Commit e74344b7 authored by drallensmith's avatar drallensmith

Updated hand*py with further on REORIENT

parent 3191ab74
...@@ -104,7 +104,7 @@ def do_defense_action(state_vec, hfo_env, ...@@ -104,7 +104,7 @@ def do_defense_action(state_vec, hfo_env,
# if get high_level working for invalid # if get high_level working for invalid
if (min(agent_pos_x,agent_pos_y,ball_pos_x,ball_pos_y) < -1): if (min(agent_pos_x,agent_pos_y,ball_pos_x,ball_pos_y) < -1):
hfo_env.act(hfo.REORIENT) hfo_env.act(add_num_times(hfo.REORIENT,num_times_overall))
return return
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,
...@@ -118,11 +118,16 @@ def do_defense_action(state_vec, hfo_env, ...@@ -118,11 +118,16 @@ def do_defense_action(state_vec, hfo_env,
if not ball_sorted_list: # unknown opponent positions/unums if not ball_sorted_list: # unknown opponent positions/unums
print("No known opponent locations (btg {0!r}; bng {1!r}; ".format(ball_toward_goal, print("No known opponent locations (btg {0!r}; bng {1!r}; ".format(ball_toward_goal,
ball_nearer_goal) + ball_nearer_goal) +
"ball xy {0:n}, {1:n}; ball old xy {2:n}, {3:n})".format(ball_pos_x, "ball xy {0:n}, {1:n}; ball old xy {2:n}, {3:n}; kickable {4:n})".format(ball_pos_x,
ball_pos_y, ball_pos_y,
old_ball_pos_x, old_ball_pos_x,
old_ball_pos_y)) old_ball_pos_y,
if ball_toward_goal: state_vec[5]))
if ((min(agent_pos_x,agent_pos_y,ball_pos_x,ball_pos_y) <= -1) or
(max(agent_pos_x,agent_pos_y,ball_pos_x,ball_pos_y) >= 1)):
# remove if get high-level working for invalid
hfo_env.act(add_num_times(hfo.REORIENT,num_times_overall))
elif ball_toward_goal:
if ball_nearer_goal: if ball_nearer_goal:
hfo_env.act(add_num_times(hfo.REDUCE_ANGLE_TO_GOAL,num_times_overall)) hfo_env.act(add_num_times(hfo.REDUCE_ANGLE_TO_GOAL,num_times_overall))
else: else:
......
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