def init(self, info):
self.field = info['field']
self.max_linear_velocity = info['max_linear_velocity']
self.goal = info['goal']
self.number_of_robots = info['number_of_robots']
self.end_of_frame = False
self._frame = 0
self.wheels = [0 for _ in range(25)]
self.cur_posture = []
self.prev_posture = []
self.cur_posture_opp = []
self.cur_ball = []
self.prev_ball = []
self.set_default_formation()
self.previous_frame = Frame()
self.frame_skip = 2 # number of frames to skip
self.obs_size = 3 # state size
self.act_size = 7 # number of discrete actions
# for RL
self.action = 0
self.previous_action = 0
self.num_inputs = self.obs_size
# RL algorithm class
self.load = True
self.play = True
self.trainer = DQN(self.number_of_robots, self.obs_size, self.act_size, self.load, self.play)
helper.printConsole("Initializing variables...")
def init(self, info):
self.field = info['field']
self.max_linear_velocity = info['max_linear_velocity']
self.robot_size = info['robot_size'][0]
self.goal = info['goal']
self.penalty_area = info['penalty_area']
self.goal_area = info['goal_area']
self.number_of_robots = info['number_of_robots']
self.end_of_frame = False
self._frame = 0
self.speeds = [0 for _ in range(20)]
self.cur_posture = []
self.cur_posture_opp = []
self.cur_ball = []
self.previous_ball = []
self.predicted_ball = []
self.previous_frame = Frame()
self.gk_index = 0
self.d1_index = 1
self.d2_index = 2
self.f1_index = 3
self.f2_index = 4
self.GK = Goalkeeper(self.field, self.goal, self.penalty_area,
self.goal_area, self.robot_size,
self.max_linear_velocity[self.gk_index])
self.D1 = Defender_1(self.field, self.goal, self.penalty_area,
self.goal_area, self.robot_size,
self.max_linear_velocity[self.d1_index])
self.D2 = Defender_2(self.field, self.goal, self.penalty_area,
self.goal_area, self.robot_size,
self.max_linear_velocity[self.d2_index])
self.F1 = Forward_1(self.field, self.goal, self.penalty_area,
self.goal_area, self.robot_size,
self.max_linear_velocity[self.f1_index])
self.F2 = Forward_2(self.field, self.goal, self.penalty_area,
self.goal_area, self.robot_size,
self.max_linear_velocity[self.f2_index])
self.game_state = 0
# X , Y , TH
self.default_formation = [
-3.80,
0.00,
1.57, # GK
-2.25,
1.00,
0.00, # D1
-2.25,
-1.00,
0.00, # D2
-0.65,
0.30,
0.00, # F1
-0.65,
-0.30,
0.00
] # F2
self.set_default_formation(self.default_formation)
def init(self, info):
self.field = info['field']
self.max_linear_velocity = info['max_linear_velocity']
self.robot_size = info['robot_size'][0]
self.goal = info['goal']
self.penalty_area = info['penalty_area']
self.goal_area = info['goal_area']
self.number_of_robots = info['number_of_robots']
self.end_of_frame = False
self._frame = 0
self.speeds = [0 for _ in range(30)]
self.cur_posture = []
self.cur_posture_opp = []
self.cur_ball = []
self.previous_ball = []
self.previous_posture = []
self.previous_posture_opp = []
self.predicted_ball = []
self.idx = 0
self.idx_opp = 0
self.previous_frame = Frame()
self.defense_angle = 0
self.attack_angle = 0
self.team = TeamK(self.field, self.goal, self.penalty_area,
self.goal_area, self.robot_size,
self.max_linear_velocity)
helper.printConsole("Initializing variables...")
def init(self, info):
self.field = info['field']
self.max_linear_velocity = info['max_linear_velocity']
self.robot_size = info['robot_size'][0]
self.goal = info['goal']
self.penalty_area = info['penalty_area']
self.goal_area = info['goal_area']
self.number_of_robots = info['number_of_robots']
self.end_of_frame = False
self._frame = 0
self.speeds = [0 for _ in range(30)]
self.cur_posture = []
self.cur_posture_opp = []
self.cur_ball = []
self.previous_ball = []
self.predicted_ball = []
self.idx = 0
self.idx_opp = 0
self.previous_frame = Frame()
self.defense_angle = 0
self.attack_angle = 0
self.gk_index = 0
self.d1_index = 1
self.d2_index = 2
self.f1_index = 3
self.f2_index = 4
self.GK = Goalkeeper(self.field, self.goal, self.penalty_area,
self.goal_area, self.robot_size,
self.max_linear_velocity)
self.D1 = Defender_1(self.field, self.goal, self.penalty_area,
self.goal_area, self.robot_size,
self.max_linear_velocity)
self.D2 = Defender_2(self.field, self.goal, self.penalty_area,
self.goal_area, self.robot_size,
self.max_linear_velocity)
self.F1 = Forward_1(self.field, self.goal, self.penalty_area,
self.goal_area, self.robot_size,
self.max_linear_velocity)
self.F2 = Forward_2(self.field, self.goal, self.penalty_area,
self.goal_area, self.robot_size,
self.max_linear_velocity)
helper.printConsole("Initializing variables...")
def init(self, info):
self.field = info['field']
self.max_linear_velocity = info['max_linear_velocity']
self.goal = info['goal']
self.number_of_robots = info['number_of_robots']
self.end_of_frame = False
self._frame = 0
self.speeds = [0 for _ in range(20)]
self.cur_posture = []
self.prev_posture = []
self.cur_posture_opp = []
self.cur_ball = []
self.prev_ball = []
self.set_default_formation()
self.previous_frame = Frame()
self.frame_skip = 2 # number of frames to skip
self.obs_size = 3 # state size
self.act_size = 7 # number of discrete actions
# for RL
self.number_of_agents = 1 # in this example, just F2 is trained
self.action = 0
self.previous_action = 0
self.state = []
self.previous_state = []
self.reward = 0
self.previous_reward = 0
# RL algorithm class
self.trainer = DQN(self.number_of_agents, self.obs_size, self.act_size)
# log rewards
self.total_reward = 0
self.rew = np.zeros(4)
# for logging rewards
self.t = 0
self.episode = 1
self.plot_reward = Logger()
self.save_png_interval = 10
helper.printConsole("Initializing variables...")