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Seminar-HFO
Commit 3885fc98 authored by drallensmith's avatar drallensmith
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v3 of hand_coded_defense_agent.py

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example/hand_coded_defense_agent.py
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...@@ -27,8 +27,8 @@ GOAL_POS_Y = 0.0 ...@@ -27,8 +27,8 @@ GOAL_POS_Y = 0.0
# below - from hand_coded_defense_agent.cpp except LOW_KICK_DIST # below - from hand_coded_defense_agent.cpp except LOW_KICK_DIST
HALF_FIELD_WIDTH = 68 # y coordinate -34 to 34 (-34 = bottom 34 = top) HALF_FIELD_WIDTH = 68 # y coordinate -34 to 34 (-34 = bottom 34 = top)
HALF_FIELD_LENGTH = 52.5 # x coordinate 0 to 52.5 (0 = goalline 52.5 = center) HALF_FIELD_LENGTH = 52.5 # x coordinate 0 to 52.5 (0 = goalline 52.5 = center)
params = {'KICK_DIST':1.504052352, 'OPEN_AREA_HIGH_LIMIT_X':0.747311440447, params = {'KICK_DIST':(1.504052352*1), 'OPEN_AREA_HIGH_LIMIT_X':0.747311440447,
'TACKLE_DIST':1.613456553, 'LOW_KICK_DIST':(5/HALF_FIELD_LENGTH)} 'TACKLE_DIST':(1.613456553*1), 'LOW_KICK_DIST':((5*5)/HALF_FIELD_LENGTH)}
def get_dist_normalized(ref_x, ref_y, src_x, src_y): def get_dist_normalized(ref_x, ref_y, src_x, src_y):
...@@ -54,6 +54,14 @@ def ball_moving_toward_goal(ball_pos_x, ball_pos_y, old_ball_pos_x, old_ball_pos ...@@ -54,6 +54,14 @@ def ball_moving_toward_goal(ball_pos_x, ball_pos_y, old_ball_pos_x, old_ball_pos
GOAL_POS_X, GOAL_POS_X,
GOAL_POS_Y))) GOAL_POS_Y)))
def ball_nearer_to_goal(ball_pos_x, ball_pos_y, agent_pos_x, agent_pos_y):
return get_dist_normalized(ball_pos_x, ball_pos_y,
GOAL_POS_X, GOAL_POS_Y) < min(params['KICK_DIST'],
get_dist_normalized(agent_pos_x,
agent_pos_y,
GOAL_POS_X,
GOAL_POS_Y))
def get_sorted_opponents(state_vec, num_opponents, num_teammates, pos_x, pos_y): def get_sorted_opponents(state_vec, num_opponents, num_teammates, pos_x, pos_y):
""" """
Returns a list of tuple(unum, dist, opp_pos_x, opp_pos_y), Returns a list of tuple(unum, dist, opp_pos_x, opp_pos_y),
...@@ -96,6 +104,9 @@ def do_defense_action(state_vec, hfo_env, episode, ...@@ -96,6 +104,9 @@ def do_defense_action(state_vec, hfo_env, episode,
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)
ball_nearer_goal = ball_nearer_to_goal(ball_pos_x, ball_pos_y,
agent_pos_x, agent_pos_y)
ball_sorted_list = get_sorted_opponents(state_vec, num_opponents, num_teammates, ball_sorted_list = get_sorted_opponents(state_vec, num_opponents, num_teammates,
pos_x=ball_pos_x, pos_y=ball_pos_y) pos_x=ball_pos_x, pos_y=ball_pos_y)
if not ball_sorted_list: # unknown opponent positions/unums if not ball_sorted_list: # unknown opponent positions/unums
...@@ -106,7 +117,10 @@ def do_defense_action(state_vec, hfo_env, episode, ...@@ -106,7 +117,10 @@ def do_defense_action(state_vec, hfo_env, episode,
old_ball_pos_x, old_ball_pos_x,
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)):
hfo_env.act(hfo.INTERCEPT) if ball_nearer_goal:
hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
else:
hfo_env.act(hfo.INTERCEPT)
else: else:
hfo_env.act(hfo.MOVE) hfo_env.act(hfo.MOVE)
return return
...@@ -126,91 +140,83 @@ def do_defense_action(state_vec, hfo_env, episode, ...@@ -126,91 +140,83 @@ def do_defense_action(state_vec, hfo_env, episode,
ball_sorted_list[0][2], ball_sorted_list[0][3]) ball_sorted_list[0][2], ball_sorted_list[0][3])
if state_vec[5] > 0: # kickable distance of player if state_vec[5] > 0: # kickable distance of player
if ball_sorted_list[0][1] < params['LOW_KICK_DIST']: if is_tackleable_opp:
hfo_env.act(hfo.MOVE) # will do tackle hfo_env.act(hfo.MOVE) # will do tackle
elif ball_nearer_goal:
hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
elif ball_toward_goal: elif ball_toward_goal:
hfo_env.act(hfo.INTERCEPT) hfo_env.act(hfo.INTERCEPT)
elif is_tackleable_opp:
if ball_sorted_list[0][1] < get_dist_normalized(agent_pos_x, agent_pos_y,
ball_pos_x, ball_pos_y):
hfo_env.act(hfo.MOVE) # will do tackle
else:
hfo_env.act(hfo.INTERCEPT)
else: else:
hfo_env.act(hfo.GO_TO_BALL) hfo_env.act(hfo.GO_TO_BALL)
return return
if get_dist_normalized(ball_sorted_list[0][2],ball_sorted_list[0][3], agent_to_ball_dist = get_dist_normalized(agent_pos_x, agent_pos_y,
GOAL_POS_X,GOAL_POS_Y) < get_dist_normalized(agent_pos_x,agent_pos_y, ball_pos_x, ball_pos_y)
GOAL_POS_X,GOAL_POS_Y):
if max(ball_sorted_list[0][1],get_dist_normalized(ball_sorted_list[0][2],
ball_sorted_list[0][3],
GOAL_POS_X,
GOAL_POS_Y)) < params['KICK_DIST']:
if is_tackleable_opp:
hfo_env.act(hfo.MOVE)
else:
hfo_env.act(hfo.DEFEND_GOAL)
elif is_tackleable_opp and get_dist_normalized(ball_sorted_list[0][2],
ball_sorted_list[0][3],
GOAL_POS_X,
GOAL_POS_Y) < params['KICK_DIST']:
hfo_env.act(hfo.MOVE)
elif ball_toward_goal and (not is_in_open_area(ball_pos_x,ball_pos_y)):
hfo_env.act(hfo.INTERCEPT)
else:
hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
return
if ball_sorted_list[0][1] < params['KICK_DIST']: if goal_sorted_list[0][0] != ball_sorted_list[0][0]:
if goal_sorted_list[0][0] != ball_sorted_list[0][0]: # top in each are opponents to worry about if is_in_open_area(ball_sorted_list[0][2],
if is_in_open_area(ball_sorted_list[0][2],ball_sorted_list[0][3]) and (goal_sorted_list[0][1] ball_sorted_list[0][3]) and is_in_open_area(goal_sorted_list[0][2],
< params['KICK_DIST']): goal_sorted_list[0][3]):
if ball_sorted_list[0][1] < params['LOW_KICK_DIST']:
hfo_env.act(hfo.MARK_PLAYER, goal_sorted_list[0][0]) hfo_env.act(hfo.MARK_PLAYER, goal_sorted_list[0][0])
elif get_dist_normalized(agent_pos_x, agent_pos_y, elif agent_to_ball_dist < ball_sorted_list[0][1]:
ball_pos_x, ball_pos_y) < ball_sorted_list[0][1]: if ball_nearer_goal:
if ball_toward_goal: hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
elif ball_toward_goal:
hfo_env.act(hfo.INTERCEPT) hfo_env.act(hfo.INTERCEPT)
elif is_in_open_area(ball_pos_x, ball_pos_y) or (is_tackleable_opp and
(ball_sorted_list[0][1] <
params['LOW_KICK_DIST'])):
hfo_env.act(hfo.MOVE) # will do tackle or appropriate
else: else:
hfo_env.act(hfo.GO_TO_BALL) hfo_env.act(hfo.GO_TO_BALL)
elif is_tackleable_opp and (ball_sorted_list[0][1] < params['LOW_KICK_DIST']):
hfo_env.act(hfo.MOVE) # will do tackle
else: else:
hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL) hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
elif is_tackleable_opp and (ball_sorted_list[0][1] < params['LOW_KICK_DIST']): elif ball_sorted_list[0][1] >= params['KICK_DIST']:
hfo_env.act(hfo.MOVE) # will do tackle if agent_to_ball_dist < ball_sorted_list[0][1]:
if ball_nearer_goal:
hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
elif ball_toward_goal:
hfo_env.act(hfo.INTERCEPT)
else:
hfo_env.act(hfo.GO_TO_BALL)
else:
hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
elif is_tackleable_opp and (not is_in_open_area(ball_sorted_list[0][2],
ball_sorted_list[0][3])):
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']):
hfo_env.act(hfo.MARK_PLAYER, goal_sorted_list[0][0])
else: else:
hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL) hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
return return
if (not is_in_open_area(ball_pos_x, ball_pos_y)) and ball_toward_goal: if is_in_open_area(ball_sorted_list[0][2],ball_sorted_list[0][3]):
hfo_env.act(hfo.INTERCEPT) if ball_sorted_list[0][1] < params['KICK_DIST']:
return hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
elif agent_to_ball_dist < params['KICK_DIST']:
if get_dist_normalized(agent_pos_x, agent_pos_y, ball_pos_x, ball_pos_y) < ball_sorted_list[0][1]: if ball_nearer_goal:
if ball_toward_goal: hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
hfo_env.act(hfo.INTERCEPT) elif ball_toward_goal:
elif is_in_open_area(ball_pos_x, ball_pos_y): hfo_env.act(hfo.INTERCEPT)
else:
hfo_env.act(hfo.GO_TO_BALL)
elif is_tackleable_opp:
hfo_env.act(hfo.MOVE) hfo_env.act(hfo.MOVE)
else: else:
hfo_env.act(hfo.GO_TO_BALL) hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
return
if is_in_open_area(goal_sorted_list[0][2], goal_sorted_list[0][3]):
hfo_env.act(hfo.MOVE)
elif goal_sorted_list[0][1] < min(params['KICK_DIST'],
get_dist_normalized(agent_pos_x,
agent_pos_y,
GOAL_POS_X,
GOAL_POS_Y)):
hfo_env.act(hfo.DEFEND_GOAL)
else: else:
hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL) if ball_sorted_list[0][1] >= max(params['KICK_DIST'],agent_to_ball_dist):
if ball_nearer_goal:
hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
elif ball_toward_goal:
hfo_env.act(hfo.INTERCEPT)
else:
hfo_env.act(hfo.GO_TO_BALL)
elif ball_sorted_list[0][1] >= params['KICK_DIST']:
hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
elif is_tackleable_opp:
hfo_env.act(hfo.MOVE)
else:
hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
return return
def do_random_defense_action(state, hfo_env): def do_random_defense_action(state, hfo_env):
...@@ -220,7 +226,7 @@ def do_random_defense_action(state, hfo_env): ...@@ -220,7 +226,7 @@ def do_random_defense_action(state, hfo_env):
else: else:
hfo_env.act(hfo.MOVE) hfo_env.act(hfo.MOVE)
else: else:
hfo_env.act(random.choose(hfo.MOVE,hfo.MOVE, hfo_env.act(random.choose(hfo.MOVE,hfo.DEFEND_GOAL,
hfo.REDUCE_ANGLE_TO_GOAL,hfo.REDUCE_ANGLE_TO_GOAL, hfo.REDUCE_ANGLE_TO_GOAL,hfo.REDUCE_ANGLE_TO_GOAL,
hfo.GO_TO_BALL,hfo.INTERCEPT)) hfo.GO_TO_BALL,hfo.INTERCEPT))
return return
......
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