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']
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']
class Test:
def __init__(self, scene):
self.scene = scene
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']
def run(self, initial_state, test_name):
logging.info(">> " + test_name + " started")
self.initialise(initial_state)
self.step()
def step(self):
print("\nStep: " + str(self.steps))
if self.steps >= self.max_steps:
print "Finished"
return
# update & act
self.w.update_positions(our_attacker=self.our_attacker.get_vec() if self.our_attacker is not None else None, our_defender=self.our_defender.get_vec() if self.our_defender is not None else None, ball=self.ball.get_vec())
self.p.plan_and_act(self.w)
self.steps += 1
def wait_and_next_step(self, delay):
print("Waiting for " + str(delay) + " seconds...")
t = Timer(delay, self.step)
t.start()
def test1(self):
initial_state = {
'task': 'move-grab',
'max_steps': 2,
'our_defender': Vector(100, 100, math.radians(270), 0),
'our_attacker': None,
'ball': Vector(200, 170, 0, 0),
}
self.run(initial_state, "Test 1")
def test2(self):
initial_state = {
'task': 'move-grab',
'max_steps': 2,
'our_defender': Vector(100, 100, math.radians(315), 0),
'our_attacker': None,
'ball': Vector(200, 170, 0, 0),
}
self.run(initial_state, "Test 2")
def test3(self):
initial_state = {
'task': 'move-grab',
'max_steps': 2,
'our_defender': Vector(250, 220, math.radians(200), 0),
'our_attacker': None,
'ball': Vector(200, 170, 0, 0),
}
self.run(initial_state, "Test 3")
def testm3_1(self):
initial_state = {
'task': 'm31',
'max_steps': 2,
'our_defender': Vector(400, 300, math.radians(90), 0),
'our_attacker': Vector(50, 200, math.radians(45), 0),
'ball': Vector(100, 200, 0, 0),
}
self.run(initial_state, "Test M3 - Receiving a pass")
class Test:
def __init__(self, scene):
self.scene = scene
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']
def run(self, initial_state, test_name):
logging.info(">> " + test_name + " started")
self.initialise(initial_state)
self.step()
def step(self):
print("\nStep: " + str(self.steps))
if self.steps >= self.max_steps:
print "Finished"
return
# update & act
self.w.update_positions(our_attacker=self.our_attacker.get_vec()
if self.our_attacker is not None else None,
our_defender=self.our_defender.get_vec()
if self.our_defender is not None else None,
ball=self.ball.get_vec())
self.p.plan_and_act(self.w)
self.steps += 1
def wait_and_next_step(self, delay):
print("Waiting for " + str(delay) + " seconds...")
t = Timer(delay, self.step)
t.start()
def test1(self):
initial_state = {
'task': 'move-grab',
'max_steps': 2,
'our_defender': Vector(100, 100, math.radians(270), 0),
'our_attacker': None,
'ball': Vector(200, 170, 0, 0),
}
self.run(initial_state, "Test 1")
def test2(self):
initial_state = {
'task': 'move-grab',
'max_steps': 2,
'our_defender': Vector(100, 100, math.radians(315), 0),
'our_attacker': None,
'ball': Vector(200, 170, 0, 0),
}
self.run(initial_state, "Test 2")
def test3(self):
initial_state = {
'task': 'move-grab',
'max_steps': 2,
'our_defender': Vector(250, 220, math.radians(200), 0),
'our_attacker': None,
'ball': Vector(200, 170, 0, 0),
}
self.run(initial_state, "Test 3")
def testm3_1(self):
initial_state = {
'task': 'm31',
'max_steps': 2,
'our_defender': Vector(400, 300, math.radians(90), 0),
'our_attacker': Vector(50, 200, math.radians(45), 0),
'ball': Vector(100, 200, 0, 0),
}
self.run(initial_state, "Test M3 - Receiving a pass")
