add a low-level random kick agent

example/low_level_random_kick_agent.py

+#!/usr/bin/env python3
+# encoding: utf-8
+
+from hfo import *
+import argparse
+import numpy as np
+import math as m
+import sys, os
+import itertools
+
+def rad_to_deg(rad):
+  return rad/m.pi*180
+def sign(x):
+  return (int(x>=0)-0.5)*2
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser()
+  parser.add_argument('--port', type=int, default=6000, help="Server port")
+  args=parser.parse_args()
+
+  hfo = HFOEnvironment()
+  hfo.connectToServer(LOW_LEVEL_FEATURE_SET,
+    '/bin/teams/base/config/formations-dt',
+    args.port,'localhost','base_left',False)
+
+  States, Actions, Statuses = [], [], []
+
+  for episode in itertools.count():
+    status=IN_GAME
+    while status==IN_GAME:
+      state = hfo.getState()
+
+      if int(state[12]) == 1: # Kickable = 1
+        goal_center_angle = rad_to_deg(m.acos(state[14])) * sign(m.asin(state[13]))
+        # turn to goal center
+        if abs(goal_center_angle) > 45:
+          hfo.act(1, goal_center_angle)
+        # kick
+        else:
+          power = np.random.uniform(0,100)
+          hfo.act(3, power, goal_center_angle)
+      else: # Kickable = -1
+        ball_angle = rad_to_deg(m.acos(state[52])) * sign(m.asin(state[51]))
+        # turn to ball
+        if abs(ball_angle) > 10:
+          hfo.act(1, ball_angle)
+        # go to ball
+        else:
+          power = np.random.uniform(0,100)
+          hfo.act(0, power, ball_angle)
+        
+      status = hfo.step()
+    #--------------- end of while loop ------------------------------------------------------
+
+    # Quit if the server goes down
+    if status == SERVER_DOWN:
+      hfo.act(QUIT)
+      break