mirror of
https://github.com/google-deepmind/deepmind-research.git
synced 2026-02-06 12:02:08 +08:00
87 lines
2.9 KiB
Python
87 lines
2.9 KiB
Python
# Copyright 2020 Deepmind Technologies Limited.
|
|
#
|
|
# 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.
|
|
|
|
"""A rectangular pedestal."""
|
|
|
|
from dm_control import composer
|
|
from dm_control import mjcf
|
|
|
|
|
|
class Pedestal(composer.Entity):
|
|
"""A rectangular pedestal."""
|
|
|
|
def _build(self, size=(.2, .3, .05), rgba=(0, .5, 0, 1), name='pedestal'):
|
|
self._mjcf_root = mjcf.RootElement(model=name)
|
|
self._geom = self._mjcf_root.worldbody.add(
|
|
'geom', type='box', size=size, name='geom', rgba=rgba)
|
|
|
|
@property
|
|
def mjcf_model(self):
|
|
return self._mjcf_root
|
|
|
|
@property
|
|
def geom(self):
|
|
return self._geom
|
|
|
|
def after_compile(self, physics, unused_random_state):
|
|
super(Pedestal, self).after_compile(physics, unused_random_state)
|
|
self._body_geom_ids = set(
|
|
physics.bind(geom).element_id
|
|
for geom in self.mjcf_model.find_all('geom'))
|
|
|
|
@property
|
|
def body_geom_ids(self):
|
|
return self._body_geom_ids
|
|
|
|
|
|
class Bucket(composer.Entity):
|
|
"""A rectangular bucket."""
|
|
|
|
def _build(self, size=(.2, .3, .05), rgba=(0, .5, 0, 1), name='pedestal'):
|
|
self._mjcf_root = mjcf.RootElement(model=name)
|
|
self._geoms = []
|
|
self._geoms.append(self._mjcf_root.worldbody.add(
|
|
'geom', type='box', size=size, name='geom_bottom', rgba=rgba))
|
|
self._geoms.append(self._mjcf_root.worldbody.add(
|
|
'geom', type='box', size=(size[2], size[1], size[0]), name='geom_s1',
|
|
rgba=rgba, pos=[size[0], 0, size[0]]))
|
|
self._geoms.append(self._mjcf_root.worldbody.add(
|
|
'geom', type='box', size=(size[2], size[1], size[0]), name='geom_s2',
|
|
rgba=rgba, pos=[-size[0], 0, size[0]]))
|
|
self._geoms.append(self._mjcf_root.worldbody.add(
|
|
'geom', type='box', size=(size[0], size[2], size[0]), name='geom_s3',
|
|
rgba=rgba, pos=[0, size[1], size[0]]))
|
|
self._geoms.append(self._mjcf_root.worldbody.add(
|
|
'geom', type='box', size=(size[0], size[2], size[0]), name='geom_s4',
|
|
rgba=rgba, pos=[0, -size[1], size[0]]))
|
|
|
|
@property
|
|
def mjcf_model(self):
|
|
return self._mjcf_root
|
|
|
|
@property
|
|
def geom(self):
|
|
return self._geoms
|
|
|
|
def after_compile(self, physics, unused_random_state):
|
|
super(Bucket, self).after_compile(physics, unused_random_state)
|
|
self._body_geom_ids = set(
|
|
physics.bind(geom).element_id
|
|
for geom in self.mjcf_model.find_all('geom'))
|
|
|
|
@property
|
|
def body_geom_ids(self):
|
|
return self._body_geom_ids
|
|
|