def test_multiple_goals(self):
initializer = _ScoringInitializer()
time_limit = 1.0
control_timestep = 0.025
env = composer.Environment(
task=soccer.MultiturnTask(
players=_home_team(1) + _away_team(1),
arena=soccer.Pitch((20, 15),
field_box=True), # disable throw-in.
initializer=initializer,
control_timestep=control_timestep),
time_limit=time_limit)
timestep = env.reset()
num_steps = 0
rewards = [np.zeros(s.shape, s.dtype) for s in env.reward_spec()]
while not timestep.last():
timestep = env.step(
[spec.generate_value() for spec in env.action_spec()])
for reward, r_t in zip(rewards, timestep.reward):
reward += r_t
num_steps += 1
self.assertEqual(num_steps, time_limit / control_timestep)
num_scores = initializer.num_calls - 1 # discard initialization.
self.assertEqual(num_scores, 6)
self.assertEqual(rewards, [
np.full((), num_scores, np.float32),
np.full((), -num_scores, np.float32)
])
def _env(players, disable_walker_contacts=True, observables=None):
return composer.Environment(task=soccer.Task(
players=players,
arena=soccer.Pitch((20, 15)),
observables=observables,
disable_walker_contacts=disable_walker_contacts,
),
time_limit=1)
def _env(players, disable_walker_contacts=True, observables=None,
random_state=42, **task_kwargs):
return composer.Environment(
task=soccer.Task(
players=players,
arena=soccer.Pitch((20, 15)),
observables=observables,
disable_walker_contacts=disable_walker_contacts,
**task_kwargs
),
random_state=random_state,
time_limit=1)