Slight repositioning of corner lights to minimise goalpost shadows on the pitch.

DeepMind · alimuldal · commit 8ef2a37e6fbc · 2020-05-20T16:38:59.000+01:00
PiperOrigin-RevId: 310350088
Change-Id: I82b9199dc187410288f59b4d19be0203be005959
diff --git a/dm_control/locomotion/soccer/pitch.py b/dm_control/locomotion/soccer/pitch.py
@@ -705,7 +705,10 @@ def initialize_episode_mjcf(self, random_state):
         self._field_box[i].size = size
 
     # Reposition corner lights.
-    _reposition_corner_lights(self._corner_lights, self._size)
+    _reposition_corner_lights(
+        self._corner_lights,
+        size=(self._size[0] - 2 * goal_size[0],
+              self._size[1] - 2 * goal_size[0]))
 
     # Resize, reposition and recolor hoarding geoms.
     self._update_hoarding()
diff --git a/setup.py b/setup.py
@@ -166,7 +166,7 @@ def find_data_files(package_dir, patterns):
 
 setup(
     name='dm_control',
-    version='0.0.310156409',
+    version='0.0.310965000',
     description='Continuous control environments and MuJoCo Python bindings.',
     author='DeepMind',
     license='Apache License, Version 2.0',
