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Shashank Suhas
Seminar-HFO
Commits
2e10799f
Commit
2e10799f
authored
Jul 17, 2017
by
drallensmith
Browse files
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Instrument hand_coded_defense_agent.py
parent
ba8342fc
Changes
1
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1 changed file
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45 additions
and
2 deletions
+45
-2
example/hand_coded_defense_agent.py
example/hand_coded_defense_agent.py
+45
-2
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example/hand_coded_defense_agent.py
View file @
2e10799f
...
@@ -83,6 +83,12 @@ def get_sorted_opponents(state_vec, num_opponents, num_teammates, pos_x, pos_y):
...
@@ -83,6 +83,12 @@ def get_sorted_opponents(state_vec, num_opponents, num_teammates, pos_x, pos_y):
def
is_in_open_area
(
pos_x
,
ignored_pos_y
):
def
is_in_open_area
(
pos_x
,
ignored_pos_y
):
return
pos_x
>=
params
[
'OPEN_AREA_HIGH_LIMIT_X'
]
return
pos_x
>=
params
[
'OPEN_AREA_HIGH_LIMIT_X'
]
num_times_intercept
=
0
num_times_move
=
0
num_times_RATG
=
0
num_times_GTB
=
0
num_times_MP
=
0
def
do_defense_action
(
state_vec
,
hfo_env
,
episode
,
def
do_defense_action
(
state_vec
,
hfo_env
,
episode
,
num_opponents
,
num_teammates
,
num_opponents
,
num_teammates
,
old_ball_pos_x
,
old_ball_pos_y
):
old_ball_pos_x
,
old_ball_pos_y
):
...
@@ -101,6 +107,8 @@ def do_defense_action(state_vec, hfo_env, episode,
...
@@ -101,6 +107,8 @@ def do_defense_action(state_vec, hfo_env, episode,
hfo_env
.
act
(
hfo
.
MOVE
)
# will be Reorient in that version
hfo_env
.
act
(
hfo
.
MOVE
)
# will be Reorient in that version
return
return
global
num_times_intercept
,
num_times_move
,
num_times_RATG
,
num_times_GTB
,
num_times_MP
ball_toward_goal
=
ball_moving_toward_goal
(
ball_pos_x
,
ball_pos_y
,
ball_toward_goal
=
ball_moving_toward_goal
(
ball_pos_x
,
ball_pos_y
,
old_ball_pos_x
,
old_ball_pos_y
)
old_ball_pos_x
,
old_ball_pos_y
)
...
@@ -118,10 +126,13 @@ def do_defense_action(state_vec, hfo_env, episode,
...
@@ -118,10 +126,13 @@ def do_defense_action(state_vec, hfo_env, episode,
old_ball_pos_y
))
old_ball_pos_y
))
if
ball_toward_goal
and
(
not
is_in_open_area
(
ball_pos_x
,
ball_pos_y
)):
if
ball_toward_goal
and
(
not
is_in_open_area
(
ball_pos_x
,
ball_pos_y
)):
if
ball_nearer_goal
:
if
ball_nearer_goal
:
num_times_RATG
+=
1
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
else
:
else
:
num_times_intercept
+=
1
hfo_env
.
act
(
hfo
.
INTERCEPT
)
hfo_env
.
act
(
hfo
.
INTERCEPT
)
else
:
else
:
num_times_move
+=
1
hfo_env
.
act
(
hfo
.
MOVE
)
hfo_env
.
act
(
hfo
.
MOVE
)
return
return
...
@@ -141,12 +152,16 @@ def do_defense_action(state_vec, hfo_env, episode,
...
@@ -141,12 +152,16 @@ def do_defense_action(state_vec, hfo_env, episode,
if
state_vec
[
5
]
>
0
:
# kickable distance of player
if
state_vec
[
5
]
>
0
:
# kickable distance of player
if
is_tackleable_opp
:
if
is_tackleable_opp
:
num_times_move
+=
1
hfo_env
.
act
(
hfo
.
MOVE
)
# will do tackle
hfo_env
.
act
(
hfo
.
MOVE
)
# will do tackle
elif
ball_nearer_goal
:
elif
ball_nearer_goal
:
num_times_RATG
+=
1
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
elif
ball_toward_goal
:
elif
ball_toward_goal
:
num_times_intercept
+=
1
hfo_env
.
act
(
hfo
.
INTERCEPT
)
hfo_env
.
act
(
hfo
.
INTERCEPT
)
else
:
else
:
num_times_GTB
+=
1
hfo_env
.
act
(
hfo
.
GO_TO_BALL
)
hfo_env
.
act
(
hfo
.
GO_TO_BALL
)
return
return
...
@@ -158,64 +173,86 @@ def do_defense_action(state_vec, hfo_env, episode,
...
@@ -158,64 +173,86 @@ def do_defense_action(state_vec, hfo_env, episode,
ball_sorted_list
[
0
][
3
])
and
is_in_open_area
(
goal_sorted_list
[
0
][
2
],
ball_sorted_list
[
0
][
3
])
and
is_in_open_area
(
goal_sorted_list
[
0
][
2
],
goal_sorted_list
[
0
][
3
]):
goal_sorted_list
[
0
][
3
]):
if
ball_sorted_list
[
0
][
1
]
<
params
[
'LOW_KICK_DIST'
]:
if
ball_sorted_list
[
0
][
1
]
<
params
[
'LOW_KICK_DIST'
]:
num_times_MP
+=
1
hfo_env
.
act
(
hfo
.
MARK_PLAYER
,
goal_sorted_list
[
0
][
0
])
hfo_env
.
act
(
hfo
.
MARK_PLAYER
,
goal_sorted_list
[
0
][
0
])
elif
agent_to_ball_dist
<
ball_sorted_list
[
0
][
1
]:
elif
agent_to_ball_dist
<
ball_sorted_list
[
0
][
1
]:
if
ball_nearer_goal
:
if
ball_nearer_goal
:
num_times_RATG
+=
1
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
elif
ball_toward_goal
:
elif
ball_toward_goal
:
num_times_intercept
+=
1
hfo_env
.
act
(
hfo
.
INTERCEPT
)
hfo_env
.
act
(
hfo
.
INTERCEPT
)
else
:
else
:
num_times_GTB
+=
1
hfo_env
.
act
(
hfo
.
GO_TO_BALL
)
hfo_env
.
act
(
hfo
.
GO_TO_BALL
)
else
:
else
:
num_times_RATG
+=
1
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
elif
ball_sorted_list
[
0
][
1
]
>=
params
[
'KICK_DIST'
]:
elif
ball_sorted_list
[
0
][
1
]
>=
params
[
'KICK_DIST'
]:
if
agent_to_ball_dist
<
ball_sorted_list
[
0
][
1
]:
if
agent_to_ball_dist
<
ball_sorted_list
[
0
][
1
]:
if
ball_nearer_goal
:
if
ball_nearer_goal
:
num_times_RATG
+=
1
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
elif
ball_toward_goal
:
elif
ball_toward_goal
:
num_times_intercept
+=
1
hfo_env
.
act
(
hfo
.
INTERCEPT
)
hfo_env
.
act
(
hfo
.
INTERCEPT
)
else
:
else
:
num_times_GTB
+=
1
hfo_env
.
act
(
hfo
.
GO_TO_BALL
)
hfo_env
.
act
(
hfo
.
GO_TO_BALL
)
else
:
else
:
num_times_RATG
+=
1
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
elif
is_tackleable_opp
and
(
not
is_in_open_area
(
ball_sorted_list
[
0
][
2
],
elif
is_tackleable_opp
and
(
not
is_in_open_area
(
ball_sorted_list
[
0
][
2
],
ball_sorted_list
[
0
][
3
])):
ball_sorted_list
[
0
][
3
])):
num_times_move
+=
1
hfo_env
.
act
(
hfo
.
MOVE
)
hfo_env
.
act
(
hfo
.
MOVE
)
## elif is_in_open_area(ball_sorted_list[0][2],ball_sorted_list[0][3]):
## hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL) # why not MARK_PLAYER for the one that is not in the open area?
elif
ball_sorted_list
[
0
][
1
]
<
(
1
*
params
[
'LOW_KICK_DIST'
]):
elif
ball_sorted_list
[
0
][
1
]
<
(
1
*
params
[
'LOW_KICK_DIST'
]):
num_times_MP
+=
1
hfo_env
.
act
(
hfo
.
MARK_PLAYER
,
goal_sorted_list
[
0
][
0
])
hfo_env
.
act
(
hfo
.
MARK_PLAYER
,
goal_sorted_list
[
0
][
0
])
else
:
else
:
num_times_RATG
+=
1
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
return
return
if
is_in_open_area
(
ball_sorted_list
[
0
][
2
],
ball_sorted_list
[
0
][
3
]):
if
is_in_open_area
(
ball_sorted_list
[
0
][
2
],
ball_sorted_list
[
0
][
3
]):
if
ball_sorted_list
[
0
][
1
]
<
params
[
'KICK_DIST'
]:
if
ball_sorted_list
[
0
][
1
]
<
params
[
'KICK_DIST'
]:
num_times_RATG
+=
1
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
elif
agent_to_ball_dist
<
params
[
'KICK_DIST'
]:
elif
agent_to_ball_dist
<
params
[
'KICK_DIST'
]:
if
ball_nearer_goal
:
if
ball_nearer_goal
:
num_times_RATG
+=
1
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
elif
ball_toward_goal
:
elif
ball_toward_goal
:
num_times_intercept
+=
1
hfo_env
.
act
(
hfo
.
INTERCEPT
)
hfo_env
.
act
(
hfo
.
INTERCEPT
)
else
:
else
:
num_times_GTB
+=
1
hfo_env
.
act
(
hfo
.
GO_TO_BALL
)
hfo_env
.
act
(
hfo
.
GO_TO_BALL
)
elif
is_tackleable_opp
:
elif
is_tackleable_opp
:
num_times_move
+=
1
hfo_env
.
act
(
hfo
.
MOVE
)
hfo_env
.
act
(
hfo
.
MOVE
)
else
:
else
:
num_times_RATG
+=
1
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
else
:
else
:
if
ball_sorted_list
[
0
][
1
]
>=
max
(
params
[
'KICK_DIST'
],
agent_to_ball_dist
):
if
ball_sorted_list
[
0
][
1
]
>=
max
(
params
[
'KICK_DIST'
],
agent_to_ball_dist
):
if
ball_nearer_goal
:
if
ball_nearer_goal
:
num_times_RATG
+=
1
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
elif
ball_toward_goal
:
elif
ball_toward_goal
:
num_times_intercept
+=
1
hfo_env
.
act
(
hfo
.
INTERCEPT
)
hfo_env
.
act
(
hfo
.
INTERCEPT
)
else
:
else
:
num_times_GTB
+=
1
hfo_env
.
act
(
hfo
.
GO_TO_BALL
)
hfo_env
.
act
(
hfo
.
GO_TO_BALL
)
elif
ball_sorted_list
[
0
][
1
]
>=
params
[
'KICK_DIST'
]:
elif
ball_sorted_list
[
0
][
1
]
>=
params
[
'KICK_DIST'
]:
num_times_RATG
+=
1
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
elif
is_tackleable_opp
:
elif
is_tackleable_opp
:
num_times_move
+=
1
hfo_env
.
act
(
hfo
.
MOVE
)
hfo_env
.
act
(
hfo
.
MOVE
)
else
:
else
:
num_times_RATG
+=
1
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
hfo_env
.
act
(
hfo
.
REDUCE_ANGLE_TO_GOAL
)
return
return
...
@@ -267,6 +304,7 @@ def main():
...
@@ -267,6 +304,7 @@ def main():
my_unum
=
hfo_env
.
getUnum
()
my_unum
=
hfo_env
.
getUnum
()
assert
((
my_unum
>
1
)
and
(
my_unum
<=
11
)),
"Bad unum {!r}"
.
format
(
my_unum
)
assert
((
my_unum
>
1
)
and
(
my_unum
<=
11
)),
"Bad unum {!r}"
.
format
(
my_unum
)
print
(
"My unum is {0:d}"
.
format
(
my_unum
))
print
(
"My unum is {0:d}"
.
format
(
my_unum
))
global
num_times_intercept
,
num_times_move
,
num_times_RATG
,
num_times_GTB
,
num_times_MP
for
episode
in
itertools
.
count
():
for
episode
in
itertools
.
count
():
old_ball_pos_x
=
-
1
old_ball_pos_x
=
-
1
old_ball_pos_y
=
0
old_ball_pos_y
=
0
...
@@ -293,6 +331,11 @@ def main():
...
@@ -293,6 +331,11 @@ def main():
# Quit if the server goes down
# Quit if the server goes down
if
status
==
hfo
.
SERVER_DOWN
:
if
status
==
hfo
.
SERVER_DOWN
:
print
(
"Intercept: {0:d}; Move: {1:d}"
.
format
(
num_times_intercept
,
num_times_move
))
print
(
"RATG: {0:d}; GTB: {1:d}; MP: {2:d}"
.
format
(
num_times_RATG
,
num_times_GTB
,
num_times_MP
))
hfo_env
.
act
(
hfo
.
QUIT
)
hfo_env
.
act
(
hfo
.
QUIT
)
exit
()
exit
()
...
...
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