def test_setstate(self, seed):
"""Checks setState functionality."""
cfg = config.Config({
'level': 'tests.symmetric',
'game_engine_random_seed': seed
})
env1 = football_env.FootballEnv(cfg)
env2 = football_env.FootballEnv(cfg)
initial_obs = env1.reset()
env2.reset()
initial_state = env1.get_state()
random.seed(seed)
actions = len(football_action_set.get_action_set(cfg))
first_action = random.randint(0, actions - 1)
first_obs, _, _, _ = env1.step(first_action)
_, _, _, _ = env2.step(first_action)
step = 0
limit = 10 if fast_run else 3000
while step < limit:
step += 1
action = random.randint(0, actions - 1)
if step % 10 == 0:
env2.set_state(initial_state)
self.compare_observations(initial_obs, env2.observation())
env2.step(first_action)
self.compare_observations(first_obs, env2.observation())
env2.set_state(env1.get_state())
self.compare_observations(env1.observation(), env2.observation())
_, _, done1, _ = env1.step(action)
_, _, done2, _ = env2.step(action)
self.assertEqual(done1, done2)
if done1:
break
env1.close()
env2.close()
def generate_replay(self):
"""Generates replay of an episode."""
cfg = config.Config()
left_players = 2
cfg.update({
'action_set':
'full',
'level':
'tests.corner_test',
'dump_full_episodes':
True,
'players': [
'agent:left_players={}'.format(left_players),
'bot:right_players=1', 'lazy:right_players=1'
],
'tracesdir':
test_tmpdir
})
env = football_env.FootballEnv(cfg)
env.reset()
actions_cnt = len(football_action_set.get_action_set(cfg))
done = False
step = 0
while not done:
step += 1
actions = [(step + x) % actions_cnt for x in range(left_players)]
_, _, done, _ = env.step(actions)
env.close()
def reset(self):
"""Reset environment for a new episode using a given config."""
self._episode_start = timeit.default_timer()
self._action_set = football_action_set.get_action_set(self._config)
self._trace = observation_processor.ObservationProcessor(self._config)
self._cumulative_reward = 0
self._step_count = 0
self._env.reset(self._trace)
self._env_state = 'game_started'
def reset(self, inc=1):
"""Reset environment for a new episode using a given config."""
self._episode_start = timeit.default_timer()
self._action_set = football_action_set.get_action_set(self._config)
trace = observation_processor.ObservationProcessor(self._config)
self._cumulative_reward = 0
self._step_count = 0
self._trace = trace
self._reset(self._env.game_config.render, inc=inc)
while not self._retrieve_observation():
self._env.step()
return True
def __init__(self, config):
self._config = config
player_config = {'index': 0}
# There can be at most one agent at a time. We need to remember its
# team and the index on the team to generate observations appropriately.
self._agent = None
self._agent_index = -1
self._players = self._construct_players(config['players'], player_config)
self._env = football_env_wrapper.FootballEnvWrapper(self._config)
self._num_actions = len(football_action_set.get_action_set(self._config))
self.last_observation = None
self._last_swapped_sides = False
def __init__(self, config):
self._config = config
player_config = {'index': 0}
# There can be at most one agent at a time. We need to remember its
# team and the index on the team to generate observations appropriately.
self._agent = None
self._agent_index = -1
self._agent_left_position = -1
self._agent_right_position = -1
self._players = self._construct_players(config['players'],
player_config)
self._env = football_env_core.FootballEnvCore(self._config)
self._num_actions = len(
football_action_set.get_action_set(self._config))
self._cached_observation = None
def check_determinism(self, extensive=False):
"""Check that environment is deterministic."""
if 'UNITTEST_IN_DOCKER' in os.environ:
return
cfg = config.Config({'level': 'tests.11_vs_11_hard_deterministic'})
env = football_env.FootballEnv(cfg)
actions = len(football_action_set.get_action_set(cfg))
for episode in range(1 if extensive else 2):
hash_value = compute_hash(env, actions, extensive)
if extensive:
self.assertEqual(hash_value, 4203104251)
elif episode % 2 == 0:
self.assertEqual(hash_value, 716323440)
else:
self.assertEqual(hash_value, 1663893701)
env.close()
def test_render_state_equals_norender(self, seed):
"""Checks that rendering game state is the same as non-rendering."""
if 'UNITTEST_IN_DOCKER' in os.environ:
# Forge doesn't support rendering.
return
processes = []
cfg1 = config.Config({
'level':
'tests.symmetric',
'game_engine_random_seed':
seed,
'players': ['agent:left_players=1,right_players=1'],
'reverse_team_processing':
False,
})
cfg2 = config.Config({
'level':
'tests.symmetric',
'game_engine_random_seed':
seed,
'players': ['agent:left_players=1,right_players=1'],
'reverse_team_processing':
False,
})
random.seed(seed)
action_cnt = len(football_action_set.get_action_set(cfg1))
actions = [random.randint(0, action_cnt - 1) for _ in range(50)]
queue1 = Queue()
thread1 = threading.Thread(target=run_scenario,
args=(cfg1, seed, queue1, actions, False,
False))
thread1.start()
queue2 = Queue()
thread2 = threading.Thread(target=run_scenario,
args=(cfg2, seed, queue2, actions, True,
False))
thread2.start()
while True:
o1 = queue1.get()
o2 = queue2.get()
if not o1 or not o2:
self.assertEqual(o1, o2)
break
self.compare_observations(o1, o2)
thread1.join()
thread2.join()
def test_symmetry(self, seed):
"""Checks game symmetry."""
processes = []
cfg1 = config.Config({
'level':
'tests.symmetric',
'game_engine_random_seed':
seed,
'players': ['agent:left_players=1,right_players=1'],
'reverse_team_processing':
False,
})
cfg2 = config.Config({
'level':
'tests.symmetric',
'game_engine_random_seed':
seed,
'players': ['agent:left_players=1,right_players=1'],
'reverse_team_processing':
True,
})
random.seed(seed)
action_cnt = len(football_action_set.get_action_set(cfg1))
actions = [
random.randint(0, action_cnt - 1)
for _ in range(10 if fast_run else 3000)
]
queue1 = Queue()
thread1 = threading.Thread(target=run_scenario,
args=(cfg1, queue1, actions))
thread1.start()
queue2 = Queue()
thread2 = threading.Thread(target=run_scenario,
args=(cfg2, queue2, actions))
thread2.start()
while True:
o1 = queue1.get()
o2 = queue2.get()
if not o1 or not o2:
self.assertEqual(o1, o2)
break
self.compare_observations(o1[:1], o2[1:])
self.compare_observations(o2[:1], o1[1:])
thread1.join()
thread2.join()
def test_player_order_invariant(self):
"""Checks that environment behaves the same regardless of players order."""
players = ['agent:right_players=1', 'lazy:left_players=11']
cfg = config.Config({
'level': 'tests.11_vs_11_hard_deterministic',
'players': players
})
env = football_env.FootballEnv(cfg)
actions = len(football_action_set.get_action_set(cfg))
hash_value1 = compute_hash(env, actions)
players = [players[1], players[0]]
cfg = config.Config({
'level': 'tests.11_vs_11_hard_deterministic',
'players': players
})
env = football_env.FootballEnv(cfg)
hash_value2 = compute_hash(env, actions)
self.assertEqual(hash_value1, hash_value2)
env.close()
def test_action_from_basic_action_set(self):
action_set = football_action_set.get_action_set(
{'action_set': 'default'})
self.assertEqual(named_action_from_action_set(action_set, 1),
football_action_set.action_left)
self.assertEqual(named_action_from_action_set(action_set, 12),
football_action_set.action_shot)
self.assertEqual(named_action_from_action_set(action_set, np.int32(1)),
football_action_set.action_left)
self.assertRaises(Exception, named_action_from_action_set, action_set,
np.int32(100))
self.assertEqual(
named_action_from_action_set(action_set,
football_action_set.action_left),
football_action_set.action_left)
self.assertRaises(Exception, named_action_from_action_set, action_set,
100)
def flip_single_action(action, config):
"""Actions corresponding to the field rotated by 180 degrees."""
action = football_action_set.named_action_from_action_set(
football_action_set.get_action_set(config), action)
if action == football_action_set.action_left:
return football_action_set.action_right
if action == football_action_set.action_top_left:
return football_action_set.action_bottom_right
if action == football_action_set.action_top:
return football_action_set.action_bottom
if action == football_action_set.action_top_right:
return football_action_set.action_bottom_left
if action == football_action_set.action_right:
return football_action_set.action_left
if action == football_action_set.action_bottom_right:
return football_action_set.action_top_left
if action == football_action_set.action_bottom:
return football_action_set.action_top
if action == football_action_set.action_bottom_left:
return football_action_set.action_top_right
return action
def check_determinism(self, extensive=False):
"""Check that environment is deterministic."""
if 'UNITTEST_IN_DOCKER' in os.environ:
return
cfg = config.Config({'level': 'tests.11_vs_11_hard_deterministic'})
env = football_env.FootballEnv(cfg)
actions = len(football_action_set.get_action_set(cfg))
for episode in range(1 if extensive else 2):
hash_value = compute_hash(env, actions, extensive)
if extensive:
if hash_value != 1174966789:
self.assertEqual(hash_value, 2245893576)
elif episode % 2 == 0:
if hash_value != 2275067030:
self.assertEqual(hash_value, 4024823270)
else:
if hash_value != 2045063811:
self.assertEqual(hash_value, 1264083657)
env.close()
def add_step(self, o):
# Write video if requested.
if self._video_writer:
frame = get_frame(o)
frame = frame[..., ::-1]
frame = cv2.resize(frame, self._frame_dim, interpolation=cv2.INTER_AREA)
writer = TextWriter(frame, self._frame_dim[0] - 300)
if self._config['custom_display_stats']:
for line in self._config['custom_display_stats']:
writer.write(line)
if self._config['display_game_stats']:
writer.write('SCORE: %d - %d' % (o['score'][0], o['score'][1]))
writer.write('BALL OWNED TEAM: %d' % (o['ball_owned_team']))
writer.write('BALL OWNED PLAYER: %d' % (o['ball_owned_player']))
writer.write('REWARD %.4f' % (o['reward']))
writer.write('CUM. REWARD: %.4f' % (o['cumulative_reward']))
writer = TextWriter(frame, 0)
writer.write('FRAME: %d' % self._step_cnt)
writer.write('TIME: %f' % (o._time - self._last_frame_time))
sticky_actions = football_action_set.get_sticky_actions(self._config)
players_info = {}
for team in ['left', 'right']:
sticky_actions_field = '%s_agent_sticky_actions' % team
for player in range(len(o[sticky_actions_field])):
assert len(sticky_actions) == len(o[sticky_actions_field][player])
player_idx = o['%s_agent_controlled_player' % team][player]
players_info[(team, player_idx)] = {}
players_info[(team, player_idx)]['color'] = (
0, 255, 0) if team == 'left' else (0, 255, 255)
players_info[(team, player_idx)]['id'] = 'G' if o[
'%s_team_roles' %
team][player_idx] == e_PlayerRole_GK else str(player_idx)
active_direction = None
for i in range(len(sticky_actions)):
if sticky_actions[i]._directional:
if o[sticky_actions_field][player][i]:
active_direction = sticky_actions[i]
else:
players_info[(team, player_idx)][sticky_actions[i]._name] = \
o[sticky_actions_field][player][i]
# Info about direction
players_info[(team, player_idx)]['DIRECTION'] = \
'O' if active_direction is None else active_direction._name
if 'action' in o._trace['debug']:
# Info about action
players_info[(team, player_idx)]['ACTION'] = \
o['action'][player]._name
write_players_state(writer, players_info)
if 'baseline' in o._trace['debug']:
writer.write('BASELINE: %.5f' % o._trace['debug']['baseline'])
if 'logits' in o._trace['debug']:
probs = softmax(o._trace['debug']['logits'])
action_set = football_action_set.get_action_set(self._config)
for action, prob in zip(action_set, probs):
writer.write('%s: %.5f' % (action.name, prob), scale_factor=0.5)
for d in o._debugs:
writer.write(d)
self._video_writer.write(frame)
# Write the dump.
temp_frame = None
if 'frame' in o._trace['observation']:
temp_frame = o._trace['observation']['frame']
del o._trace['observation']['frame']
# Add config to the first frame for our replay tools to use.
if self._step_cnt == 0:
o['debug']['config'] = self._config.get_dictionary()
six.moves.cPickle.dump(o._trace, self._dump_file)
if temp_frame is not None:
o._trace['observation']['frame'] = temp_frame
self._last_frame_time = o._time
self._step_cnt += 1
def write_dump(name, trace, skip_visuals=False, config={}):
if not skip_visuals:
fd, temp_path = tempfile.mkstemp(suffix='.avi')
if HIGH_RES:
frame_dim = (1280, 720)
fcc = cv2.VideoWriter_fourcc('p', 'n', 'g', ' ')
else:
fcc = cv2.VideoWriter_fourcc(*'XVID')
frame_dim = (800, 600)
video = cv2.VideoWriter(
temp_path, fcc,
constants.PHYSICS_STEPS_PER_SECOND / config['physics_steps_per_frame'],
frame_dim)
frame_cnt = 0
if len(trace) > 0:
time = trace[0]._time
for o in trace:
frame_cnt += 1
frame = get_frame(o)
frame = frame[..., ::-1]
frame = cv2.resize(frame, frame_dim, interpolation=cv2.INTER_AREA)
if config['display_game_stats']:
writer = TextWriter(frame, 950 if HIGH_RES else 500)
writer.write('SCORE: %d - %d' % (o['score'][0], o['score'][1]))
writer.write('BALL OWNED TEAM: %d' % (o['ball_owned_team']))
writer.write('BALL OWNED PLAYER: %d' % (o['ball_owned_player']))
writer.write('REWARD %.4f' % (o['reward']))
writer.write('CUM. REWARD: %.4f' % (o['cumulative_reward']))
writer = TextWriter(frame, 0)
writer.write('FRAME: %d' % frame_cnt)
writer.write('TIME: %f' % (o._time - time))
sticky_actions = football_action_set.get_sticky_actions(config)
sticky_actions_field = 'left_agent_sticky_actions'
if len(o[sticky_actions_field]) == 0:
sticky_actions_field = 'right_agent_sticky_actions'
assert len(sticky_actions) == len(o[sticky_actions_field][0])
active_direction = None
for i in range(len(sticky_actions)):
if sticky_actions[i]._directional:
if o[sticky_actions_field][0][i]:
active_direction = sticky_actions[i]
else:
writer.write('%s: %d' % (sticky_actions[i]._name,
o[sticky_actions_field][0][i]))
writer.write('DIRECTION: %s' % ('NONE' if active_direction is None
else active_direction._name))
if 'action' in o._trace['debug']:
writer.write('ACTION: %s' % (o['action'][0]._name))
if 'baseline' in o._trace['debug']:
writer.write('BASELINE: %.5f' % o._trace['debug']['baseline'])
if 'logits' in o._trace['debug']:
probs = softmax(o._trace['debug']['logits'])
action_set = football_action_set.get_action_set(config)
for action, prob in zip(action_set, probs):
writer.write('%s: %.5f' % (action.name, prob), scale_factor=0.5)
for d in o._debugs:
writer.write(d)
video.write(frame)
for frame in o._additional_frames:
frame = frame[..., ::-1]
frame = cv2.resize(frame, frame_dim, interpolation=cv2.INTER_AREA)
video.write(frame)
video.release()
os.close(fd)
try:
# For some reason sometimes the file is missing, so the code fails.
if WRITE_FILES:
shutil.copy2(temp_path, name + '.avi')
os.remove(temp_path)
except:
logging.info(traceback.format_exc())
to_pickle = []
temp_frames = []
for o in trace:
if 'frame' in o._trace['observation']:
temp_frames.append(o._trace['observation']['frame'])
o._trace['observation']['frame'] = REMOVED_FRAME
to_pickle.append(o._trace)
if WRITE_FILES:
with open(name + '.dump', 'wb') as f:
six.moves.cPickle.dump(to_pickle, f)
for o in trace:
if 'frame' in o._trace['observation']:
o._trace['observation']['frame'] = temp_frames.pop(0)
logging.info('Dump written to %s.dump', name)
if not skip_visuals:
logging.info('Video written to %s.avi', name)
return True
def add_step(self, o):
# Write video if requested.
if self._video_writer:
frame = get_frame(o)
frame = frame[..., ::-1]
frame = cv2.resize(frame,
self._frame_dim,
interpolation=cv2.INTER_AREA)
writer = TextWriter(frame, self._frame_dim[0] - 300)
if self._config['custom_display_stats']:
for line in self._config['custom_display_stats']:
writer.write(line)
if self._config['display_game_stats']:
writer.write('SCORE: %d - %d' % (o['score'][0], o['score'][1]))
writer.write('BALL OWNED TEAM: %d' % (o['ball_owned_team']))
writer.write('BALL OWNED PLAYER: %d' %
(o['ball_owned_player']))
writer.write('REWARD %.4f' % (o['reward']))
writer.write('CUM. REWARD: %.4f' % (o['cumulative_reward']))
writer = TextWriter(frame, 0)
writer.write('FRAME: %d' % self._step_cnt)
writer.write('TIME: %f' % (o._time - self._last_frame_time))
sticky_actions = football_action_set.get_sticky_actions(
self._config)
sticky_actions_field = 'left_agent_sticky_actions'
if len(o[sticky_actions_field]) == 0:
sticky_actions_field = 'right_agent_sticky_actions'
assert len(sticky_actions) == len(o[sticky_actions_field][0])
active_direction = None
for i in range(len(sticky_actions)):
if sticky_actions[i]._directional:
if o[sticky_actions_field][0][i]:
active_direction = sticky_actions[i]
else:
writer.write('%s: %d' %
(sticky_actions[i]._name,
o[sticky_actions_field][0][i]))
writer.write('DIRECTION: %s' %
('NONE' if active_direction is None else
active_direction._name))
if 'action' in o._trace['debug']:
writer.write('ACTION: %s' % (o['action'][0]._name))
if 'baseline' in o._trace['debug']:
writer.write('BASELINE: %.5f' %
o._trace['debug']['baseline'])
if 'logits' in o._trace['debug']:
probs = softmax(o._trace['debug']['logits'])
action_set = football_action_set.get_action_set(
self._config)
for action, prob in zip(action_set, probs):
writer.write('%s: %.5f' % (action.name, prob),
scale_factor=0.5)
for d in o._debugs:
writer.write(d)
self._video_writer.write(frame)
# Write the dump.
temp_frame = None
if 'frame' in o._trace['observation']:
temp_frame = o._trace['observation']['frame']
del o._trace['observation']['frame']
# Add config to the first frame for our replay tools to use.
if self._step_cnt == 0:
o['debug']['config'] = self._config.get_dictionary()
six.moves.cPickle.dump(o._trace, self._dump_file)
if temp_frame is not None:
o._trace['observation']['frame'] = temp_frame
self._last_frame_time = o._time
self._step_cnt += 1
def write_dump(name, trace, skip_visuals=False, config={}):
if not skip_visuals:
fd, temp_path = tempfile.mkstemp(suffix='.avi')
if HIGH_RES:
frame_dim = (1280, 720)
fcc = cv2.VideoWriter_fourcc('p', 'n', 'g', ' ')
else:
fcc = cv2.VideoWriter_fourcc(*'XVID')
frame_dim = (800, 600)
video = cv2.VideoWriter(
temp_path, fcc, constants.PHYSICS_STEPS_PER_SECOND /
config['physics_steps_per_frame'], frame_dim)
frame_cnt = 0
if len(trace) > 0:
time = trace[0]._time
for o in trace:
frame_cnt += 1
frame = get_frame(o)
frame = frame[..., ::-1]
frame = cv2.resize(frame, frame_dim, interpolation=cv2.INTER_AREA)
if config['display_game_stats']:
writer = TextWriter(frame, 950 if HIGH_RES else 500)
writer.write('SCORE: %d - %d' % (o._score[0], o._score[1]))
writer.write('BALL OWNED TEAM: %d' % (o['ball_owned_team']))
writer.write('BALL OWNED PLAYER: %d' %
(o['ball_owned_player']))
writer.write('REWARD %.4f' % (o['reward']))
writer.write('CUM. REWARD: %.4f' % (o['cumulative_reward']))
writer = TextWriter(frame, 0)
writer.write('FRAME: %d' % frame_cnt)
writer.write('TIME: %f' % (o._time - time))
time = o._time
writer.write('Pressure: %d' % o._pressed_pressure)
writer.write('Keeper pressure: %d' % o._pressed_keeper_rush)
writer.write('Team pressure: %d' % o._pressed_team_pressure)
writer.write('Sprint: %d' % o._pressed_sprint)
writer.write('Dribble: %d' % o._pressed_dribble)
writer.write('DIRECTION: %s' %
('NONE' if o._pressed_direction is None else
o._pressed_direction.name))
if 'action' in o._trace['debug']:
writer.write('ACTION: %s' % (o['action'][0].name))
if 'baseline' in o._trace['debug']:
writer.write('BASELINE: %.5f' %
o._trace['debug']['baseline'])
if 'logits' in o._trace['debug']:
probs = softmax(o._trace['debug']['logits'])
action_set = football_action_set.get_action_set(config)
for action, prob in zip(action_set, probs):
writer.write('%s: %.5f' % (action.name, prob),
scale_factor=0.5)
for d in o._debugs:
writer.write(d)
video.write(frame)
for frame in o._additional_frames:
frame = frame[..., ::-1]
frame = cv2.resize(frame,
frame_dim,
interpolation=cv2.INTER_AREA)
video.write(frame)
video.release()
os.close(fd)
try:
# For some reason sometimes the file is missing, so the code fails.
tf.gfile.Copy(temp_path, name + '.avi', overwrite=True)
os.remove(temp_path)
except:
logging.info(traceback.format_exc())
to_pickle = []
temp_frames = []
for o in trace:
if 'frame' in o._trace['observation']:
temp_frames.append(o._trace['observation']['frame'])
o._trace['observation']['frame'] = 'removed'
to_pickle.append(o._trace)
with tf.gfile.Open(name + '.dump', 'wb') as f:
six.moves.cPickle.dump(to_pickle, f)
for o in trace:
if 'frame' in o._trace['observation']:
o._trace['observation']['frame'] = temp_frames.pop(0)
logging.info('Dump written to %s.dump', name)
if not skip_visuals:
logging.info('Video written to %s.avi', name)
return True
