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dasGringuen committed Jun 12, 2024
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59 changes: 59 additions & 0 deletions .gitignore
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# user
results
data/data_sets
archive
*.ptorch
*.pkl?

# Byte-compiled / optimized / DLL files
__pycache__/
*.py[cod]
.ipynb_checkpoints

# C extensions
*.so

# Distribution / packaging
.Python
build/
develop-eggs/
dist/
eggs/
lib/
lib64/
parts/
sdist/
var/
*.egg-info/
.installed.cfg
*.egg

# Installer logs
pip-log.txt
pip-delete-this-directory.txt

# Unit test / coverage reports
htmlcov/
.tox/
.coverage
.cache
nosetests.xml
coverage.xml

# Translations
*.mo
*.pot

# Sphinx documentation
docs/_build/

#
*.zip

# mujoco
MUJOCO_LOG.TXT

# custom
output
outputs
assetto_corsa_gym.code-workspace
67 changes: 67 additions & 0 deletions INSTALL.md
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<h1>Assetto Corsa Gym</span></h1>

Plug-in installation instructions

## Assetto Corsa plugin Installation
1. **Install vJoy**
- Needed to send commands to Assetto Corsa
- Download and install [Vjoy](https://sourceforge.net/projects/vjoystick/)

2. **Copy the plugin files**
- Navigate to the plugin folder located in this repo:
```
.\assetto_corsa_gym\assetto-corsa-autonomous-racing-plugin\plugins\sensors_par
```
- Copy this folder to the Assetto Corsa installation folder under `apps\python\`. The default AC installation folder is usually located at:
```
<AC_installation_folder>\assettocorsa\apps\python\
```
where `<AC_installation_folder>` is typically in:
```
C:\Program Files (x86)\Steam\steamapps\common\assettocorsa\
```
- The destination path should look like this:
```
C:\Program Files (x86)\Steam\steamapps\common\assettocorsa\apps\python\sensor_par
```
4. **Installation of Configuration Files**
Install the following configurations from `assetto_corsa_gym\assetto-corsa-autonomous-racing-plugin\windows-libs`
- **Vjoy Configuration**
- The `Vjoy.ini` file is a configuration file for Assetto Corsa. It should be copied to:
```
C:\Users\%user%\Documents\Assetto Corsa\cfg\controllers\savedsetups
```
- **WASD Controls**
- The `WASD.ini` file allows you to control the car using WASD keys. Copy it to:
```
C:\Users\%user%\Documents\Assetto Corsa\cfg\controllers\savedsetups
```
- **Dlls and Lib Folders**
- These folders contain a Python version of the socket library, used by the plugin. They should be copied to:
```
C:\Program Files (x86)\Steam\steamapps\common\assettocorsa\system\x64
```
4. **Custom Shaders Patch**
- This patch is needed to be able to restart the car. Install Content Manager from:
[Content Manager Download](https://acstuff.ru/app/)
- After installation, open Content Manager and navigate to:
- Settings > Custom Shaders Patch
- Click "install" to complete the setup.
5. **Run Assetto Corsa**
- In `options -> general -> UI Modules`: **enable sensor_par**
- In `options -> control`: you should have vJoy and WASD. Load **vJoy**
- In `options -> video -> Display -> Framerate limit` set to **50fps**
See `assetto_corsa_gym\assetto-corsa-autonomous-racing-plugin\plugins\sensors_par\config.py`
---
## Acknoledgements
- Adrian Remonda (TU Graz)
- Francesco Gatti (TII EuroRacing - Hipert)
- Andrea Serafini (TII EuroRacing - Unimore)
- Francesco Moretti (TII EuroRacing - Unimore)
- Ayoub Raji (TII EuroRacing - Unimore)
2 changes: 1 addition & 1 deletion LICENSE
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MIT License

Copyright (c) Nicklas Hansen (2023).
Copyright (c) 2024 Adrian Remonda

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
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210 changes: 107 additions & 103 deletions README.md
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# Assetto Corsa Gym Environment
<h1>Assetto Corsa Gym</span></h1>

Official implementation of the paper:
[A Simulation Benchmark for Autonomous Racing with Large-Scale Human Data](https://dasgringuen.github.io/assetto_corsa_gym/)

<img src="docs/images/sim_render_small.jpg" width="24%"><img src="docs/images/sim_tug2_small.jpg" width="24%"><img src="docs/images/sim_tug_small.jpg" width="24%"><img src="docs/images/ucsd_sim_small.jpg" width="24%">



[[Website]](https://dasgringuen.github.io/assetto_corsa_gym/) [[Paper]]() [[Dataset]](https://huggingface.co/datasets/dasgringuen/assettoCorsaGym) [[ROS2 interface]](https://github.com/ayoubraji/assetto_corsa_ros2)

----

## Overview
Gym interfaces with Assetto Corsa for Autonomous Racing. This repository integrates the Assetto Corsa racing simulator with the OpenAI's Gym interface, providing a high-fidelity environment for developing and testing Autonomous Racing algorithms in realistic racing scenarios.

Features
Features:
- High-Fidelity Simulation: Realistic car dynamics and track environments.
- Customizable Scenarios: Various cars, tracks, and weather conditions.
- RL Integration: Compatible with Gym for easy RL algorithm application.
- ROS integration (see link)
- [ROS2 interface](https://github.com/ayoubraji/assetto_corsa_ros2)

This repository contains all the necessary code to run the Gym interface for Assetto Corsa and RL benchmarks. For the ROS2 interface, refer to [ROS2 interface](https://github.com/ayoubraji/assetto_corsa_ros2)

## Run
## Source Code Tree:

### Train
```
python sac_train.py --config ../algorithm/discor/config/assettocorsa.yaml --track <track> --car <car>
```
- **assetto_corsa_gym**
- **assetto-corsa-autonomous-racing-plugin**
- Plugin for AC
- **AssettoCorsaConfigs**
- **cars**
- **controls maps**
- **tracks**
- Track bounds
- Occupancy
- Racing line
- **AssettoCorsaEnv**
- Communication client
- OpenAI Gym interface
- **algorithm**
- SAC baseline
- **data**
- Extra information of the dataset and statistics. Instructions to record human demonstrations


### Test
```
python sac_train.py --config ../algorithm/discor/config/assettocorsa.yaml --disable_wandb --track <track> --car <car> --load_path <path to model> --test
```

# Download datasets

## Getting started

Create a path and navigate to it
```
mkdir data_sets && cd data_sets
```
1. **Install the AC plug-in**
Follow the instructions in [`INSTALL.md`](INSTALL.md)

# Tracks

## Available
Barcelona: ks_barcelona-layout_gp
Monza: monza
Austria: ks_red_bull_ring-layout_gp
Oval: indianapolis_sp
1. **Install Python in Windows**

## Monza
```
wget -O downloaded_file.zip "https://www.dropbox.com/scl/fo/u8q1stkafbxw6mgavc9oo/AG64cejNqerJc8Rj9h0FTYk?rlkey=3i7hx2q7f528mkbfhy163e9r9&dl=1" && unzip downloaded_file.zip -d monza; rm downloaded_file.zip
```
- **Install Visual Studio Compiler**
- To compile the necessary components for the plugin, download and install the Visual Studio compiler from:
[Visual Studio C++ Build Tools](https://visualstudio.microsoft.com/visual-cpp-build-tools/)
- Make sure to install the C++ build tools component

## Barcelona
```
wget -O downloaded_file.zip "https://www.dropbox.com/scl/fo/jy7szdlsb6z5hceqbcipe/ABZ5IgqCLNEmoGeu-xxtRdU?rlkey=a8dketk9c77wgzx8am32dvrvy&dl=1" && unzip downloaded_file.zip -d ks_barcelona-layout_gp; rm downloaded_file.zip
```
- **Install Python using Anaconda**
```
conda create -n p309 python=3.9.13
conda activate p309
pip install setuptools==65.5.0
pip install -r requirements.txt
conda install pytorch==1.12.1 cudatoolkit=11.6 -c pytorch -c conda-forge
```
2. **Download the tracks occupancy grid**
- Get the files from here [tracks](https://huggingface.co/datasets/dasgringuen/assettoCorsaGym/tree/main/AssettoCorsaConfigs/tracks).
- Optionally, download them using the Huggingface Hub interface:
- Install it: `conda install -c conda-forge huggingface_hub`
- And run:
```sh
python -c "from huggingface_hub import snapshot_download; snapshot_download(repo_id='dasgringuen/assettoCorsaGym', repo_type='dataset', local_dir='AssettoCorsaGymDataSet', allow_patterns='AssettoCorsaConfigs/tracks/*')"
```
- Move the pickle files to `assetto_corsa_gym/AssettoCorsaConfigs/tracks`.
- To create a new track:
- Each track needs an occupancy grid (pickle), a reference line (can be the one from AC but also something else), and the track bounds. These files are located in `assetto_corsa_gym/AssettoCorsaConfigs/tracks`.
- The reference line and the occupancy grid are needed to run the Gym interface.
- To create a new track:
- Start Assetto Corsa and set the new track.
- Run `assetto_corsa_gym/AssettoCorsaConfigs/tracks/generate_track.ipynb` to create a new track. This script creates a pickle file with the occupancy grid, downloads the AC reference path, and visualizes the track. Make sure to update the `assetto_corsa_gym/AssettoCorsaConfigs/tracks/config.yaml` file.
## Demos
- **test_client.ipynb**
- Demonstrates the use of the Assetto Corsa Sim interface (client) without the OpenAI Gym interface layer.
- **test_gym.ipynb**
- Demonstrates the use of the Gym interface without an agent.
## Indianapolis_sp (Oval)
```
wget -O downloaded_file.zip "https://www.dropbox.com/scl/fo/3vp25we2h8g7knuhpioic/ADHx7qb88-TdZk9su1KXWKg?rlkey=cgwdjdujuzhfquaiz2cjdo241&dl=1" && unzip downloaded_file.zip -d indianapolis_sp; rm downloaded_file.zip
```
## Austria
## Train RL models
```
wget -O downloaded_file.zip "https://www.dropbox.com/scl/fo/dezimtveazd1w70ttggf0/AMmK8ue5VaKc6vYZT_t0-4Q?rlkey=mpyb2axbzzyebc6l85lnmh9ls&dl=1" && unzip downloaded_file.zip -d ks_red_bull_ring-layout_gp; rm downloaded_file.zip
python train.py track <track> --load_path <path to model>
```
## Download Datasets
- Currently supported tracks:
- Barcelona: `ks_barcelona-layout_gp`
- Monza: `monza`
- Austria: `ks_red_bull_ring-layout_gp`
- Oval: `indianapolis_sp`
- Silverstone: `ks_silverstone-gp`
## Python Installation
- To download
**Install Visual Studio Compiler**
- To compile the necessary components for the plugin, download and install the Visual Studio compiler from:
[Visual Studio C++ Build Tools](https://visualstudio.microsoft.com/visual-cpp-build-tools/)
- Make sure to install the C++ build tools component
Run one track and car at a time. Replace `<track>` and `<car>`:
**Install Python using Anaconda**
```
conda create -n p309 python=3.9.13
conda activate p309
```python
from huggingface_hub import snapshot_download
pip install setuptools==65.5.0
pip install -r requirements.txt
snapshot_download(
repo_id="dasgringuen/assettoCorsaGym",
repo_type="dataset",
local_dir="AssettoCorsaGymDataSet",
allow_patterns="data_sets/<track>/<car>/*"
)
```

conda install pytorch==1.12.1 cudatoolkit=11.6 -c pytorch -c conda-forge
conda install -c conda-forge shapely # (linux) pip install shapely intersect
```
Optionally, download everything at once (120GB):

### Problems
- Complains about OpenCV. Fix:
```pip install setuptools==65.5.0 "wheel<0.40.0"```

## Assetto Corsa plugin Installation
1. **Follow the manual**

2. **Install vJoy**
- Needed to send commands to Assetto Corsa
- Download and install [Vjoy](https://sourceforge.net/projects/vjoystick/)

2. **Copy the plugin files**
- Navigate to your plugin folder:
```
.\assetto-corsa-autonomous-racing-plugin\plugins\sensors_par
```
- Copy it to your Assetto Corsa installation folder under `apps\python\`. The default AC installation folder is usually located at:
```
<AC_installation_folder>\assettocorsa\apps\python\
```
where `<AC_installation_folder>` is typically:
```
C:\Program Files (x86)\Steam\steamapps\common\assettocorsa\
```
- The destination path should look something like this:
```
C:\Program Files (x86)\Steam\steamapps\common\assettocorsa\apps\python\sensor_par
```
3. **Installation of Configuration Files**
- **Vjoy Configuration**
- The `Vjoy.ini` file is a configuration file for Assetto Corsa. It should be copied to:
```
C:\Users\%user%\Documents\Assetto Corsa\cfg\controllers\savedsetups
```
- **WASD Controls**
- The `WASD.ini` file allows you to control the car using WASD keys. Copy it to:
```
C:\Users\%user%\Documents\Assetto Corsa\cfg\controllers\savedsetups
```
- **Dlls and Lib Folders**
- These folders contain a Python version of the socket library, used by the plugin. They should be copied to:
```
C:\Program Files (x86)\Steam\steamapps\common\assettocorsa\system\x64
```
```python
from huggingface_hub import snapshot_download

5. **Custom Shaders Patch**
- This patch is needed to be able to restart the car. Install Content Manager from:
[Content Manager Download](https://acstuff.ru/app/)
- After installation, open Content Manager and navigate to:
- Settings > Custom Shaders Patch
- Click "install" to complete the setup.
snapshot_download(
repo_id="dasgringuen/assettoCorsaGym",
repo_type="dataset",
local_dir="AssettoCorsaGymDataSet",
allow_patterns="data_sets/*"
)
```

----

Expand All @@ -147,4 +151,4 @@ You are very welcome to contribute to this project. Feel free to open an issue o

## License

This project is licensed under the MIT License - see the `LICENSE` file for details. Note that the repository relies on third-party code, which is subject to their respective licenses.
This project is licensed under the MIT License - see the `LICENSE` file for details. Note that the repository relies on third-party code, which is subject to their respective licenses.
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