def global_step(self):
self.frame += 1
if not self.multiplayer:
# Trainer
self.p1x.set_servo_target(self.trainer_x, 1.0, 0.02, 0.02, 4)
self.p1y.set_servo_target(self.trainer_y, 1.0, 0.02, 0.02, 4)
Scene.global_step(self)
self.ball_x, ball_vx = self.ballx.current_position()
self.ball_y, ball_vy = self.bally.current_position()
if np.abs(self.ball_y) > 1.0 and self.ball_y * ball_vy > 0:
self.bally.reset_current_position(self.ball_y, -ball_vy)
if ball_vx * self.timeout_dir < 0:
if self.timeout_dir < 0:
self.score_left += 0.01 * np.abs(
ball_vx) # hint for early learning: hit the ball!
else:
self.score_right += 0.01 * np.abs(ball_vx)
self.timeout_dir *= -1
self.timeout = 150
self.bounce_n += 1
else:
self.timeout -= 1
if np.abs(self.ball_x) > 1.65 or self.timeout == 0:
if self.timeout == 0:
self.restart_from_center(
self.players_count == 1
or ball_vx < 0) # send ball in same dir on timeout
elif ball_vx > 0:
if self.bounce_n > 0:
self.score_left += 1
self.score_right -= 1
self.restart_from_center(
self.players_count == 1
or ball_vx > 0) # winning streak, let it hit more
else:
if self.bounce_n > 0:
self.score_right += 1.0
self.score_left -= 1
self.restart_from_center(self.players_count == 1
or ball_vx > 0)
def global_step(self):
self.frame += 1
# if not self.multiplayer:
# # Trainer
# self.p1x.set_servo_target( self.trainer_x, 0.02, 0.02, 4 )
# self.p1y.set_servo_target( self.trainer_y, 0.02, 0.02, 4 )
Scene.global_step(self)
self.ball_x, ball_vx = self.ballx.current_position()
self.ball_y, ball_vy = self.bally.current_position()
if np.abs(self.ball_y) > 1.0 and self.ball_y * ball_vy > 0:
self.bally.reset_current_position(self.ball_y, -ball_vy)
if ball_vx * self.timeout_dir < 0:
# if self.timeout_dir < 0:
# self.score_left += 0.00*np.abs(ball_vx) # hint for early learning: hit the ball!
# else:
# self.score_right += 0.00*np.abs(ball_vx)
self.timeout_dir *= -1
self.timeout = self.TIMEOUT
self.bounce_n += 1
def global_step(self):
self.frame += 1
Scene.global_step(self)
self.ball_x, ball_vx = self.ballx.current_position()
self.ball_y, ball_vy = self.bally.current_position()
if np.abs(self.ball_y) > 1.0 and self.ball_y * ball_vy > 0:
self.bally.reset_current_position(self.ball_y, -ball_vy)
if ball_vx * self.timeout_dir < 0:
# if self.timeout_dir < 0:
# self.score_left += 0.00*np.abs(ball_vx) # hint for early learning: hit the ball!
# else:
# self.score_right += 0.00*np.abs(ball_vx)
self.timeout_dir *= -1
# self.timeout = self.TIMEOUT
self.bounce_n += 1
# print("bounce", self.bounce_n)
# else:
# self.timeout -= 1
if np.abs(self.ball_x) > 1.65 or self.timeout == 0:
if self.timeout == 0:
self.restart_from_center(ball_vx < 0) # send ball in same dir on timeout
# if self.score_right + self.score_left >
elif ball_vx > 0:
self.score_left += 1
self.restart_from_center(ball_vx > 0) # winning streak, let it hit more
else:
self.score_right += 1.0
self.restart_from_center(ball_vx > 0)
self.timeout = self.TIMEOUT
else:
self.timeout -= 1
def global_step(self):
self.frame += 1
if not self.multiplayer:
# Trainer
self.p1x.set_servo_target(self.trainer_x, 0.02, 0.02, 4)
self.p1y.set_servo_target(self.trainer_y, 0.02, 0.02, 4)
Scene.global_step(self)
self.ball_x, ball_vx = self.ballx.current_position()
self.ball_y, ball_vy = self.bally.current_position()
if np.abs(self.ball_y) > 1.0 and self.ball_y * ball_vy > 0:
self.bally.reset_current_position(self.ball_y, -ball_vy)
# Add by xian, according to the status of Pong, give different scores
# The following if / else are adaptively changed
if ball_vx * self.timeout_dir < 0:
if self.timeout_dir < 0:
self.score_left += 0.01 * np.abs(ball_vx) # hint for early learning: hit the ball!
else:
self.score_right += 0.01 * np.abs(ball_vx)
self.timeout_dir *= -1
self.timeout = self.TIMEOUT # hua-todo
self.bounce_n += 1
if self.ball_x > 0: # hua-todo
self.bounce_n_right += 1
self.bounce_n_left = 0
else:
self.bounce_n_left += 1
self.bounce_n_right = 0
else:
self.timeout -= 1
self.episode_time -= 1
if self.bounce_n_right > 1: #
self.score_left += 1
self.score_right -= 1
self.score_board['left']['oppo_double_hit'] += 1
self.restart_from_center(self.players_count == 1 or ball_vx > 0)
elif self.bounce_n_left > 1:
self.score_left -= 1
self.score_right += 1
self.score_board['right']['oppo_double_hit'] += 1
self.restart_from_center(self.players_count == 1 or ball_vx > 0)
if np.abs(self.ball_x) > 1.65 or self.timeout == 0:
if self.timeout == 0:
if np.abs(self.ball_x) < 1:
if self.timeout_dir < 0:
self.score_left += 1
self.score_right -= 1
self.score_board['left']['oppo_slow_ball'] += 1
else:
self.score_left -= 1
self.score_right += 1
self.score_board['right']['oppo_slow_ball'] += 1
else:
if self.timeout_dir < 0:
self.score_left -= 1
self.score_right += 1
self.score_board['right']['oppo_miss_catch'] += 1
else:
self.score_left += 1
self.score_right -= 1
self.score_board['left']['oppo_miss_catch'] += 1
self.restart_from_center(self.players_count == 1 or ball_vx < 0) # send ball in same dir on timeout
elif ball_vx > 0:
if self.bounce_n > 0:
self.score_left += 1
self.score_board['left']['oppo_miss_catch'] += 1
else:
self.score_board['left']['oppo_miss_start'] += 1
self.score_right -= 1
self.restart_from_center(self.players_count == 1 or ball_vx > 0) # winning streak, let it hit more
else:
if self.bounce_n > 0:
self.score_right += 1.0
self.score_board['right']['oppo_miss_catch'] += 1
else:
self.score_board['right']['oppo_miss_start'] += 1
self.score_left -= 1
self.restart_from_center(self.players_count == 1 or ball_vx > 0)
elif self.episode_time < 0:
self.score_left -= 1
self.score_board['left']['not_finish'] -= 1
self.restart_from_center(self.players_count == 1 or ball_vx < 0)
