def rollout(device, vision, action, n_steps=200):
race_config = pystk.RaceConfig(num_kart=1,
track='icy_soccer_field',
mode=pystk.RaceConfig.RaceMode.SOCCER)
o = pystk.PlayerConfig(controller=pystk.PlayerConfig.Controller.AI_CONTROL,
team=0)
race_config.players.append(o)
k = pystk.Race(race_config)
k.start()
for i in range(5): #Skip the first 5 steps since its the game starting
k.step()
try:
data = []
for n in range(n_steps):
k.step()
la = k.last_action[0]
data.append(
(np.array(k.render_data[0].image), (la.steer, la.acceleration,
la.brake)
)) #TODO: remove /10 later 3 in this script and 1 in player
finally:
k.stop()
del k
return data
def rollout(num_players=4,
max_steps=1000,
track='icy_soccer_field',
save='train_data_temp'):
config = pystk.GraphicsConfig.hd()
config.screen_width = 400
config.screen_height = 300
pystk.init(config)
race_config = pystk.RaceConfig(num_kart=num_players,
track=track,
mode=pystk.RaceConfig.RaceMode.SOCCER)
race_config.players.pop()
if not os.path.exists(save):
os.makedirs(save)
for i in range(num_players):
o = pystk.PlayerConfig(
controller=pystk.PlayerConfig.Controller.AI_CONTROL,
team=int((i + 1) % 2.0))
race_config.players.append(o)
active_players = race_config.players
print('Number of Players', len(active_players))
k = pystk.Race(race_config)
k.start()
k.step()
# all_images = []
all_actions = []
state = pystk.WorldState()
for t in range(max_steps):
print('step:', t)
state.update()
s = k.step()
t_actions = []
for i in range(num_players):
la = k.last_action[i]
img = np.array(k.render_data[i].image)
a = (img, la.steer, la.acceleration, la.brake)
t_actions.append(a)
if save is not None:
PIL.Image.fromarray(img).save(
os.path.join(save, 'player%02d_%05d.png' % (i, t)))
with open(os.path.join(save, 'player%02d_%05d.csv' % (i, t)),
mode='w') as new_data:
writer = csv.writer(new_data)
writer.writerow(a[1:])
all_actions.append(t_actions)
if not s:
break
print('score', state.soccer.score)
return all_actions
def rollout(epoch=0, num_players=2, max_steps=1000, track='icy_soccer_field', save='train_data_two_players'):
race_config = pystk.RaceConfig(num_kart=num_players, track=track, mode=pystk.RaceConfig.RaceMode.SOCCER, difficulty=2)
race_config.players.pop()
if not os.path.exists(save):
os.makedirs(save)
for i in range(num_players):
o = pystk.PlayerConfig(controller = pystk.PlayerConfig.Controller.AI_CONTROL, team = int(i%2.0))
race_config.players.append(o)
active_players = race_config.players
print('Number of Players',len(active_players))
k = pystk.Race(race_config)
k.start()
try:
k.step()
# all_images = []
all_actions = []
state = pystk.WorldState()
state.update()
# print(dir(state.players[0].kart))
# input()
for t in range(max_steps):
# print('step:',t)
state.update()
s = k.step()
t_actions = []
for i in range(num_players):
la = k.last_action[i]
img = np.array(k.render_data[i].image)
a = [img, la.steer, la.acceleration, la.brake]
a.extend(state.players[0].kart.rotation)
a.extend(state.players[0].kart.velocity)
a.extend(state.players[0].kart.location)
t_actions.append(a)
if save is not None:
PIL.Image.fromarray(img).save(os.path.join(save, 'player_%05d_%02d_%05d.png' % (epoch, i, t)))
with open(os.path.join(save, 'player_%05d_%02d_%05d.csv' % (epoch, i, t)), mode='w') as new_data:
writer = csv.writer(new_data)
writer.writerow(a[1:])
all_actions.append(t_actions)
if not s:
break
print('epoch',e,'score',state.soccer.score)
finally:
k.stop()
del k
return all_actions
def main():
config = pystk.GraphicsConfig.hd()
config.screen_width = 800
config.screen_height = 600
pystk.init(config)
config = pystk.RaceConfig()
config.num_kart = 2
# config.track ='battleisland'
config.track = 'stadium'
config.players[0].controller = pystk.PlayerConfig.Controller.PLAYER_CONTROL
config.players[0].team = 0
# NOTE: Add 4 players
for _ in range(3):
config.players.append(
# pystk.PlayerConfig(args.kart, pystk.PlayerConfig.Controller.AI_CONTROL, (args.team + 1) % 2))
pystk.PlayerConfig('', pystk.PlayerConfig.Controller.AI_CONTROL,
1))
config.mode = config.RaceMode.THREE_STRIKES
# TODO: Look at step size?
# config.step_size = args.step_size
race = pystk.Race(config)
race.start()
race.step()
uis = [gui.UI(gui.VT['IMAGE']) for i in range(4)]
state = pystk.WorldState()
state.update()
t0 = time()
if not all(ui.pause for ui in uis):
race.step(uis[0].current_action)
state.update()
for ui, d in zip(uis, race.render_data):
ui.show(d)
input('press enter to continue')
race.stop()
del race
pystk.clean()
def config(self):
return pystk.PlayerConfig(
controller=pystk.PlayerConfig.Controller.AI_CONTROL,
team=self.team)
config = pystk.GraphicsConfig.hd()
config.screen_width = 400
config.screen_height = 300
pystk.init(config)
config = pystk.RaceConfig()
config.num_kart = 2
if args.kart is not None:
config.players[0].kart = args.kart
config.players[0].controller = pystk.PlayerConfig.Controller.PLAYER_CONTROL
config.players[0].team = args.team
for i in range(1, args.num_player):
config.players.append(
pystk.PlayerConfig(args.kart, pystk.PlayerConfig.Controller.AI_CONTROL, (args.team + 1) % 2))
if args.track is not None:
config.track = args.track
if args.track in soccer_tracks:
config.mode = config.RaceMode.SOCCER
if args.step_size is not None:
config.step_size = args.step_size
race = pystk.Race(config)
race.start()
uis = [gui.UI([gui.VT[x] for x in args.visualization]) for i in range(args.num_player)]
save_depth = "DEPTH" in args.visualization
save_labels = "SEMANTIC" in args.visualization or "INSTANCE" in args.visualization
config = pystk.GraphicsConfig.ld()
render = False
config.screen_width = 320
config.screen_height = 240
pystk.init(config)
init_time, t0 = time() - t0, time()
config = pystk.RaceConfig(render=render)
if args.kart != '':
config.players[0].kart = args.kart
if args.track is not None:
config.track = args.track
if args.step_size is not None:
config.step_size = args.step_size
for i in range(1, args.num_player):
config.players.append(pystk.PlayerConfig(args.kart, pystk.PlayerConfig.Controller.AI_CONTROL))
race = pystk.Race(config)
race_time, t0 = time() - t0, time()
race.start()
race.step()
start_time, t0 = time() - t0, time()
for it in range(500):
race.step()
if len(race.render_data):
race.render_data[0].image
race.render_data[0].depth
race.render_data[0].instance
step_time, t0 = time() - t0, time()
render = False
config.screen_width = 320
config.screen_height = 240
pystk.init(config)
init_time, t0 = time() - t0, time()
config = pystk.RaceConfig(render=render)
if args.kart != '':
config.players[0].kart = args.kart
if args.track is not None:
config.track = args.track
if args.step_size is not None:
config.step_size = args.step_size
for i in range(1, args.num_player):
config.players.append(
pystk.PlayerConfig(args.kart,
pystk.PlayerConfig.Controller.AI_CONTROL))
race = pystk.Race(config)
race_time, t0 = time() - t0, time()
race.start()
start_time, t0 = time() - t0, time()
for it in range(500):
race.step()
step_time, t0 = time() - t0, time()
for it in range(5):
race.restart()
restart_time, t0 = time() - t0, time()
print(' graphics', init_time)
def config(self):
return pystk.PlayerConfig(
controller=pystk.PlayerConfig.Controller.PLAYER_CONTROL,
kart=self.player.kart,
team=self.team)
config = pystk.GraphicsConfig.hd()
config.screen_width = 400
config.screen_height = 300
pystk.init(config)
config = pystk.RaceConfig()
config.track = "icy_soccer_field"
config.mode = config.RaceMode.SOCCER
config.step_size = 0.1
config.num_kart = 2
config.players[0].kart = "wilber"
config.players[0].controller = pystk.PlayerConfig.Controller.PLAYER_CONTROL
config.players[0].team = 0
config.players.append(
pystk.PlayerConfig("", pystk.PlayerConfig.Controller.AI_CONTROL, 1))
race = pystk.Race(config)
race.start()
uis = [gui.UI([gui.VT['IMAGE']])]
state = pystk.WorldState()
t0 = time()
n = 0
ax = plt.gcf().add_subplot(3, 3, 9)
# Hard coded goal line
goal_line = np.array([[[-10.449999809265137, 0.07000000029802322, -64.5],
[10.449999809265137, 0.07000000029802322, -64.5]],
'amanda', 'emule', 'suzanne', 'gavroche', 'hexley', 'xue', 'pidgin',
'puffy', 'wilber', 'wilber', 'wilber', 'wilber', 'wilber', 'wilber',
'wilber', 'wilber', 'wilber'
]
config = pystk.RaceConfig()
config.num_kart = 4
config.difficulty = 2
num_player = 4
config.players[0].controller = pystk.PlayerConfig.Controller.PLAYER_CONTROL
for i in range(3):
config.players.append(
pystk.PlayerConfig(random.choice(possible_karts),
pystk.PlayerConfig.Controller.AI_CONTROL,
(args.team + i + 1) % 2))
config.players[0].team = args.team
for p in config.players:
if ((p.team) % 2 == 1):
p.kart = random.choice(possible_karts)
else:
p.kart = 'wilber'
if args.track is not None:
config.track = args.track
if args.track in soccer_tracks:
config.mode = config.RaceMode.SOCCER
if args.step_size is not None:
config = pystk.GraphicsConfig.hd()
config.screen_width = 400
config.screen_height = 300
pystk.init(config)
config = pystk.RaceConfig()
config.track = "icy_soccer_field"
config.mode = config.RaceMode.SOCCER
config.step_size = 0.1
config.num_kart = 4
config.players[0].kart = "wilber"
config.players[0].controller = pystk.PlayerConfig.Controller.PLAYER_CONTROL
config.players[0].team = 0
config.players.append(
pystk.PlayerConfig("", pystk.PlayerConfig.Controller.AI_CONTROL, 1))
config.players.append(
pystk.PlayerConfig("", pystk.PlayerConfig.Controller.PLAYER_CONTROL,
0))
config.players.append(
pystk.PlayerConfig("", pystk.PlayerConfig.Controller.AI_CONTROL, 1))
config.difficulty = 2
race = pystk.Race(config)
race.start()
uis = [gui.UI([gui.VT['IMAGE']])]
state = pystk.WorldState()
t0 = time()
n = 0
