def rotate_sticky_actions(sticky_actions_state, config):
"""Rotate the sticky bits of directional actions.
This is used to make a policy believe it is playing from left to right
although it is actually playing from right to left.
Args:
sticky_actions_state: Array of bits corresponding to the active actions.
config: config used by the environment
Returns:
Array of bits corresponding to the same active actions for a player
who would play from the opposite side.
"""
sticky_actions = football_action_set.get_sticky_actions(config)
assert len(sticky_actions) == len(sticky_actions_state), len(
sticky_actions)
action_to_state = {}
for i in range(len(sticky_actions)):
action_to_state[sticky_actions[i]] = sticky_actions_state[i]
rotated_sticky_actions = []
for i in range(len(sticky_actions)):
rotated_sticky_actions.append(action_to_state[flip_single_action(
sticky_actions[i], config)])
return rotated_sticky_actions
def __init__(self, config):
global _unused_engines
self._config = config
if _unused_engines:
self._env = _unused_engines.pop()
else:
self._env = libgame.GameEnv()
self._env.game_config.physics_steps_per_frame = config[
'physics_steps_per_frame']
self._sticky_actions = football_action_set.get_sticky_actions(config)
self._use_rendering_engine = False
def __init__(self, config):
global _unused_engines
self._config = config
self._sticky_actions = football_action_set.get_sticky_actions(config)
self._use_rendering_engine = False
if _unused_engines:
self._env = _unused_engines.pop()
else:
self._env = self._get_new_env()
# Reset is needed here to make sure render() API call before reset() API
# call works fine (get/setState makes sure env. config is the same).
self.reset(inc=0)
def __init__(self, config):
global _unused_engines
self._config = config
self._sticky_actions = football_action_set.get_sticky_actions(config)
self._use_rendering_engine = False
if _unused_engines:
self._env = _unused_engines.pop()
else:
self._env = libgame.GameEnv()
self._env.game_config.physics_steps_per_frame = config['physics_steps_per_frame']
# Reset is needed here to make sure render() API call before reset() API
# call works fine (get/setState makes sure env. config is the same).
self.reset(inc=0)
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 _retrieve_observation(self):
"""Constructs observations exposed by the environment.
Returns whether game
is on or not.
"""
info = self._env.get_info()
if info.done:
self._done = True
result = {}
if self._config['render']:
frame = self._env.get_frame()
frame = np.frombuffer(frame, dtype=np.uint8)
frame = np.reshape(frame, [1280, 720, 3])
frame = np.reshape(
np.concatenate(
[frame[:, :, 0], frame[:, :, 1], frame[:, :, 2]]),
[3, 720, 1280])
frame = np.transpose(frame, [1, 2, 0])
frame = np.flip(frame, 0)
result['frame'] = frame
result['ball'] = np.array([
info.ball_position[0], info.ball_position[1], info.ball_position[2]
])
# Ball's movement direction represented as [x, y] distance per step.
result['ball_direction'] = np.array([
info.ball_direction[0], info.ball_direction[1],
info.ball_direction[2]
])
# Ball's rotation represented as [x, y, z] rotation angle per step.
result['ball_rotation'] = np.array([
info.ball_rotation[0], info.ball_rotation[1], info.ball_rotation[2]
])
self.convert_players_observation(info.left_team, 'left_team', result)
self.convert_players_observation(info.right_team, 'right_team', result)
result['left_agent_sticky_actions'] = []
result['left_agent_controlled_player'] = []
result['right_agent_sticky_actions'] = []
result['right_agent_controlled_player'] = []
for i in range(self._scenario_cfg.left_agents):
if i >= len(info.left_controllers):
result['left_agent_controlled_player'].append(-1)
result['left_agent_sticky_actions'].append(
np.zeros((len(
football_action_set.get_sticky_actions(self._config))),
dtype=np.uint8))
continue
result['left_agent_controlled_player'].append(
info.left_controllers[i].controlled_player)
result['left_agent_sticky_actions'].append(
np.array(self._left_controllers[i].active_sticky_actions(),
dtype=np.uint8))
for i in range(self._scenario_cfg.right_agents):
if i >= len(info.right_controllers):
result['right_agent_controlled_player'].append(-1)
result['right_agent_sticky_actions'].append(
np.zeros((len(
football_action_set.get_sticky_actions(self._config))),
dtype=np.uint8))
continue
result['right_agent_controlled_player'].append(
info.right_controllers[i].controlled_player)
result['right_agent_sticky_actions'].append(
np.array(self._right_controllers[i].active_sticky_actions(),
dtype=np.uint8))
result['game_mode'] = int(info.game_mode)
result['score'] = [info.left_goals, info.right_goals]
result['ball_owned_team'] = info.ball_owned_team
result['ball_owned_player'] = info.ball_owned_player
result['steps_left'] = self._config['game_duration'] - self._step
self._observation = result
self._info = info
return info.is_in_play
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 _retrieve_observation(self):
"""Constructs observations exposed by the environment.
Returns whether game
is on or not.
"""
info = self._env.get_info()
if info.done:
self._done = True
result = {}
if self._config['render']:
frame = self._env.get_frame()
frame = np.frombuffer(frame, dtype=np.uint8)
frame = np.reshape(frame, [1280, 720, 3])
frame = np.reshape(
np.concatenate(
[frame[:, :, 0], frame[:, :, 1], frame[:, :, 2]]),
[3, 720, 1280])
frame = np.transpose(frame, [1, 2, 0])
frame = np.flip(frame, 0)
result['frame'] = frame
result['ball'] = np.array([
info.ball_position[0], info.ball_position[1], info.ball_position[2]
])
# Ball's movement direction represented as [x, y] distance per step.
result['ball_direction'] = np.array([
info.ball_direction[0], info.ball_direction[1],
info.ball_direction[2]
])
# Ball's rotation represented as [x, y, z] rotation angle per step.
result['ball_rotation'] = np.array([
info.ball_rotation[0], info.ball_rotation[1], info.ball_rotation[2]
])
self.convert_players_observation(info.left_team, 'left_team', result)
self.convert_players_observation(info.right_team, 'right_team', result)
result['left_agent_sticky_actions'] = []
result['left_agent_controlled_player'] = []
result['right_agent_sticky_actions'] = []
result['right_agent_controlled_player'] = []
for i in range(self._scenario_cfg.left_agents):
if i >= len(info.left_controllers):
result['left_agent_controlled_player'].append(-1)
result['left_agent_sticky_actions'].append(
np.zeros((len(
football_action_set.get_sticky_actions(self._config))),
dtype=np.uint8))
continue
result['left_agent_controlled_player'].append(
info.left_controllers[i].controlled_player)
result['left_agent_sticky_actions'].append(
np.array(self._left_controllers[i].active_sticky_actions(),
dtype=np.uint8))
for i in range(self._scenario_cfg.right_agents):
if i >= len(info.right_controllers):
result['right_agent_controlled_player'].append(-1)
result['right_agent_sticky_actions'].append(
np.zeros((len(
football_action_set.get_sticky_actions(self._config))),
dtype=np.uint8))
continue
result['right_agent_controlled_player'].append(
info.right_controllers[i].controlled_player)
result['right_agent_sticky_actions'].append(
np.array(self._right_controllers[i].active_sticky_actions(),
dtype=np.uint8))
result['game_mode'] = int(info.game_mode)
result['score'] = [info.left_goals, info.right_goals]
result['ball_owned_team'] = info.ball_owned_team
result['ball_owned_player'] = info.ball_owned_player
result['steps_left'] = self._config['game_duration'] - self._step
result['relative_position'] = {}
for i in range(len(info.object_position_frame)):
pos = np.array([
info.object_position_frame[i][0],
info.object_position_frame[i][1]
]).astype(int)
if i == 0:
result['relative_position']['right_goal'] = pos
elif i == 1:
result['relative_position']['left_goal'] = pos
else:
result['relative_position'][f'human_{i-2}'] = pos
# if not (0 <= pos[0] <= 1280 and 0 <= pos[1] <= 720):
# continue
# print(f'Object {i} has position {pos}')
# frame[pos[1]-10:min(pos[1]+10, 720), pos[0]-10:min(pos[0]+10, 1280), :] = 255
# cv2.imwrite('/home/SENSETIME/zhangzongpu/Documents/Projects/football/{}.jpg'.format(int(time.time())), frame)
# print(info.object_position_frame[0].)
self._observation = result
self._info = info
return info.is_in_play
