def load(team_size, time_limit=45., random_state=None):
"""Construct `team_size`-vs-`team_size` soccer environment.
Args:
team_size: Integer, the number of players per team. Must be between 1 and
11.
time_limit: Float, the maximum duration of each episode in seconds.
random_state: (optional) an int seed or `np.random.RandomState` instance.
Returns:
A `composer.Environment` instance.
Raises:
ValueError: If `team_size` is not between 1 and 11.
"""
if team_size < 0 or team_size > 11:
raise ValueError(
"Team size must be between 1 and 11 (received %d)." % team_size)
return composer.Environment(
task=Task(
players=_make_players(team_size),
arena=RandomizedPitch(
min_size=(32, 24), max_size=(48, 36), keep_aspect_ratio=True),
),
time_limit=time_limit,
random_state=random_state)
def load(team_size,
time_limit=45.,
random_state=None,
disable_walker_contacts=False,
walker_type=WalkerType.BOXHEAD):
"""Construct `team_size`-vs-`team_size` soccer environment.
Args:
team_size: Integer, the number of players per team. Must be between 1 and
11.
time_limit: Float, the maximum duration of each episode in seconds.
random_state: (optional) an int seed or `np.random.RandomState` instance.
disable_walker_contacts: (optional) if `True`, disable physical contacts
between walkers.
walker_type: the type of walker to instantiate in the environment.
Returns:
A `composer.Environment` instance.
Raises:
ValueError: If `team_size` is not between 1 and 11.
ValueError: If `walker_type` is not recognized.
"""
return composer.Environment(task=Task(
players=_make_players(team_size, walker_type),
arena=RandomizedPitch(min_size=(32, 24),
max_size=(48, 36),
keep_aspect_ratio=True),
disable_walker_contacts=disable_walker_contacts),
time_limit=time_limit,
random_state=random_state)
def load(team_size, time_limit=45.):
"""Construct `team_size`-vs-`team_size` soccer environment."""
if team_size < 0 or team_size > 11:
raise ValueError("Team size must be between 1 and 11 (received %d)." %
team_size)
return composer.Environment(task=Task(
players=_make_players(team_size),
arena=RandomizedPitch(min_size=(32, 24),
max_size=(48, 36),
keep_aspect_ratio=True),
),
time_limit=time_limit)
def load(team_size,
time_limit=45.,
random_state=None,
disable_walker_contacts=False,
enable_field_box=False,
keep_aspect_ratio=False,
terminate_on_goal=True,
walker_type=WalkerType.BOXHEAD):
"""Construct `team_size`-vs-`team_size` soccer environment.
Args:
team_size: Integer, the number of players per team. Must be between 1 and
11.
time_limit: Float, the maximum duration of each episode in seconds.
random_state: (optional) an int seed or `np.random.RandomState` instance.
disable_walker_contacts: (optional) if `True`, disable physical contacts
between walkers.
enable_field_box: (optional) if `True`, enable physical bounding box for
the soccer ball (but not the players).
keep_aspect_ratio: (optional) if `True`, maintain constant pitch aspect
ratio.
terminate_on_goal: (optional) if `False`, continuous game play across
scoring events.
walker_type: the type of walker to instantiate in the environment.
Returns:
A `composer.Environment` instance.
Raises:
ValueError: If `team_size` is not between 1 and 11.
ValueError: If `walker_type` is not recognized.
"""
goal_size = None
min_size = (32, 24)
max_size = (48, 36)
ball = SoccerBall()
if walker_type == WalkerType.HUMANOID:
goal_size = MINI_FOOTBALL_GOAL_SIZE
num_walkers = team_size * 2
min_size = _area_to_size(MINI_FOOTBALL_MIN_AREA_PER_HUMANOID * num_walkers)
max_size = _area_to_size(MINI_FOOTBALL_MAX_AREA_PER_HUMANOID * num_walkers)
ball = regulation_soccer_ball()
task_factory = Task
if not terminate_on_goal:
task_factory = MultiturnTask
return composer.Environment(
task=task_factory(
players=_make_players(team_size, walker_type),
arena=RandomizedPitch(
min_size=min_size,
max_size=max_size,
keep_aspect_ratio=keep_aspect_ratio,
field_box=enable_field_box,
goal_size=goal_size),
ball=ball,
disable_walker_contacts=disable_walker_contacts),
time_limit=time_limit,
random_state=random_state)