it is made default.

jsmerelDM · copybara-github · commit 1613402a5120 · 2020-10-05T05:50:22.000-07:00
PiperOrigin-RevId: 335399289
Change-Id: If483d412dbff9d47d5ec1a62fc792f243ff9ea1a
diff --git a/dm_control/locomotion/arenas/corridors.py b/dm_control/locomotion/arenas/corridors.py
@@ -349,6 +349,7 @@ def _build(self,
              corridor_width=4,
              corridor_length=40,
              visible_side_planes=False,
+             include_initial_padding=True,
              name='walls_corridor'):
     """Builds the corridor.
 
@@ -370,6 +371,8 @@ def _build(self,
         specifies the length of the corridor.
       visible_side_planes: Whether to the side planes that bound the corridor's
         perimeter should be rendered.
+      include_initial_padding: Whether to include initial offset before first
+        obstacle.
       name: The name of this arena.
     """
     super(WallsCorridor, self)._build(
@@ -383,6 +386,7 @@ def _build(self,
     self._wall_gap = wall_gap
     self._wall_width = wall_width
     self._swap_wall_side = swap_wall_side
+    self._include_initial_padding = include_initial_padding
 
   def regenerate(self, random_state):
     """Regenerates this corridor.
@@ -398,8 +402,11 @@ def regenerate(self, random_state):
         `Variation` objects.
     """
     super(WallsCorridor, self).regenerate(random_state)
+
     wall_x = variation.evaluate(
         self._wall_gap, random_state=random_state) - _CORRIDOR_X_PADDING
+    if self._include_initial_padding:
+      wall_x += 2*_CORRIDOR_X_PADDING
     wall_side = 0
     wall_id = 0
     while wall_x < self._current_corridor_length:
diff --git a/dm_control/locomotion/examples/basic_cmu_2019.py b/dm_control/locomotion/examples/basic_cmu_2019.py
@@ -48,7 +48,8 @@ def cmu_humanoid_run_walls(random_state=None):
       wall_width=distributions.Uniform(1, 7),
       wall_height=3.0,
       corridor_width=10,
-      corridor_length=100)
+      corridor_length=100,
+      include_initial_padding=False)
 
   # Build a task that rewards the agent for running down the corridor at a
   # specific velocity.
diff --git a/setup.py b/setup.py
@@ -177,7 +177,7 @@ def is_excluded(s):
 
 setup(
     name='dm_control',
-    version='0.0.335396821',
+    version='0.0.335399289',
     description='Continuous control environments and MuJoCo Python bindings.',
     author='DeepMind',
     license='Apache License, Version 2.0',
