def initialise(self, initial_state):
self.our_defender = None
self.our_attacker = None
if initial_state['our_defender']:
self.our_defender = self.scene.add_robot(
"defender", initial_state['our_defender'])
if initial_state['our_attacker']:
self.our_attacker = self.scene.add_robot(
"attacker", initial_state['our_attacker'])
self.ball = self.scene.add_ball(initial_state['ball'])
self.p = DefencePlanner(comms=SimulatorComms(
self.our_defender, self.ball, self.wait_and_next_step))
self.p.set_task(initial_state['task'])
self.w = World('left', 0)
self.w.our_defender._receiving_area = {
'width': 40,
'height': 50,
'front_offset': 20
}
self.w.our_defender._catch_distance = 32
self.steps = 0
self.max_steps = initial_state['max_steps']
