def __init__(self):
self.viewer = None
self.server_process = None
self.server_port = None
self.hfo_path = hfo_py.get_hfo_path()
# need to check unused port
sock, port2use = self.bind_unused_port()
num_offense_agents = 1
num_offense_agents_npcs = 1
self._configure_environment(port2use, num_offense_agents,
num_offense_agents_npcs)
#process = subprocess.Popen(self.hfo_path+' --offense-agents=1 --defense-npcs=1', shell=True, stdout=subprocess.PIPE)
self.env = hfo_py.HFOEnvironment()
self.env.connectToServer(feature_set=hfo_py.HIGH_LEVEL_FEATURE_SET,
config_dir=hfo_py.get_config_path(),
server_port=port2use)
self.observation_space = spaces.Box(low=-1,
high=1,
shape=(self.env.getStateSize()))
# Action space omits the Tackle/Catch actions, which are useful on defense
self.action_space = spaces.Tuple(
(spaces.Discrete(3), spaces.Box(low=0, high=100, shape=1),
spaces.Box(low=-180, high=180,
shape=1), spaces.Box(low=-180, high=180, shape=1),
spaces.Box(low=0, high=100,
shape=1), spaces.Box(low=-180, high=180, shape=1)))
# self.action_space = spaces.Tuple(spaces.Discrete(3),
# spaces.Box(low=np.array([0,-180,-180,0,-180]), high=np.array([100,180,180,100,180])))
self.status = hfo_py.IN_GAME
def __init__(self):
self.viewer = None
self.server_process = None
self.server_port = None
self.hfo_path = hfo_py.get_hfo_path()
self._configure_environment()
self.env = hfo_py.HFOEnvironment()
self.env.connectToServer(config_dir=hfo_py.get_config_path())
self.observation_space = spaces.Box(low=-1,
high=1,
shape=(self.env.getStateSize()))
# Action space omits the Tackle/Catch actions, which are useful on defense
# self.action_space = spaces.Tuple((spaces.Discrete(3),
# spaces.Box(low=0, high=100, shape=1),
# spaces.Box(low=-180, high=180, shape=1),
# spaces.Box(low=-180, high=180, shape=1),
# spaces.Box(low=0, high=100, shape=1),
# spaces.Box(low=-180, high=180, shape=1)))
# Modified action space, this modification will combine the parameter for the
# same discrete action into a single action spaces
self.action_space = spaces.Tuple(
(spaces.Discrete(3),
spaces.Box(low=np.array([0.0, -180.0]),
high=np.array([100.0, 180.0])),
spaces.Box(low=np.array([-180.0]), high=np.array([180.0])),
spaces.Box(low=np.array([0.0, -180.0]),
high=np.array([100.0, 180.0]))))
self.status = hfo_py.IN_GAME
def __init__(self):
self.viewer = None
self.server_process = None
self.server_port = None
self.hfo_path = hfo_py.get_hfo_path()
print(self.hfo_path)
self._configure_environment()
self.env = hfo_py.HFOEnvironment()
self.env.connectToServer(team_name="base_right", play_goalie=True, config_dir=hfo_py.get_config_path(), server_port=self.server_port)
print("Shape =",self.env.getStateSize())
self.observation_space = spaces.Box(low=-1, high=1,
shape=((self.env.getStateSize(),)), dtype=np.float32)
# Action space omits the Tackle/Catch actions, which are useful on defense
low0 = np.array([0, -180], dtype=np.float32)
high0 = np.array([100, 180], dtype=np.float32)
low1 = np.array([-180], dtype=np.float32)
high1 = np.array([180], dtype=np.float32)
low2 = np.array([0, -180], dtype=np.float32)
high2 = np.array([100, 180], dtype=np.float32)
low3 = np.array([0], dtype=np.float32)
high3 = np.array([100], dtype=np.float32)
self.action_space = spaces.Tuple((spaces.Discrete(5),
spaces.Box(low=low0, high=high0, dtype=np.float32),
spaces.Box(low=low1, high=high1, dtype=np.float32),
spaces.Box(low=low2, high=high2, dtype=np.float32),
spaces.Box(low=low3, high=high3, dtype=np.float32)))
self.status = hfo_py.IN_GAME
self._seed = -1
def __init__(self, config, port):
print("single agent", port)
self.server_port = port
self.hfo_path = hfo_py.get_hfo_path()
self.env = hfo_py.HFOEnvironment()
if "feature_set" in config:
self.env.connectToServer(feature_set=config['feature_set'],
config_dir=hfo_py.get_config_path(),
server_port=self.server_port)
else:
self.env.connectToServer(config_dir=hfo_py.get_config_path(),
server_port=self.server_port)
self.observation_space = spaces.Box(
low=-1,
high=1,
shape=((self.env.getStateSize(), )),
dtype=np.float32)
print("single agent init", self.observation_space)
self.action_space = spaces.Discrete(14)
self.status = hfo_py.IN_GAME
self._seed = -1
self.old_ball_prox = 0
self.old_kickable = 0
self.old_ball_dist_goal = 0
self.got_kickable_reward = False
self.first_step = True
self.unum = self.env.getUnum(
) # uniform number (identifier) of our lone agent
def __init__(self):
self.viewer = None
self.server_process = None
self.server_port = None
self.hfo_path = hfo_py.get_hfo_path()
self._configure_environment()
if hasattr(self, '_static_keeper') and self._static_keeper:
print('\n\nstatic\n\n')
self._static_keeper_process = Process(
target=self._start_static_keeper, args=[self.server_port])
self._static_keeper_process.start()
self.env = hfo_py.HFOEnvironment()
self.env.connectToServer(config_dir=hfo_py.get_config_path(),
server_port=self.server_port)
self.observation_space = spaces.Box(low=-1,
high=1,
shape=(self.env.getStateSize()))
# Action space omits the Tackle/Catch actions, which are useful on defense
self.action_space = spaces.Tuple(
(spaces.Discrete(3), spaces.Box(low=0, high=100, shape=1),
spaces.Box(low=-180, high=180,
shape=1), spaces.Box(low=-180, high=180, shape=1),
spaces.Box(low=0, high=100,
shape=1), spaces.Box(low=-180, high=180, shape=1)))
self.status = hfo_py.IN_GAME
def __init__(self, config):
self.viewer = None
self.server_process = None
self.server_port = None
self.hfo_path = hfo_py.get_hfo_path()
print(self.hfo_path)
self._configure_environment(config)
self.env = hfo_py.HFOEnvironment()
if "feature_set" in config :
self.env.connectToServer( feature_set=config['feature_set'], config_dir=hfo_py.get_config_path(), server_port=self.server_port)
else :
self.env.connectToServer( config_dir=hfo_py.get_config_path(), server_port=self.server_port)
print("Shape =",self.env.getStateSize())
self.observation_space = spaces.Box(low=-1, high=1,
shape=((self.env.getStateSize(),)), dtype=np.float32)
# Action space omits the Tackle/Catch actions, which are useful on defense
# 包括：
# Go To Ball()
# Move()
# Shoot()
# Dribble()
self.action_space = spaces.Discrete(4)
self.status = hfo_py.IN_GAME
self._seed = -1
def __init__(self):
super(hfoENV, self)
self.viewer = None
self.server_process = None
self.server_port = None
self.hfo_path = hfo_py.get_hfo_path()
self.configure()
self.env = hfo_py.HFOEnvironment()
self.env.connectToServer(feature_set=LOW_LEVEL_FEATURE_SET, config_dir=hfo_py.get_config_path(), )
self.game_info = GameInfo(1)
def __init__(self):
self.discrete_action_size = 6
self.continuous_action_size = 7
self.viewer = None
self.server_process = None
self.server_port = None
self.hfo_path = hfo_py.get_hfo_path()
self._configure_environment()
self.env = hfo_py.HFOEnvironment()
self.env.connectToServer(config_dir=hfo_py.get_config_path())
self.observation_space = spaces.Box(
low=-1, high=1, shape=((self.env.getStateSize(), )))
# Action space omits the Tackle/Catch actions, which are useful on defense
action_dim = self.continuous_action_size + self.discrete_action_size
self.action_space = spaces.Box(low=0, high=1, shape=(action_dim, ))
self.status = hfo_py.IN_GAME
def make_env(player, server_port, team, scale_actions):
# Create the HFO Environment
hfo = hfo_py.HFOEnvironment()
# Connect to the server
agent_args = configure_agent(player=player, team=team, port=server_port)
hfo.connectToServer(**agent_args)
if player == 'offense':
env = SoccerOffenseEnv(hfo)
# elif player == 'defense':
# env = SoccerDefenseEnv(hfo)
elif player == 'goalie':
env = SoccerGoalieEnv(hfo)
else:
raise ValueError('Wrong player type')
return env
def __init__(self):
self.viewer = None
self.server_process = None
self.server_port = None
self.hfo_path = hfo_py.get_hfo_path()
self._configure_environment()
self.env = hfo_py.HFOEnvironment()
self.env.connectToServer(config_dir=hfo_py.get_config_path())
self.observation_space = spaces.Box(low=-1, high=1,
shape=(self.env.getStateSize()))
# Action space omits the Tackle/Catch actions, which are useful on defense
self.action_space = spaces.Tuple((spaces.Discrete(3),
spaces.Box(low=0, high=100, shape=1),
spaces.Box(low=-180, high=180, shape=1),
spaces.Box(low=-180, high=180, shape=1),
spaces.Box(low=0, high=100, shape=1),
spaces.Box(low=-180, high=180, shape=1)))
self.status = hfo_py.IN_GAME
def __init__(self):
self.viewer = None
self.server_process = None
self.server_port = None
self.hfo_path = hfo_py.get_hfo_path()
self._configure_environment()
self.env = hfo_py.HFOEnvironment()
self.env.connectToServer(config_dir=hfo_py.get_config_path())
# ここでgetStateSize()がint型だとこの先のSpaces.Boxの__init()でtuple(shape)つまりtuple(int型)になるためTypeErrorでる
#self.observation_space = spaces.Box(low=-1, high=1,
# shape=(self.env.getStateSize()))
#そのため以下に変更
self.observation_space = spaces.Box(low=-1,
high=1,
shape=(self.env.getStateSize(), ))
# Action space omits the Tackle/Catch actions, which are useful on defense
# action_spaceもshapeでTypeErrrorがでる
#self.action_space = spaces.Tuple((spaces.Discrete(3),
# spaces.Box(low=0, high=100, shape=(1,)),
# spaces.Box(low=-180, high=180, shape=(1,)),
# spaces.Box(low=-180, high=180, shape=(1,)),
# spaces.Box(low=0, high=100, shape=(1,)),
# spaces.Box(low=-180, high=180, shape=(1,))))
#そのため以下に変更、参考：https://github.com/cycraig/gym-soccer/blob/master/gym_soccer/envs/soccer_env.py
low0 = np.array([0, -180], dtype=np.float32)
high0 = np.array([100, 180], dtype=np.float32)
low1 = np.array([-180], dtype=np.float32)
high1 = np.array([180], dtype=np.float32)
low2 = np.array([0, -180], dtype=np.float32)
high2 = np.array([100, 180], dtype=np.float32)
low3 = np.array([-180], dtype=np.float32)
high3 = np.array([180], dtype=np.float32)
self.action_space = spaces.Tuple((spaces.Discrete(3),
spaces.Box(low=low0,
high=high0,
dtype=np.float32),
spaces.Box(low=low1,
high=high1,
dtype=np.float32),
spaces.Box(low=low2,
high=high2,
dtype=np.float32)))
self.status = hfo_py.IN_GAME
def __init__(self, config):
self.viewer = None
self.server_process = None
self.rcspid = None
self.server_port = None
self.hfo_path = hfo_py.get_hfo_path()
#print(self.hfo_path)
self._configure_environment(config)
self.env = hfo_py.HFOEnvironment()
self.one_hot_state_encoding = config.get("one_hot_state_encoding",
False)
# num = config.pop("num_agents", 1)
self.num = config["server_config"]["offense_agents"]
self.agents = []
for i in range(self.num):
self.agents.append(env_name_or_creator.remote(config, self.server_port))
time.sleep(2)
self.dones = set()
def __init__(self):
self.viewer = None
self.server_process = None
self.server_port = None
self.hfo_path = hfo_py.get_hfo_path()
print(self.hfo_path)
self._configure_environment()
self.env = hfo_py.HFOEnvironment()
self.env.connectToServer(config_dir=hfo_py.get_config_path(),
server_port=self.server_port)
print("Shape =", self.env.getStateSize())
self.observation_space = spaces.Box(
low=-1,
high=1,
shape=((self.env.getStateSize(), )),
dtype=np.float32)
# Action space omits the Tackle/Catch actions, which are useful on defense
# 这个比如说 动作0有两个参数，第一个参数的范围是0-100 ，第二个参数的范围是-180,180 那么最低值为[0, -180] 最高值的集合为[180,180]
low0 = np.array([0, -180], dtype=np.float32)
high0 = np.array([100, 180], dtype=np.float32)
low1 = np.array([-180], dtype=np.float32)
high1 = np.array([180], dtype=np.float32)
low2 = np.array([0, -180], dtype=np.float32)
high2 = np.array([100, 180], dtype=np.float32)
low3 = np.array([-180], dtype=np.float32)
high3 = np.array([180], dtype=np.float32)
self.action_space = spaces.Tuple((spaces.Discrete(3),
spaces.Box(low=low0,
high=high0,
dtype=np.float32),
spaces.Box(low=low1,
high=high1,
dtype=np.float32),
spaces.Box(low=low2,
high=high2,
dtype=np.float32)))
self.status = hfo_py.IN_GAME
self._seed = -1
def _start_static_keeper(port):
env_static = hfo_py.HFOEnvironment()
env_static.connectToServer(config_dir=hfo_py.get_config_path(),
server_port=port,
team_name='base_right',
play_goalie=True)
time.sleep(10)
for _ in itertools.count():
status = hfo_py.IN_GAME
counter = 0
while status == hfo_py.IN_GAME:
# Grab the state features from the environment
features = env_static.getState()
# Take an action and get the current game status
r = random.choice([-1, 1]) if counter < 0 else 0
counter += 1
env_static.act(hfo_py.DASH, 100. * r, 90.)
# Advance the environment and get the game status
status = env_static.step()
# Check the outcome of the episode
# print(('Episode %d ended with %s'%(episode, hfo.statusToString(status))))
# Quit if the server goes down
if status == hfo_py.SERVER_DOWN:
env_static.act(hfo_py.QUIT)
exit()
