Introduce 5v5 regulation sized pitch.

liusiqi43 · copybara-github · commit fd7925010365 · 2021-03-26T05:20:36.000-07:00
PiperOrigin-RevId: 365225597
Change-Id: Iba93803bb1f316a6fe346be7a404d3572e59697f
diff --git a/dm_control/locomotion/soccer/pitch.py b/dm_control/locomotion/soccer/pitch.py
@@ -713,3 +713,12 @@ def initialize_episode_mjcf(self, random_state):
 
     # Resize, reposition and recolor hoarding geoms.
     self._update_hoarding()
+
+
+# Mini-football (5v5) dimensions.
+_GOAL_LENGTH = 3.66
+_GOAL_SIDE = 1.22
+
+MINI_FOOTBALL_MIN_AREA_PER_HUMANOID = 100.0
+MINI_FOOTBALL_MAX_AREA_PER_HUMANOID = 350.0
+MINI_FOOTBALL_GOAL_SIZE = (_GOAL_SIDE / 2, _GOAL_LENGTH / 2, _GOAL_SIDE / 2)
diff --git a/setup.py b/setup.py
@@ -177,7 +177,7 @@ def is_excluded(s):
 
 setup(
     name='dm_control',
-    version='0.0.364896371',
+    version='0.0.365225597',
     description='Continuous control environments and MuJoCo Python bindings.',
     author='DeepMind',
     license='Apache License, Version 2.0',
