Skip to content

fix vision mapping #132

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
energy-in-joles merged 2 commits into from
Jun 5, 2026
Merged

fix vision mapping #132

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
0df13fa
fix vision mapping
energy-in-joles Jun 5, 2026
66dbfd4
remove setsid
energy-in-joles Jun 5, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion pixi.toml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -58,4 +58,4 @@ precommit-uninstall = "pre-commit uninstall"
robosim = { features = ["robosim"], no-default-feature = true }

[target.linux-64.tasks]
main = "setsid python -m main"
main = "python -m main"
50 changes: 38 additions & 12 deletions utama_core/run/strategy_runner.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -901,12 +901,18 @@ def _load_game(self):

Side effect: Populates game, game_history and current_game_frame on self.my (and self.opp if present).
"""
my_mapping = self.yellow_vision_to_cmd_mapping if self.my_team_is_yellow else self.blue_vision_to_cmd_mapping
opp_mapping = (
(self.blue_vision_to_cmd_mapping if self.my_team_is_yellow else self.yellow_vision_to_cmd_mapping)
if self.opp
else None
)
if self.mode == Mode.REAL:
my_mapping = (
self.yellow_vision_to_cmd_mapping if self.my_team_is_yellow else self.blue_vision_to_cmd_mapping
)
opp_mapping = (
(self.blue_vision_to_cmd_mapping if self.my_team_is_yellow else self.yellow_vision_to_cmd_mapping)
if self.opp
else {}
)
else:
my_mapping = None
opp_mapping = None

my_current_game_frame, opp_current_game_frame = GameGater.wait_until_game_valid(
self.my_team_is_yellow,
Expand All @@ -918,8 +924,8 @@ def _load_game(self):
self.my.position_refiner,
is_pvp=self.opp is not None,
rsim_env=self.rsim_env,
my_vision_to_cmd_mapping=my_mapping if self.mode == Mode.REAL else None,
opp_vision_to_cmd_mapping=opp_mapping if self.mode == Mode.REAL else None,
my_vision_to_cmd_mapping=my_mapping,
opp_vision_to_cmd_mapping=opp_mapping,
)

self.my.position_refiner.start_filtering()
Expand Down Expand Up @@ -1190,12 +1196,32 @@ def _run_step(self):
real = self.mode == Mode.REAL
if self.toggle_opp_first:
if self.opp:
self._step_game(vision_frames, referee_data, True, real_responses=opp_res if real else None)
self._step_game(vision_frames, referee_data, False, real_responses=friendly_res if real else None)
self._step_game(
vision_frames,
referee_data,
True,
real_responses=opp_res if real else None,
)
self._step_game(
vision_frames,
referee_data,
False,
real_responses=friendly_res if real else None,
)
else:
self._step_game(vision_frames, referee_data, False, real_responses=friendly_res if real else None)
self._step_game(
vision_frames,
referee_data,
False,
real_responses=friendly_res if real else None,
)
if self.opp:
self._step_game(vision_frames, referee_data, True, real_responses=opp_res if real else None)
self._step_game(
vision_frames,
referee_data,
True,
real_responses=opp_res if real else None,
)
self.toggle_opp_first = not self.toggle_opp_first

# --- rate limiting ---
Expand Down
Loading