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mujoco_server.py
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import sys
import struct
import socket
import threading
from pathlib import Path
import numpy as np
import mujoco
from viewer import MujocoViewer
class Server:
def __init__(self, host, port):
self.host = host
self.port = port
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.sock.bind((host, port))
self.sock.listen(5)
self.connections = []
self.server_running = False
self.render = True
self.teams = {
0: [],
1: [],
}
self.player_ids = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
z_pos = 1.2
self.positions = {
1: [29.0, 0.0, z_pos],
2: [22.0, 12.0, z_pos],
3: [22.0, 4.0, z_pos],
4: [22.0, -4.0, z_pos],
5: [22.0, -12.0, z_pos],
6: [15.0, 0.0, z_pos],
7: [4.0, 16.0, z_pos],
8: [11.0, 6.0, z_pos],
9: [11.0, -6.0, z_pos],
10: [4.0, -16.0, z_pos],
11: [7.0, 0.0, z_pos],
}
self.add_player_list = []
self.remove_player_list = []
self.mj_ctrl = None
self.nq = 0
self.nv = 0
def handle_client(self, conn, addr):
print(f"[NEW CONNECTION] {addr} connected.")
while True:
team_msg = conn.recv(1).decode("utf-8")
if team_msg:
print(f"[{addr}] Received team: {team_msg}")
conn.send("ACK".encode("utf-8"))
break
while True:
player_id_msg = conn.recv(2).decode("utf-8")
if player_id_msg:
print(f"[{addr}] Received player ID: {player_id_msg}")
conn.send("ACK".encode("utf-8"))
break
team = int(team_msg)
player_id = int(player_id_msg)
is_viable_team = team in self.teams
is_viable_player_id = player_id in self.player_ids
is_player_id_not_taken = player_id not in self.teams[team]
if not is_viable_team or not is_viable_player_id or not is_player_id_not_taken:
conn.send("Invalid team or player ID.".encode("utf-8"))
conn.close()
return
self.add_player_list.append((team, player_id))
while self.server_running:
try:
i = self.connections.index(conn)
shape_len = struct.unpack('>I', conn.recv(4))[0]
shape = struct.unpack('>' + 'I'*shape_len, conn.recv(4 * shape_len))
dtype = conn.recv(10).decode('utf-8').strip()
data = conn.recv(np.prod(shape) * np.dtype(dtype).itemsize)
action = np.frombuffer(data, dtype=dtype).reshape(shape)
self.mj_ctrl[i*self.nu:(i+1)*self.nu] = action
except Exception as e:
break
self.remove_player_list.append((team, player_id))
conn.close()
self.connections.remove(conn)
def run_simulation(self):
xml_path = (Path(__file__).resolve().parent / "data" / "robot.xml").as_posix()
robot_spec = mujoco.MjSpec()
robot_spec.from_file(xml_path)
robot_body = robot_spec.find_body("torso")
self.nq = 15
self.nv = 14
self.nu = 8
xml_path = (Path(__file__).resolve().parent / "data" / "pitch.xml").as_posix()
spec = mujoco.MjSpec()
spec.from_file(xml_path)
mj_model = spec.compile()
mj_data = mujoco.MjData(mj_model)
nr_substeps = 5
dt = mj_model.opt.timestep * nr_substeps
viewer = None if not self.render else MujocoViewer(mj_model, dt)
while self.server_running:
if self.add_player_list:
for team, player_id in self.add_player_list:
self.teams[team].append(player_id)
print(f"[TEAM {team}] Player {player_id} joined the game.")
frame = spec.worldbody.add_frame()
frame.attach_body(robot_body, "attached-", f"-{team}_{player_id}")
new_robot_body = spec.find_body(f"attached-torso-{team}_{player_id}")
new_robot_body.first_geom().rgba = [1, 0, 0, 1] if team == 0 else [0, 0, 1, 1]
len_old_qpos = len(mj_data.qpos)
len_old_qvel = len(mj_data.qvel)
mj_model, mj_data = spec.recompile(mj_model, mj_data)
x_sign = 1 if team == 0 else -1
init_qpos = np.zeros(self.nq)
init_qpos[:3] = self.positions[player_id] * np.array([x_sign, 1, 1])
init_qpos[3:7] = [1, 0, 0, 0]
init_qvel = np.zeros(self.nv)
mj_data.qpos[len_old_qpos:] = init_qpos
mj_data.qvel[len_old_qvel:] = init_qvel
self.mj_ctrl = np.zeros(mj_model.nu)
self.add_player_list.clear()
if self.remove_player_list:
for team, player_id in self.remove_player_list:
self.teams[team].remove(player_id)
print(f"[TEAM {team}] Player {player_id} left the game.")
new_robot_body = spec.find_body(f"attached-torso-{team}_{player_id}")
if new_robot_body:
spec.detach_body(new_robot_body)
mj_model, mj_data = spec.recompile(mj_model, mj_data)
self.mj_ctrl = np.zeros(mj_model.nu)
self.remove_player_list.clear()
for i, conn in enumerate(self.connections):
qpos = mj_data.qpos[i*self.nq:(i+1)*self.nq]
qvel = mj_data.qvel[i*self.nv:(i+1)*self.nv]
qpos_qvel = np.concatenate([qpos, qvel])
array_to_send = qpos_qvel.tobytes()
shape = qpos_qvel.shape
dtype = qpos_qvel.dtype.name
conn.sendall(struct.pack('>I', len(shape)) + struct.pack('>' + 'I'*len(shape), *shape))
conn.sendall(dtype.ljust(10).encode('utf-8'))
conn.sendall(array_to_send)
mj_data.ctrl = self.mj_ctrl
mujoco.mj_step(mj_model, mj_data, nr_substeps)
if viewer:
viewer.model = mj_model
viewer.render(mj_data)
if viewer:
viewer.close()
viewer.stop()
def run(self):
try:
print("[STARTING] Server is starting...")
self.server_running = True
sim_thread = threading.Thread(target=self.run_simulation)
sim_thread.start()
while self.server_running:
conn, addr = self.sock.accept()
self.connections.append(conn)
thread = threading.Thread(target=self.handle_client, args=(conn, addr))
thread.start()
except:
print("[SHUTDOWN] Server is shutting down...")
self.server_running = False
for conn in self.connections:
conn.shutdown(socket.SHUT_RDWR)
conn.close()
self.sock.shutdown(socket.SHUT_RDWR)
self.sock.close()
if __name__ == "__main__":
host = sys.argv[1]
port = int(sys.argv[2])
server = Server(host, port)
server.run()