def move_agent(self, action_name, game_interface: HFOAttackingPlayer,
features: BaseHighLevelState):
""" Agent Moves/Dribbles in a specific direction """
# Get Movement type:
action = DRIBBLE_TO
if "UP" in action_name:
action = (action, features.agent.x_pos, -0.9)
elif "DOWN" in action_name:
action = (action, features.agent.x_pos, 0.9)
elif "LEFT" in action_name:
action = (action, -0.8, features.agent.y_pos)
elif "RIGHT" in action_name:
action = (action, 0.8, features.agent.y_pos)
else:
raise ValueError("ACTION NAME is WRONG")
attempts = 0
while game_interface.in_game() and attempts < self.action_num_episodes:
status, observation = game_interface.step(action,
features.has_ball())
features.update_features(observation)
attempts += 1
return game_interface.get_game_status(), \
game_interface.get_observation_array()
def kick_to_pos(self, pos: tuple, features: BaseHighLevelState,
game_interface: HFOAttackingPlayer):
""" The agent kicks to position expected """
hfo_action = (KICK_TO, pos[0], pos[1], 2)
status, observation = game_interface.step(hfo_action,
features.has_ball())
# Update features:
features.update_features(observation)
def move_to_pos(self, pos: tuple, features: BaseHighLevelState,
game_interface: HFOAttackingPlayer):
""" The agent keeps moving until reach the position expected """
curr_pos = features.get_pos_tuple(round_ndigits=1)
while pos != curr_pos:
hfo_action = (MOVE_TO, pos[0], pos[1])
status, observation = game_interface.step(hfo_action,
features.has_ball())
# Update features:
features.update_features(observation)
curr_pos = features.get_pos_tuple(round_ndigits=1)
def shoot_ball(self, game_interface: HFOAttackingPlayer,
features: BaseHighLevelState):
""" Tries to shoot, if it fail, kicks to goal randomly """
# Get best shoot angle:
angles = []
goalie_coord = np.array([features.opponents[0].x_pos,
features.opponents[0].y_pos])
player_coord = np.array(features.get_pos_tuple())
for goal_pos in self.shoot_possible_coord:
angles.append(get_angle(goalie=goalie_coord, player=player_coord,
point=goal_pos))
idx = int(np.argmax(np.array(angles)))
best_shoot_coord = self.shoot_possible_coord[idx]
# Action parameters:
hfo_action = (KICK_TO, best_shoot_coord[0], best_shoot_coord[1], 2.5)
# Step game:
_, obs = game_interface.step(hfo_action, features.has_ball())
# Update features:
features.update_features(obs)
return game_interface.get_game_status(), \
game_interface.get_observation_array()
def dribble_to_pos(self, pos: tuple, features: BaseHighLevelState,
game_interface: HFOAttackingPlayer):
""" The agent keeps dribbling until reach the position expected """
def check_valid_pos(pos_tuple: tuple):
for pos_aux in pos_tuple:
try:
num_digits = len(str(pos_aux).split(".")[1])
if num_digits >= 2:
return False
except IndexError:
pass
return True
if check_valid_pos(pos) is False:
raise Exception("Initial positions invalid. Initial positions "
"should be a float with 1 digit or less")
curr_pos = features.get_pos_tuple(round_ndigits=1)
while pos != curr_pos:
hfo_action = (DRIBBLE_TO, pos[0], pos[1])
status, observation = game_interface.step(hfo_action,
features.has_ball())
# Update features:
features.update_features(observation)
curr_pos = features.get_pos_tuple(round_ndigits=1)
def no_ball_action(self, game_interface: HFOAttackingPlayer,
features: BaseHighLevelState) -> int:
action = (MOVE, )
status, observation = game_interface.step(action, features.has_ball())
features.update_features(observation)
return status
def do_nothing(self, game_interface: HFOAttackingPlayer,
features: BaseHighLevelState):
action = (NOOP, )
status, observation = game_interface.step(action, features.has_ball())
return status, observation
agent_coord = (agent_f.x_pos, agent_f.y_pos)
team_f = features_manager.teammates[0]
team_coord = (team_f.x_pos, team_f.y_pos)
# Goal angles:
agent_angle = (best_shoot_angle(agent_coord,
features_manager.opponents))
team_angle = (best_shoot_angle(team_coord,
features_manager.opponents))
# Distance to opponent:
agent_op_dist = agent_f.proximity_op
team_op_dist = team_f.proximity_op
# Pass angle
pass_angle = abs(team_f.pass_angle)
# Agent Has ball
if features_manager.has_ball():
# Last action Failed (DRIBBLE):
if last_action_failed or attempts_to_shoot >= 2:
attempts_to_shoot = 0
last_action_failed = False
hfo_action = DRIBBLE
# Opponents near agent && good angle pass (PASS):
elif agent_f.proximity_op < -0.9 and \
team_f.proximity_op > -0.7:
hfo_action = (PASS, teammate_id)
# Far from Goal:
elif agent_f.x_pos < 0.2:
# Teammate near Goal, good pass angle and far from op
if not teammate_further_from_goal(features_manager) and \