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🎳 Environments for Reinforcement Learning

License: MIT License

Python 100.00%

reinforcement-learning robocup-ssl gym gym-environments robotics hacktoberfest

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alexsandr0x goncamateus julianadamurie felipemartins96 bmmuc myleskeller icaro-nunes robocin leikoe jgocm taurabots kenzosakiyama pablocarpon krischad jessseee eladc4 erfanfathi

rsoccer's Issues

self.actions variable not being used in vss_gym_3v3

https://github.com/robocin/envs/blob/5f422179ca24fdf9eca0bf53fe02f2af1a4c6f21/envs/rc_gym/vss/env_3v3/vss_gym_3v3.py#L75

I think this variable can be removed

same reward shaping functions implemented on multiple envs

implement a reward shaping module which every env can use

Error installing rsoccer using pip (windows)

I tried to install using pip and got this error:

Collecting rsoccer-gym
  Using cached rsoccer_gym-1.4-py3-none-any.whl (61 kB)
Collecting gym (from rsoccer-gym)
  Using cached gym-0.26.2-py3-none-any.whl
Collecting rc-robosim>=1.2.0 (from rsoccer-gym)
  Using cached rc-robosim-1.2.tar.gz (24 kB)
  Installing build dependencies ... done
  Getting requirements to build wheel ... done
  Preparing metadata (pyproject.toml) ... done
Collecting pyglet (from rsoccer-gym)
  Using cached pyglet-2.0.9-py3-none-any.whl (854 kB)
Collecting protobuf (from rsoccer-gym)
  Using cached protobuf-4.24.2-cp310-abi3-win_amd64.whl (430 kB)
Collecting numpy>=1.18.0 (from gym->rsoccer-gym)
  Using cached numpy-1.25.2-cp311-cp311-win_amd64.whl (15.5 MB)
Collecting cloudpickle>=1.2.0 (from gym->rsoccer-gym)
  Using cached cloudpickle-2.2.1-py3-none-any.whl (25 kB)
Collecting gym-notices>=0.0.4 (from gym->rsoccer-gym)
  Using cached gym_notices-0.0.8-py3-none-any.whl (3.0 kB)
Building wheels for collected packages: rc-robosim
  Building wheel for rc-robosim (pyproject.toml) ... error
  error: subprocess-exited-with-error

  × Building wheel for rc-robosim (pyproject.toml) did not run successfully.
  │ exit code: 1
  ╰─> [380 lines of output]


      --------------------------------------------------------------------------------
      -- Trying 'Ninja (Visual Studio 17 2022 x64 v143)' generator
      --------------------------------
      ---------------------------
      ----------------------
      -----------------
      ------------
      -------
      --
      Not searching for unused variables given on the command line.
      CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
        Compatibility with CMake < 3.5 will be removed from a future version of
        CMake.

        Update the VERSION argument <min> value or use a ...<max> suffix to tell
        CMake that the project does not need compatibility with older versions.


      -- The C compiler identification is unknown
      CMake Error at CMakeLists.txt:3 (ENABLE_LANGUAGE):
        No CMAKE_C_COMPILER could be found.

        Tell CMake where to find the compiler by setting either the environment
        variable "CC" or the CMake cache entry CMAKE_C_COMPILER to the full path to
        the compiler, or to the compiler name if it is in the PATH.


      -- Configuring incomplete, errors occurred!
      --
      -------
      ------------
      -----------------
      ----------------------
      ---------------------------
      --------------------------------
      -- Trying 'Ninja (Visual Studio 17 2022 x64 v143)' generator - failure
      --------------------------------------------------------------------------------



      --------------------------------------------------------------------------------
      -- Trying 'Visual Studio 17 2022 x64 v143' generator
      --------------------------------
      ---------------------------
      ----------------------
      -----------------
      ------------
      -------
      --
      Not searching for unused variables given on the command line.
      CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
        Compatibility with CMake < 3.5 will be removed from a future version of
        CMake.

        Update the VERSION argument <min> value or use a ...<max> suffix to tell
        CMake that the project does not need compatibility with older versions.


      CMake Error at CMakeLists.txt:2 (PROJECT):
        Generator

          Visual Studio 17 2022

        could not find any instance of Visual Studio.



      -- Configuring incomplete, errors occurred!
      --
      -------
      ------------
      -----------------
      ----------------------
      ---------------------------
      --------------------------------
      -- Trying 'Visual Studio 17 2022 x64 v143' generator - failure
      --------------------------------------------------------------------------------



      --------------------------------------------------------------------------------
      -- Trying 'Ninja (Visual Studio 16 2019 x64 v142)' generator
      --------------------------------
      ---------------------------
      ----------------------
      -----------------
      ------------
      -------
      --
      Not searching for unused variables given on the command line.
      CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
        Compatibility with CMake < 3.5 will be removed from a future version of
        CMake.

        Update the VERSION argument <min> value or use a ...<max> suffix to tell
        CMake that the project does not need compatibility with older versions.


      -- The C compiler identification is unknown
      CMake Error at CMakeLists.txt:3 (ENABLE_LANGUAGE):
        No CMAKE_C_COMPILER could be found.

        Tell CMake where to find the compiler by setting either the environment
        variable "CC" or the CMake cache entry CMAKE_C_COMPILER to the full path to
        the compiler, or to the compiler name if it is in the PATH.


      -- Configuring incomplete, errors occurred!
      --
      -------
      ------------
      -----------------
      ----------------------
      ---------------------------
      --------------------------------
      -- Trying 'Ninja (Visual Studio 16 2019 x64 v142)' generator - failure
      --------------------------------------------------------------------------------



      --------------------------------------------------------------------------------
      -- Trying 'Visual Studio 16 2019 x64 v142' generator
      --------------------------------
      ---------------------------
      ----------------------
      -----------------
      ------------
      -------
      --
      Not searching for unused variables given on the command line.
      CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
        Compatibility with CMake < 3.5 will be removed from a future version of
        CMake.

        Update the VERSION argument <min> value or use a ...<max> suffix to tell
        CMake that the project does not need compatibility with older versions.


      CMake Error at CMakeLists.txt:2 (PROJECT):
        Generator

          Visual Studio 16 2019

        could not find any instance of Visual Studio.



      -- Configuring incomplete, errors occurred!
      --
      -------
      ------------
      -----------------
      ----------------------
      ---------------------------
      --------------------------------
      -- Trying 'Visual Studio 16 2019 x64 v142' generator - failure
      --------------------------------------------------------------------------------



      --------------------------------------------------------------------------------
      -- Trying 'Ninja (Visual Studio 15 2017 x64 v141)' generator
      --------------------------------
      ---------------------------
      ----------------------
      -----------------
      ------------
      -------
      --
      Not searching for unused variables given on the command line.
      CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
        Compatibility with CMake < 3.5 will be removed from a future version of
        CMake.

        Update the VERSION argument <min> value or use a ...<max> suffix to tell
        CMake that the project does not need compatibility with older versions.


      -- The C compiler identification is unknown
      CMake Error at CMakeLists.txt:3 (ENABLE_LANGUAGE):
        No CMAKE_C_COMPILER could be found.

        Tell CMake where to find the compiler by setting either the environment
        variable "CC" or the CMake cache entry CMAKE_C_COMPILER to the full path to
        the compiler, or to the compiler name if it is in the PATH.


      -- Configuring incomplete, errors occurred!
      --
      -------
      ------------
      -----------------
      ----------------------
      ---------------------------
      --------------------------------
      -- Trying 'Ninja (Visual Studio 15 2017 x64 v141)' generator - failure
      --------------------------------------------------------------------------------



      --------------------------------------------------------------------------------
      -- Trying 'Visual Studio 15 2017 x64 v141' generator
      --------------------------------
      ---------------------------
      ----------------------
      -----------------
      ------------
      -------
      --
      Not searching for unused variables given on the command line.
      CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
        Compatibility with CMake < 3.5 will be removed from a future version of
        CMake.

        Update the VERSION argument <min> value or use a ...<max> suffix to tell
        CMake that the project does not need compatibility with older versions.


      CMake Error at CMakeLists.txt:2 (PROJECT):
        Generator

          Visual Studio 15 2017

        could not find any instance of Visual Studio.



      -- Configuring incomplete, errors occurred!
      --
      -------
      ------------
      -----------------
      ----------------------
      ---------------------------
      --------------------------------
      -- Trying 'Visual Studio 15 2017 x64 v141' generator - failure
      --------------------------------------------------------------------------------



      --------------------------------------------------------------------------------
      -- Trying 'NMake Makefiles (Visual Studio 17 2022 x64 v143)' generator
      --------------------------------
      ---------------------------
      ----------------------
      -----------------
      ------------
      -------
      --
      Not searching for unused variables given on the command line.
      CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
        Compatibility with CMake < 3.5 will be removed from a future version of
        CMake.

        Update the VERSION argument <min> value or use a ...<max> suffix to tell
        CMake that the project does not need compatibility with older versions.


      CMake Error at CMakeLists.txt:2 (PROJECT):
        Running

         'nmake' '-?'

        failed with:

         O sistema nÃ£o pode encontrar o arquivo especificado


      -- Configuring incomplete, errors occurred!
      --
      -------
      ------------
      -----------------
      ----------------------
      ---------------------------
      --------------------------------
      -- Trying 'NMake Makefiles (Visual Studio 17 2022 x64 v143)' generator - failure
      --------------------------------------------------------------------------------



      --------------------------------------------------------------------------------
      -- Trying 'NMake Makefiles (Visual Studio 16 2019 x64 v142)' generator
      --------------------------------
      ---------------------------
      ----------------------
      -----------------
      ------------
      -------
      --
      Not searching for unused variables given on the command line.
      CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
        Compatibility with CMake < 3.5 will be removed from a future version of
        CMake.

        Update the VERSION argument <min> value or use a ...<max> suffix to tell
        CMake that the project does not need compatibility with older versions.


      CMake Error at CMakeLists.txt:2 (PROJECT):
        Running

         'nmake' '-?'

        failed with:

         O sistema nÃ£o pode encontrar o arquivo especificado


      -- Configuring incomplete, errors occurred!
      --
      -------
      ------------
      -----------------
      ----------------------
      ---------------------------
      --------------------------------
      -- Trying 'NMake Makefiles (Visual Studio 16 2019 x64 v142)' generator - failure
      --------------------------------------------------------------------------------



      --------------------------------------------------------------------------------
      -- Trying 'NMake Makefiles (Visual Studio 15 2017 x64 v141)' generator
      --------------------------------
      ---------------------------
      ----------------------
      -----------------
      ------------
      -------
      --
      Not searching for unused variables given on the command line.
      CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
        Compatibility with CMake < 3.5 will be removed from a future version of
        CMake.

        Update the VERSION argument <min> value or use a ...<max> suffix to tell
        CMake that the project does not need compatibility with older versions.


      CMake Error at CMakeLists.txt:2 (PROJECT):
        Running

         'nmake' '-?'

        failed with:

         O sistema nÃ£o pode encontrar o arquivo especificado


      -- Configuring incomplete, errors occurred!
      --
      -------
      ------------
      -----------------
      ----------------------
      ---------------------------
      --------------------------------
      -- Trying 'NMake Makefiles (Visual Studio 15 2017 x64 v141)' generator - failure
      --------------------------------------------------------------------------------

                      ********************************************************************************
                      scikit-build could not get a working generator for your system. Aborting build.

                      Building windows wheels for Python 3.11 requires Microsoft Visual Studio 2022.
      Get it with "Visual Studio 2017":

        https://visualstudio.microsoft.com/vs/

      Or with "Visual Studio 2019":

          https://visualstudio.microsoft.com/vs/

      Or with "Visual Studio 2022":

          https://visualstudio.microsoft.com/vs/

                      ********************************************************************************
      [end of output]

  note: This error originates from a subprocess, and is likely not a problem with pip.
  ERROR: Failed building wheel for rc-robosim
Failed to build rc-robosim
ERROR: Could not build wheels for rc-robosim, which is required to install pyproject.toml-based projects

Fixing the README.md

I was testing with the library using the readme.md as guide but notice some issues in the example code.

import numpy as np
from gym.spaces import Box
from rc_gym.Entities import Ball, Frame, Robot
from rc_gym.ssl.ssl_gym_base import SSLBaseEnv

"""
rc_gym doesn`t work, this works:
"""
from rsoccer_gym.Entities import Ball, Frame, Robot
from rsoccer_gym.ssl.ssl_gym_base import SSLBaseEnv

def _frame_to_observations(self):
    ball, robot = self.frame.ball, self.frame.robots_blue[0]
    return np.array([ball.x, ball.y, rbt.x, rbt.y]) # , robot.x, robot.y])

Dynamic number of robots in repositioning code in 3v3Env

Change to be related with n_robots_blue and n_robots_yellow.https://github.com/robocin/envs/blob/5f422179ca24fdf9eca0bf53fe02f2af1a4c6f21/envs/rc_gym/vss/env_3v3/vss_gym_3v3.py#L309-L314

Add frame for yellow robot

Add function to get a frame for the yellow robots into Frame class:

def get_yellow_frame(self):
    yellow_frame = Frame()
    
    yellow_frame.ball.x = -self.ball.x
    yellow_frame.ball.y = self.ball.y
    yellow_frame.ball.z = self.ball.z
    yellow_frame.ball.v_x = -self.ball.v_x
    yellow_frame.ball.v_y = self.ball.v_y
    
    for i in range(len(self.robots_yellow)):
        robot = Robot()
        robot.id = i
        robot.x = -self.robots_yellow[i].x
        robot.y = self.robots_yellow[i].y
        robot.theta = self._mirror_angle(self.robots_yellow[i].theta)
        robot.v_x = -self.robots_yellow[i].v_x
        robot.v_y = self.robots_yellow[i].v_y
        robot.v_theta = -self.robots_yellow[i].v_theta
        yellow_frame.robots_blue[robot.id] = robot

    for i in range(len(self.robots_blue)):
        robot = Robot()
        robot.id = i
        robot.x = -self.robots_blue[i].x
        robot.y = self.robots_blue[i].y
        robot.theta = self._mirror_angle(self.robots_blue[i].theta)
        robot.v_x = -self.robots_blue[i].v_x
        robot.v_y = self.robots_blue[i].v_y
        robot.v_theta = -self.robots_blue[i].v_theta
        yellow_frame.robots_yellow[robot.id] = robot
    
    return yellow_frame

test discord webhook

this issue is just to test discord webhook on this repo

Create a 'how to create an environment' documentation

There is an environment example at the readme: https://github.com/robocin/rSoccer#example-code---environment
However this example lacks documentation and has some errors, a simple guide explaining how to create an environment would improve the repo!

Review environments documentation

Each environment code should have a descriptive and correct documentation about the environment, each of the available environemnts should be checked in the information is correct.

Create wiki page explaining paper, and showing the results and how to reproduce them

VSS SelfPlay attacker vs goalkeeper Environment

VSS atk vs goalkeeper Environment

Creat an environment to train an attacker against a trained goalkeeper.

Add corners to VSS and SSL field limits on render

add citation file

https://docs.github.com/pt/repositories/managing-your-repositorys-settings-and-features/customizing-your-repository/about-citation-files

depending on how it works, se if it can substitute:

rSoccer/README.md

Lines 5 to 18 in 17f7640

 ## Reference 

 If you use this environment in your publication and want to cite it, utilize this BibTeX: 

 ``` 

 @misc{martins2021rsoccer, 

  title={rSoccer: A Framework for Studying Reinforcement Learning in Small and Very Small Size Robot Soccer},  

  author={Felipe B. Martins and Mateus G. Machado and Hansenclever F. Bassani and Pedro H. M. Braga and Edna S. Barros}, 

  year={2021}, 

  eprint={2106.12895}, 

  archivePrefix={arXiv}, 

  primaryClass={cs.LG} 

 } 

 ```

add SSL RoboCup 2021 hardware challenges envs

https://ssl.robocup.org/robocup-2021-challenges/

Move reward clip is badly implemented

When implemented in the old environment, the intention was to clip rewards when something unexpected occurred and the value was too big, on the code as of now it is clipping normal rewards

https://github.com/robocin/envs/blob/5f422179ca24fdf9eca0bf53fe02f2af1a4c6f21/envs/rc_gym/vss/env_3v3/vss_gym_3v3.py#L194

pyglet being imported even without calling the render method

this issue raises an error when making the environment on a device without display

File registering environments is getting to dense

We should study if maybe moving the environments register to vss and ssl folder respectively or inside the environment code itself is a better way to format the environment.

rSoccer/rsoccer_gym/__init__.py

Lines 3 to 71 in 17f7640

 register(id='VSS-v0', 

 entry_point='rsoccer_gym.vss.env_vss:VSSEnv', 

 max_episode_steps=1200 

 ) 

 register(id='VSSMA-v0', 

 entry_point='rsoccer_gym.vss.env_ma:VSSMAEnv', 

 max_episode_steps=1200 

 ) 

 register(id='VSSMAOpp-v0', 

 entry_point='rsoccer_gym.vss.env_ma:VSSMAOpp', 

 max_episode_steps=1200 

 ) 

 register(id='VSSGk-v0', 

 entry_point='rsoccer_gym.vss.env_gk:rSimVSSGK', 

 max_episode_steps=1200 

 ) 

 register(id='VSSFIRA-v0', 

 entry_point='rsoccer_gym.vss.env_vss:VSSFIRAEnv', 

 max_episode_steps=1200 

 ) 

 register(id='SSLGoToBall-v0', 

 entry_point='rsoccer_gym.ssl.ssl_go_to_ball:SSLGoToBallEnv', 

 kwargs={'field_type': 2, 'n_robots_yellow': 6}, 

 max_episode_steps=1200 

 ) 

 register(id='SSLGoToBallIR-v0', 

 entry_point='rsoccer_gym.ssl.ssl_go_to_ball:SSLGoToBallIREnv', 

 kwargs={'field_type': 2, 'n_robots_yellow': 6}, 

 max_episode_steps=1200 

 ) 

 register(id='SSLGoToBallShoot-v0', 

 entry_point='rsoccer_gym.ssl.ssl_go_to_ball_shoot:SSLGoToBallShootEnv', 

 kwargs={'field_type': 2, 'random_init': True, 

 'enter_goal_area': False}, 

 max_episode_steps=2400 

 ) 

 register(id='SSLStaticDefenders-v0', 

 entry_point='rsoccer_gym.ssl.ssl_hw_challenge.static_defenders:SSLHWStaticDefendersEnv', 

 kwargs={'field_type': 2}, 

 max_episode_steps=1000 

 ) 

 register(id='SSLDribbling-v0', 

 entry_point='rsoccer_gym.ssl.ssl_hw_challenge.dribbling:SSLHWDribblingEnv', 

 max_episode_steps=4800 

 ) 

 register(id='SSLContestedPossession-v0', 

 entry_point='rsoccer_gym.ssl.ssl_hw_challenge.contested_possession:SSLContestedPossessionEnv', 

 max_episode_steps=1200 

 ) 

 register(id='SSLPassEndurance-v0', 

 entry_point='rsoccer_gym.ssl.ssl_hw_challenge:SSLPassEnduranceEnv', 

 max_episode_steps=120 

 ) 

 register(id='SSLPassEnduranceMA-v0', 

 entry_point='rsoccer_gym.ssl.ssl_hw_challenge:SSLPassEnduranceMAEnv', 

 max_episode_steps=1200 

 )

Example code - Agent error

The example code is presenting the following error:

Example code:

import gym
import rsoccer_gym

# Using VSS Single Agent env
env = gym.make('VSS-v0')

env.reset()
# Run for 1 episode and print reward at the end
for i in range(1):
    done = False
    while not done:
        # Step using random actions
        action = env.action_space.sample()
        next_state, reward, done, _ = env.step(action)
        env.render()
    print(reward)

Error message:

Exception has occurred: ValueError
not enough values to unpack (expected 5, got 4)

Error line:
next_state, reward, done, _ = env.step(action)

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	## Reference

	If you use this environment in your publication and want to cite it, utilize this BibTeX:

	```
	@misc{martins2021rsoccer,
	title={rSoccer: A Framework for Studying Reinforcement Learning in Small and Very Small Size Robot Soccer},
	author={Felipe B. Martins and Mateus G. Machado and Hansenclever F. Bassani and Pedro H. M. Braga and Edna S. Barros},
	year={2021},
	eprint={2106.12895},
	archivePrefix={arXiv},
	primaryClass={cs.LG}
	}
	```

	register(id='VSS-v0',
	entry_point='rsoccer_gym.vss.env_vss:VSSEnv',
	max_episode_steps=1200
	)

	register(id='VSSMA-v0',
	entry_point='rsoccer_gym.vss.env_ma:VSSMAEnv',
	max_episode_steps=1200
	)

	register(id='VSSMAOpp-v0',
	entry_point='rsoccer_gym.vss.env_ma:VSSMAOpp',
	max_episode_steps=1200
	)

	register(id='VSSGk-v0',
	entry_point='rsoccer_gym.vss.env_gk:rSimVSSGK',
	max_episode_steps=1200
	)

	register(id='VSSFIRA-v0',
	entry_point='rsoccer_gym.vss.env_vss:VSSFIRAEnv',
	max_episode_steps=1200
	)

	register(id='SSLGoToBall-v0',
	entry_point='rsoccer_gym.ssl.ssl_go_to_ball:SSLGoToBallEnv',
	kwargs={'field_type': 2, 'n_robots_yellow': 6},
	max_episode_steps=1200
	)

	register(id='SSLGoToBallIR-v0',
	entry_point='rsoccer_gym.ssl.ssl_go_to_ball:SSLGoToBallIREnv',
	kwargs={'field_type': 2, 'n_robots_yellow': 6},
	max_episode_steps=1200
	)

	register(id='SSLGoToBallShoot-v0',
	entry_point='rsoccer_gym.ssl.ssl_go_to_ball_shoot:SSLGoToBallShootEnv',
	kwargs={'field_type': 2, 'random_init': True,
	'enter_goal_area': False},
	max_episode_steps=2400
	)

	register(id='SSLStaticDefenders-v0',
	entry_point='rsoccer_gym.ssl.ssl_hw_challenge.static_defenders:SSLHWStaticDefendersEnv',
	kwargs={'field_type': 2},
	max_episode_steps=1000
	)

	register(id='SSLDribbling-v0',
	entry_point='rsoccer_gym.ssl.ssl_hw_challenge.dribbling:SSLHWDribblingEnv',
	max_episode_steps=4800
	)

	register(id='SSLContestedPossession-v0',
	entry_point='rsoccer_gym.ssl.ssl_hw_challenge.contested_possession:SSLContestedPossessionEnv',
	max_episode_steps=1200
	)

	register(id='SSLPassEndurance-v0',
	entry_point='rsoccer_gym.ssl.ssl_hw_challenge:SSLPassEnduranceEnv',
	max_episode_steps=120
	)

	register(id='SSLPassEnduranceMA-v0',
	entry_point='rsoccer_gym.ssl.ssl_hw_challenge:SSLPassEnduranceMAEnv',
	max_episode_steps=1200
	)