def testFlRgbActionSpec(self):
feats = features.Features(feature_screen_width=84,
feature_screen_height=80,
feature_minimap_width=64,
feature_minimap_height=67,
rgb_screen_width=128,
rgb_screen_height=132,
rgb_minimap_width=74,
rgb_minimap_height=77,
action_space=actions.ActionSpace.FEATURES)
spec = feats.action_spec()
self.assertEqual(spec.types.screen.sizes, (84, 80))
self.assertEqual(spec.types.screen2.sizes, (84, 80))
self.assertEqual(spec.types.minimap.sizes, (64, 67))
feats = features.Features(feature_screen_width=84,
feature_screen_height=80,
feature_minimap_width=64,
feature_minimap_height=67,
rgb_screen_width=128,
rgb_screen_height=132,
rgb_minimap_width=74,
rgb_minimap_height=77,
action_space=actions.ActionSpace.RGB)
spec = feats.action_spec()
self.assertEqual(spec.types.screen.sizes, (128, 132))
self.assertEqual(spec.types.screen2.sizes, (128, 132))
self.assertEqual(spec.types.minimap.sizes, (74, 77))
def classify_actions():
"""Provide a rough estimate of actions based on race."""
for race in ACTIONS.keys():
ACTIONS[race]=[]
race_keywords = {'T':['siege','missile','hangar','hell','stim','supply','advanced','tactic','drill'],'Z':['tunnel','swarm','locust','lurker','creep','carap','parasi', 'nyda','worm','fung','groo', 'centrifugal','bile','contam','gland','explode'], 'P':['photon','blink','psi','pulsar', 'void', 'warp','guardian','orbit','gravit','chrono', 'puri','stasis']}
for race in UNITS.keys():
if race not in race_keywords:
race_keywords[race]=[]
for unit in UNITS[race].keys():
keys = unit.lower().split('_')
for key in keys:
if key not in race_keywords[race]:
race_keywords[race].append(key)
feats = features.Features(
screen_size_px=(84,84),
minimap_size_px=(64,64))
action_spec = feats.action_spec()
for func in action_spec.functions:
choice = 'N'
bestMatches = {'N':"No",'T':"",'Z':"",'P':""}
fun_name = func.name.replace('Behavior','').replace('Effect','').replace('Research','').replace('Train','').replace('Build','').lower()
for race in UNITS.keys():
if race == 'N':
continue
for keyword in race_keywords[race]:
if len(keyword)>len(bestMatches[race]) and keyword in fun_name:
bestMatches[race] = keyword
if bestMatches[choice] < bestMatches[race]:
choice = race
ACTIONS[choice].append(func.id)
def sample_frames(action_path):
agent_intf = features.AgentInterfaceFormat(
feature_dimensions=features.Dimensions(screen=(1, 1), minimap=(1, 1)))
feat = features.Features(agent_intf)
with open(action_path) as f:
actions = json.load(f)
frame_id = 0
result_frames = []
for action_step in actions: # Get actions performed since previous observed frame
frame_id += FLAGS.step_mul # Advance to current frame
action_name = None
for action_str in action_step: # Search all actions from step
action = Parse(action_str, sc_pb.Action())
try:
func_id = feat.reverse_action(action).function
func_name = FUNCTIONS[func_id].name
if func_name.split('_')[0] in {
'Build', 'Train', 'Research', 'Morph', 'Cancel',
'Halt', 'Stop'
}: # Macro action found in step
action_name = func_name
break # Macro step found, no need to process further actions from this step
except:
pass
if (action_name is not None) or (
(frame_id % FLAGS.skip)
== 0): # This is a macro step or fixed recording step
result_frames.append(frame_id)
return result_frames
def sample_action_from_player(action_path):
feat = features.Features(screen_size_px=(1, 1), minimap_size_px=(1, 1))
with open(action_path) as f:
actions = json.load(f)
frame_id = 0
result_frames = []
for action_strs in actions:
action_name = None
for action_str in action_strs:
action = Parse(action_str, sc_pb.Action())
try:
func_id = feat.reverse_action(action).function
func_name = FUNCTIONS[func_id].name
if func_name.split('_')[0] in {'Attack', 'Scan', 'Behavior','BorrowUp', 'Effect','Hallucination', 'Harvest', 'Hold','Land','Lift', \
'Load','Move','Patrol','Rally','Smart','TrainWarp', 'UnloadAll', 'UnloadAllAt''Build', 'Train', 'Research', 'Morph',\
'Cancel', 'Halt', 'Stop'}:
action_name = func_name
break
except:
pass
if frame_id > 0 and (action_name is not None
or frame_id % FLAGS.skip == 0):
result_frames.append(frame_id - FLAGS.step_mul)
frame_id += FLAGS.step_mul
return result_frames
def _setup_game(self):
# Save the maps so they can access it.
map_path = os.path.basename(self._map.path)
self._parallel.run(
(c.save_map, map_path, self._run_config.map_data(self._map.path))
for c in self._controllers)
# construct interface
interface = sc_pb.InterfaceOptions(raw=True, score=True)
self._screen.assign_to(interface.feature_layer.resolution)
self._minimap.assign_to(interface.feature_layer.minimap_resolution)
# Create the create request.
create = sc_pb.RequestCreateGame(local_map=sc_pb.LocalMap(
map_path=map_path))
for _ in range(len(self._agents)):
create.player_setup.add(type=sc_pb.Participant)
# Create the join request.
joins = [self._join_pb(race, interface) for race in self._races]
# This is where actually game plays
# Create and Join
print("create")
self._controllers[0].create_game(create)
print("join")
self._parallel.run(
(c.join_game, join) for join, c in zip(joins, self._controllers))
print("play_game")
self._game_infos = self._parallel.run(
(c.game_info) for c in self._controllers)
self._features = [features.Features(info) for info in self._game_infos]
print("setup game ok")
def sample_action_from_player(action_path):
feat = features.Features(screen_size_px=(1, 1), minimap_size_px=(1, 1))
with open(action_path) as f:
actions = json.load(f)
frame_id = 0
result_frames = []
for action_strs in actions:
action_name = None
for action_str in action_strs:
action = Parse(action_str, sc_pb.Action())
try:
func_id = feat.reverse_action(action).function
func_name = FUNCTIONS[func_id].name
if func_name.split('_')[0] in {
'Build', 'Train', 'Research', 'Morph', 'Cancel',
'Halt', 'Stop'
}:
action_name = func_name
break
except:
pass
if frame_id > 0 and (action_name is not None
or frame_id % FLAGS.skip == 0):
result_frames.append(frame_id - FLAGS.step_mul)
frame_id += FLAGS.step_mul
return result_frames
def testReversingUnknownAction(self):
feats = features.Features(screen_size_px=(84, 80), minimap_size_px=(64, 67),
hide_specific_actions=False)
sc2_action = sc_pb.Action()
sc2_action.action_feature_layer.unit_command.ability_id = 6 # Cheer
func_call = feats.reverse_action(sc2_action)
self.assertEqual(func_call.function, 0) # No-op
def testIdsMatchIndex(self):
feats = features.Features(screen_size_px=(84, 80), minimap_size_px=(64, 67))
action_spec = feats.action_spec()
for func_index, func_def in enumerate(action_spec.functions):
self.assertEqual(func_index, func_def.id)
for type_index, type_def in enumerate(action_spec.types):
self.assertEqual(type_index, type_def.id)
def testSpecificActionsAreReversible(self):
"""Test that the `transform_action` and `reverse_action` are inverses."""
feats = features.Features(screen_size_px=(84, 80), minimap_size_px=(64, 67),
hide_specific_actions=False)
action_spec = feats.action_spec()
for func_def in action_spec.functions:
for _ in range(10):
func_call = self.gen_random_function_call(action_spec, func_def.id)
sc2_action = feats.transform_action(
None, func_call, skip_available=True)
func_call2 = feats.reverse_action(sc2_action)
sc2_action2 = feats.transform_action(
None, func_call2, skip_available=True)
if func_def.id == actions.FUNCTIONS.select_rect.id:
# Need to check this one manually since the same rect can be
# defined in multiple ways.
def rect(a):
return point.Rect(point.Point(*a[1]).floor(),
point.Point(*a[2]).floor())
self.assertEqual(func_call.function, func_call2.function)
self.assertEqual(len(func_call.arguments), len(func_call2.arguments))
self.assertEqual(func_call.arguments[0], func_call2.arguments[0])
self.assertEqual(rect(func_call.arguments),
rect(func_call2.arguments))
else:
self.assertEqual(func_call, func_call2, msg=sc2_action)
self.assertEqual(sc2_action, sc2_action2)
def parse_replay(replay_player_path, sampled_action_path, reward):
if os.path.isfile(os.path.join(FLAGS.parsed_replay_path, 'GlobalFeatures', replay_player_path)):
return
# Global Info
with open(os.path.join(FLAGS.parsed_replay_path, 'GlobalInfos', replay_player_path)) as f:
global_info = json.load(f)
units_info = static_data.StaticData(Parse(global_info['data_raw'], sc_pb.ResponseData())).units
feat = features.Features(Parse(global_info['game_info'], sc_pb.ResponseGameInfo()))
# Sampled Actions
with open(sampled_action_path) as f:
sampled_action = json.load(f)
sampled_action_id = [id // FLAGS.step_mul + 1 for id in sampled_action]
# Actions
with open(os.path.join(FLAGS.parsed_replay_path, 'Actions', replay_player_path)) as f:
actions = json.load(f)
actions = [None if len(actions[idx]) == 0 else Parse(actions[idx][0], sc_pb.Action())
for idx in sampled_action_id]
# Observations
observations = [obs for obs in stream.parse(os.path.join(FLAGS.parsed_replay_path,
'SampledObservations', replay_player_path), sc_pb.ResponseObservation)]
assert len(sampled_action) == len(sampled_action_id) == len(actions) == len(observations)
states = process_replay(sampled_action, actions, observations, feat, units_info, reward)
with open(os.path.join(FLAGS.parsed_replay_path, 'GlobalFeatures', replay_player_path), 'w') as f:
json.dump(states, f)
def _finalize(self, interface, action_space, use_feature_units, visualize):
game_info = self._controllers[0].game_info()
static_data = self._controllers[0].data()
if not self._map_name:
self._map_name = game_info.map_name
if game_info.options.render != interface.render:
logging.warning(
"Actual interface options don't match requested options:\n"
"Requested:\n%s\n\nActual:\n%s", interface, game_info.options)
self._features = features.Features(game_info=game_info,
action_space=action_space,
use_feature_units=use_feature_units)
if visualize:
self._renderer_human = renderer_human.RendererHuman()
self._renderer_human.init(game_info, static_data)
else:
self._renderer_human = None
self._metrics = metrics.Metrics(self._map_name)
self._metrics.increment_instance()
self._last_score = None
self._total_steps = 0
self._episode_steps = 0
self._episode_count = 0
self._obs = None
self._state = environment.StepType.LAST # Want to jump to `reset`.
logging.info("Environment is ready on map: %s", self._map_name)
def start(self):
_features = features.Features(self.controller.game_info())
while True:
self.controller.step(self.step_mul)
obs = self.controller.observe()
agent_obs = _features.transform_obs(obs.observation)
if obs.player_result: # Episide over.
self._state = StepType.LAST
discount = 0
else:
discount = self.discount
self._episode_steps += self.step_mul
step = TimeStep(step_type=self._state,
reward=0,
discount=discount,
observation=agent_obs)
self.agent.step(step, obs.actions)
if obs.player_result:
break
self._state = StepType.MID
def start(self, replay_file_path):
self.openReplay(replay_file_path)
_features = features.Features(self.controller.game_info())
while True:
self.controller.step(self.step_mul)
obs = self.controller.observe()
agent_obs = _features.transform_obs(obs.observation)
if obs.player_result:
self._state = StepType.LAST
discount = 0
else:
discount = self.discount
self._episode_steps += self.step_mul
step = TimeStep(step_type=self._state,
reward=0,
discount=discount,
observation=agent_obs)
self.agent.step(step, obs.actions, self._state == StepType.LAST)
if obs.player_result:
break
self._state = StepType.MID
self.closeReplay()
def agent_runner(controller, join):
"""Run the agent in a thread."""
agent_module, agent_name = FLAGS.agent.rsplit(".", 1)
agent_cls = getattr(importlib.import_module(agent_module), agent_name)
agent = agent_cls()
interface = sc_pb.InterfaceOptions()
interface.raw = True
interface.score = True
interface.feature_layer.width = 24
interface.feature_layer.resolution.x = FLAGS.feature_screen_size
interface.feature_layer.resolution.y = FLAGS.feature_screen_size
interface.feature_layer.minimap_resolution.x = FLAGS.feature_minimap_size
interface.feature_layer.minimap_resolution.y = FLAGS.feature_minimap_size
# if FLAGS.rgb_screen_size and FLAGS.rgb_minimap_size:
# if FLAGS.rgb_screen_size < FLAGS.rgb_minimap_size:
# sys.exit("Screen size can't be smaller than minimap size.")
# interface.render.resolution.x = FLAGS.rgb_screen_size
# interface.render.resolution.y = FLAGS.rgb_screen_size
# interface.render.minimap_resolution.x = FLAGS.rgb_minimap_size
# interface.render.minimap_resolution.y = FLAGS.rgb_minimap_size
j = sc_pb.RequestJoinGame()
j.CopyFrom(join)
j.options.CopyFrom(interface)
j.race = sc2_env.Race[FLAGS.agent_race]
controller.join_game(j)
feats = features.Features(game_info=controller.game_info())
agent.setup(feats.observation_spec(), feats.action_spec())
state = environment.StepType.FIRST
reward = 0
discount = 1
while True:
frame_start_time = time.time()
if not FLAGS.realtime:
controller.step(FLAGS.step_mul)
obs = controller.observe()
if obs.player_result: # Episode over.
state = environment.StepType.LAST
discount = 0
agent_obs = feats.transform_obs(obs)
timestep = environment.TimeStep(step_type=state,
reward=reward,
discount=discount,
observation=agent_obs)
action = agent.step(timestep)
if state == environment.StepType.LAST:
break
controller.act(feats.transform_action(obs.observation, action))
if FLAGS.realtime:
time.sleep(
max(0, frame_start_time - time.time() + FLAGS.step_mul / 22.4))
controller.quit()
def setUp(self):
super(AvailableActionsTest, self).setUp()
self.obs = text_format.Parse(observation_text_proto,
sc_pb.Observation())
self.features = features.Features(feature_screen_width=84,
feature_screen_height=80,
feature_minimap_width=64,
feature_minimap_height=67)
def testIdsMatchIndex(self):
feats = features.Features(
features.AgentInterfaceFormat(
feature_dimensions=RECTANGULAR_DIMENSIONS))
action_spec = feats.action_spec()
for func_index, func_def in enumerate(action_spec.functions):
self.assertEqual(func_index, func_def.id)
for type_index, type_def in enumerate(action_spec.types):
self.assertEqual(type_index, type_def.id)
def testReversingUnknownAction(self):
feats = features.Features(
features.AgentInterfaceFormat(
feature_dimensions=RECTANGULAR_DIMENSIONS,
hide_specific_actions=False))
sc2_action = sc_pb.Action()
sc2_action.action_feature_layer.unit_command.ability_id = 6 # Cheer
func_call = feats.reverse_action(sc2_action)
self.assertEqual(func_call.function, 0) # No-op
def testValidFunctionsAreConsistent(self):
feats = features.Features(screen_size_px=(84, 80), minimap_size_px=(64, 67))
valid_funcs = feats.action_spec()
for func_def in valid_funcs.functions:
func = actions.FUNCTIONS[func_def.id]
self.assertEqual(func_def.id, func.id)
self.assertEqual(func_def.name, func.name)
self.assertEqual(len(func_def.args), len(func.args))
def main(unused_argv):
agent = SupportAI(game_type)
try:
while True:
with sc2_env.SC2Env(
map_name="Simple64",
players=[
sc2_env.Agent(player_race),
sc2_env.Bot(enemy_race, sc2_env.Difficulty.very_easy)
],
agent_interface_format=features.AgentInterfaceFormat(
feature_dimensions=features.Dimensions(screen=86,
minimap=86),
use_feature_units=True),
step_mul=16,
game_steps_per_episode=0,
visualize=False,
realtime=True) as env:
feats = features.Features(
features.AgentInterfaceFormat(
feature_dimensions=features.Dimensions(screen=86,
minimap=86)))
action_spec = feats.action_spec()
agent.setup(env.observation_spec(), env.action_spec())
timesteps = env.reset()
agent.reset()
while True:
step_actions = [agent.step(timesteps[0])]
feats = features.Features(
features.AgentInterfaceFormat(
feature_dimensions=features.Dimensions(
screen=86, minimap=86)))
action_spec = feats.action_spec()
if timesteps[0].last():
break
timesteps = env.step(step_actions)
except KeyboardInterrupt:
pass
def _get_replay_data(self, controller, config):
"""Runs a replay to get the replay data."""
f = features.Features(game_info=controller.game_info())
observations = {}
last_actions = []
for _ in range(config.num_observations):
raw_obs = controller.observe()
o = raw_obs.observation
obs = f.transform_obs(raw_obs)
if raw_obs.action_errors:
print('action errors:', raw_obs.action_errors)
if o.game_loop == 2:
# Center camera is initiated automatically by the game and reported
# at frame 2.
last_actions = [actions.FUNCTIONS.move_camera.id]
self.assertEqual(last_actions, list(obs.last_actions))
unit_type = obs.feature_screen.unit_type
observations[o.game_loop] = unit_type
if o.game_loop in config.actions:
func = config.actions[o.game_loop](obs)
print((' loop: %s ' % o.game_loop).center(80, '-'))
print(_obs_string(obs))
scv_y, scv_x = (units.Terran.SCV == unit_type).nonzero()
print('scv locations: ', sorted(list(zip(scv_x, scv_y))))
print('available actions: ',
list(sorted(obs.available_actions)))
print('Making action: %s' % (func, ))
# Ensure action is available.
# If a build action is available, we have managed to target an SCV.
self.assertIn(func.function, obs.available_actions)
if (func.function
in (actions.FUNCTIONS.Build_SupplyDepot_screen.id,
actions.FUNCTIONS.Build_Barracks_screen.id)):
# Ensure we can build on that position.
x, y = func.arguments[1]
self.assertEqual(_EMPTY, unit_type[y, x])
action = f.transform_action(o, func)
last_actions = [func.function]
controller.act(action)
else:
last_actions = []
controller.step()
replay_data = controller.save_replay()
return replay_data, observations
def testCanPickleSpecs(self):
feats = features.Features(feature_screen_size=84,
feature_minimap_size=64)
action_spec = feats.action_spec()
observation_spec = feats.observation_spec()
self.assertEqual(action_spec, pickle.loads(pickle.dumps(action_spec)))
self.assertEqual(observation_spec,
pickle.loads(pickle.dumps(observation_spec)))
def testReversingUnknownAction(self):
feats = features.Features(feature_screen_width=84,
feature_screen_height=80,
feature_minimap_width=64,
feature_minimap_height=67,
hide_specific_actions=False)
sc2_action = sc_pb.Action()
sc2_action.action_feature_layer.unit_command.ability_id = 6 # Cheer
func_call = feats.reverse_action(sc2_action)
self.assertEqual(func_call.function, 0) # No-op
def testIdsMatchIndex(self):
feats = features.Features(feature_screen_width=84,
feature_screen_height=80,
feature_minimap_width=64,
feature_minimap_height=67)
action_spec = feats.action_spec()
for func_index, func_def in enumerate(action_spec.functions):
self.assertEqual(func_index, func_def.id)
for type_index, type_def in enumerate(action_spec.types):
self.assertEqual(type_index, type_def.id)
def testCanPickleSpecs(self):
feats = features.Features(
features.AgentInterfaceFormat(
feature_dimensions=SQUARE_DIMENSIONS))
action_spec = feats.action_spec()
observation_spec = feats.observation_spec()
self.assertEqual(action_spec, pickle.loads(pickle.dumps(action_spec)))
self.assertEqual(observation_spec,
pickle.loads(pickle.dumps(observation_spec)))
def setUp(self):
self._features = features.Features(features.AgentInterfaceFormat(
feature_dimensions=features.Dimensions(screen=(64, 60),
minimap=(32, 28)),
rgb_dimensions=features.Dimensions(screen=(128, 124),
minimap=(64, 60)),
action_space=actions.ActionSpace.FEATURES,
use_feature_units=True),
map_size=point.Point(256, 256))
self._obs_spec = self._features.observation_spec()
self._builder = dummy_observation.Builder(self._obs_spec)
def testValidFunctionsAreConsistent(self):
feats = features.Features(
features.AgentInterfaceFormat(
feature_dimensions=RECTANGULAR_DIMENSIONS))
valid_funcs = feats.action_spec()
for func_def in valid_funcs.functions:
func = actions.FUNCTIONS[func_def.id]
self.assertEqual(func_def.id, func.id)
self.assertEqual(func_def.name, func.name)
self.assertEqual(len(func_def.args), len(func.args)) # pylint: disable=g-generic-assert
def start(self):
_features = features.Features(self.controller.game_info())
frames = random.sample(
np.arange(self.info.game_duration_loops).tolist(),
self.info.game_duration_loops)
# frames = frames[0 : min(self.frames_per_game, self.info.game_duration_loops)]
step_mul = 10
frames = frames[0:int(self.info.game_duration_loops) // step_mul]
frames.sort()
last_frame = 0
i = 0
# for frame in frames:
skips = step_mul
while i < self.info.game_duration_loops:
# skips = frame - last_frame
# last_frame = frame
i += skips
self.controller.step(skips)
obs = self.controller.observe()
agent_obs = _features.transform_obs(obs.observation)
if obs.player_result: # Episode over.
self._state = StepType.LAST
discount = 0
else:
discount = self.discount
self._episode_steps += skips
step = TimeStep(step_type=self._state,
reward=0,
discount=discount,
observation=agent_obs)
self.agent.step(step, obs.actions, self.info, _features)
if obs.player_result:
break
self._state = StepType.MID
print("Saving data")
#print(self.agent.states)
pickle.dump({
"info": self.info,
"state": self.agent.states
}, open("data/" + self.replay_file_name + ".p", "wb"))
print("Data successfully saved")
self.agent.states = []
print("Data flushed")
print("Done")
def testValidFunctionsAreConsistent(self):
feats = features.Features(feature_screen_width=84,
feature_screen_height=80,
feature_minimap_width=64,
feature_minimap_height=67)
valid_funcs = feats.action_spec()
for func_def in valid_funcs.functions:
func = actions.FUNCTIONS[func_def.id]
self.assertEqual(func_def.id, func.id)
self.assertEqual(func_def.name, func.name)
self.assertEqual(len(func_def.args), len(func.args))
def process_replay(self, controller, replay_data, map_data, player_id):
"""Process a single replay, updating the stats."""
self._update_stage("start_replay")
controller.start_replay(
sc_pb.RequestStartReplay(replay_data=replay_data,
map_data=map_data,
options=interface,
observed_player_id=player_id))
feat = features.Features(controller.game_info())
self.stats.replay_stats.replays += 1
self._update_stage("step")
controller.step()
while True:
self.stats.replay_stats.steps += 1
self._update_stage("observe")
obs = controller.observe()
for action in obs.actions:
act_fl = action.action_feature_layer
if act_fl.HasField("unit_command"):
self.stats.replay_stats.made_abilities[
act_fl.unit_command.ability_id] += 1
if act_fl.HasField("camera_move"):
self.stats.replay_stats.camera_move += 1
if act_fl.HasField("unit_selection_point"):
self.stats.replay_stats.select_pt += 1
if act_fl.HasField("unit_selection_rect"):
self.stats.replay_stats.select_rect += 1
if action.action_ui.HasField("control_group"):
self.stats.replay_stats.control_group += 1
try:
func = feat.reverse_action(action).function
except ValueError:
func = -1
self.stats.replay_stats.made_actions[func] += 1
for valid in obs.observation.abilities:
self.stats.replay_stats.valid_abilities[valid.ability_id] += 1
for u in obs.observation.raw_data.units:
self.stats.replay_stats.unit_ids[u.unit_type] += 1
for ability_id in feat.available_actions(obs.observation):
self.stats.replay_stats.valid_actions[ability_id] += 1
if obs.player_result:
break
self._update_stage("step")
controller.step(FLAGS.step_mul)
def testFlRgbObservationSpec(self):
feats = features.Features(
features.AgentInterfaceFormat(
feature_dimensions=RECTANGULAR_DIMENSIONS,
rgb_dimensions=features.Dimensions(screen=(128, 132),
minimap=(74, 77)),
action_space=actions.ActionSpace.FEATURES))
obs_spec = feats.observation_spec()
self.assertEqual(obs_spec["feature_screen"], (17, 80, 84))
self.assertEqual(obs_spec["feature_minimap"], (7, 67, 64))
self.assertEqual(obs_spec["rgb_screen"], (132, 128, 3))
self.assertEqual(obs_spec["rgb_minimap"], (77, 74, 3))