Project import generated by Copybara.

PiperOrigin-RevId: 269551668

CHANGELOG

@@ -5,6 +5,11 @@ should not change, as modifications made to the environment are either
 new features or backward compatible bug fixes. We will maintain vX branches
 pointing at the most recent vX.Y.
 
+v1.5
+- Fix to numerical issue resulting in asserts in long runs (https://github.com/google-research/football/issues/78).
+- Eliminate dependense on Glee (https://github.com/google-research/football/issues/77)
+- Created [email protected] email for direct contact with the environment team.
+
 v1.4
 - Added implementation of architecture 'gfootball_impala_cnn' used in the paper.
 - Added possibility of loading PPO checkpoints as players, added example checkpoints (for levels 11_vs_11_easy_stochastic and academy_run_to_score_with_keeper).

Dockerfile

@@ -7,9 +7,11 @@ RUN apt-get update && apt-get install -yq git cmake build-essential \
   libgl1-mesa-dev libsdl2-dev \
   libsdl2-image-dev libsdl2-ttf-dev libsdl2-gfx-dev libboost-all-dev \
   libdirectfb-dev libst-dev mesa-utils xvfb x11vnc \
-  glee-dev libsdl-sge-dev python3-pip
+  libsdl-sge-dev python3-pip
+
+RUN pip3 install "tensorflow<2.0" dm-sonnet
 
 COPY . /gfootball
-RUN cd /gfootball && pip3 install .[tf_$DEVICE]
+RUN cd /gfootball && pip3 install .
 RUN pip3 install git+https://github.com/openai/baselines.git@master
 WORKDIR '/gfootball'

README.md

@@ -10,6 +10,11 @@ We'd like to thank Bastiaan Konings Schuiling, who authored and open-sourced the
 For more information, please look at our [paper](https://arxiv.org/abs/1907.11180).
 
 Mailing list: https://groups.google.com/forum/#!forum/google-research-football
+Comments / suggestions / feature ideas are welcome on this list, and please
+use it to communicate with us (in addition to GitHub issues).
+
+For non-public matters that you'd like to discuss directly with the Google Research Football team,
+please use [email protected].
 
 ## Installation
 Currently we're supporting only Linux and Python3.
@@ -18,7 +23,7 @@ You can either install the code from github (newest version) or from pypi (stabl
   1. Install required apt packages with
   `sudo apt-get install git cmake build-essential libgl1-mesa-dev libsdl2-dev
   libsdl2-image-dev libsdl2-ttf-dev libsdl2-gfx-dev libboost-all-dev
-  libdirectfb-dev libst-dev mesa-utils xvfb x11vnc glee-dev libsdl-sge-dev
+  libdirectfb-dev libst-dev mesa-utils xvfb x11vnc libsdl-sge-dev
   python3-pip`
 
   1. Install gfootball python package from pypi:

gfootball/env/football_env.py

@@ -41,6 +41,8 @@ def __init__(self, config):
     # 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_wrapper.FootballEnvWrapper(self._config)
     self._num_actions = len(football_action_set.get_action_set(self._config))

gfootball/env/football_env_core.py

@@ -146,10 +146,6 @@ def step(self, action):
       if 'frame' in self._observation:
         self._trace.add_frame(self._observation['frame'])
     debug['frame_cnt'] = self._step
-    if self._step == 1:
-      # Put environment config into the debug, so that we can replay a given
-      # scenario from the dump.
-      debug['config'] = self._config.get_dictionary()
 
     previous_score_diff = 0
     if self._trace.len() > 0:

gfootball/env/observation_processor.py

@@ -144,8 +144,8 @@ def softmax(x):
 
 
 @cfg.log
-def write_dump(name, trace, skip_visuals=False, config={}):
-  if not skip_visuals:
+def write_dump(name, trace, config):
+  if config['write_video']:
     fd, temp_path = tempfile.mkstemp(suffix='.avi')
     if HIGH_RES:
       frame_dim = (1280, 720)
@@ -212,6 +212,7 @@ def write_dump(name, trace, skip_visuals=False, config={}):
       # For some reason sometimes the file is missing, so the code fails.
       if WRITE_FILES:
         shutil.copy2(temp_path, name + '.avi')
+      logging.info('Video written to %s.avi', name)
       os.remove(temp_path)
     except:
       logging.info(traceback.format_exc())
@@ -222,15 +223,15 @@ def write_dump(name, trace, skip_visuals=False, config={}):
       temp_frames.append(o._trace['observation']['frame'])
       o._trace['observation']['frame'] = REMOVED_FRAME
     to_pickle.append(o._trace)
+  # Add config to the first frame for our replay tools to use.
+  to_pickle[0]['debug']['config'] = config.get_dictionary()
   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
 
 
@@ -379,8 +380,7 @@ def process_pending_dumps(self, finish):
         if finish or config._trigger_step <= self._frame:
           logging.info('Start dump %s', name)
           trace = list(self._trace)[-config._max_length:]
-          write_dump(config._file_name, trace, self._config['write_video'],
-                     self._config)
+          write_dump(config._file_name, trace, self._config)
           config._file_name = None
       if config._result:
         assert not config._file_name

setup.py

@@ -41,7 +41,7 @@ def run(self):
 
 setup(
     name='gfootball',
-    version='1.4',
+    version='1.5',
     description=('Google Research Football - RL environment based on '
                  'open-source game Gameplay Football'),
     author='Google LLC',

third_party/gfootball_engine/CMakeLists.txt

@@ -130,8 +130,8 @@ add_library(gamelib ${GAME_SOURCES} ${GAME_HEADERS})
 add_library(menulib ${MENU_SOURCES} ${MENU_HEADERS})
 add_library(datalib ${DATA_SOURCES} ${DATA_HEADERS})
 
-set(LIBRARIES gamelib menulib datalib glee
-   blunted2 rt ${Boost_LIBRARIES} ${PYTHON_LIBRARY}
+set(LIBRARIES gamelib menulib datalib blunted2 rt
+   ${Boost_LIBRARIES} ${PYTHON_LIBRARY}
    ${SDL2_IMAGE_LIBRARIES} ${SDL2_TTF_LIBRARIES} ${SDL2_GFX_LIBRARIES}
    ${SDL2_LIBRARY} ${SGE_LIBRARY} ${OPENGL_LIBRARIES})
 add_library(baselib OBJECT ${BASE_SOURCES} ${BASE_HEADERS}

third_party/gfootball_engine/src/onthepitch/player/humanoid/humanoid_utils.cpp

@@ -207,7 +207,7 @@ Vector3 GetBallControlVector(Ball *ball, Player *player, const Vector3 &nextStar
   if (currentAnim->originatingCommand.desiredVelocityFloat > walkSprintSwitch) maximumOverdrive_mps = 2.0f * explosivenessFactor;
   float dotFactor1 = spatialState.directionVec.GetDotProduct(currentAnim->originatingCommand.desiredDirection) * 0.5f + 0.5f; // inv deviation from the current direction
   float dotFactor2 = Vector3(0, -1, 0).GetRotated2D(nextStartAngle).GetDotProduct(currentAnim->originatingCommand.desiredDirection) * 0.5f + 0.5f; // inv deviation from the direction we wanted
-  float dotFactor = std::min(dotFactor1, dotFactor2);
+  float dotFactor = clamp(std::min(dotFactor1, dotFactor2), 0.0f, 1.0f);  // clamp for numerical problems, don't want negative values out of this.
   maximumOverdrive_mps *= dotFactor;
 
   if (FloatToEnumVelocity(currentAnim->anim->GetOutgoingVelocity()) == e_Velocity_Idle) maximumOverdrive_mps = 0.0f;

third_party/gfootball_engine/src/systems/graphics/rendering/opengl_renderer3d.hpp

@@ -20,8 +20,6 @@
 
 #include "interface_renderer3d.hpp"
 
-#include <GLee.h>
-
 namespace blunted {
 
   class OpenGLRenderer3D : public Renderer3D {
@@ -145,9 +143,9 @@ namespace blunted {
 
       float overallBrightness = 0.0f;
 
-      GLfloat largest_supported_anisotropy = 0.0f;
+      float largest_supported_anisotropy = 0.0f;
 
-      std::map<std::string, GLint> uniformCache;
+      std::map<std::string, int> uniformCache;
 
       std::map<int, int> VBOPingPongMap;
       std::map<int, int> VAOPingPongMap;