class TurnAndDriveToBall(TrainingExercise):
steering_coefficient: float = 5
grader: Grader = field(default_factory=lambda: GameTickPacketWrapperGrader(
StrikerGrader(timeout_seconds=4.0, ally_team=0)))
match_config: MatchConfig = field(
default_factory=lambda: make_match_config_with_bots(
blue_bots=[BotConfigs.tweaked_bot]))
def on_briefing(self) -> Optional[Grade]:
_ = send_and_wait_for_replies(self.get_matchcomms(), [
make_set_attributes_message(
0, {'steering_coefficient': self.steering_coefficient}),
])
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(physics=Physics(location=Vector3(0, 5100, 100),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0))),
cars={
0:
CarState(physics=Physics(location=Vector3(0, 3400, 0),
rotation=Rotator(0, 0, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False,
boost_amount=0)
},
boosts={i: BoostState(0)
for i in range(34)},
)
class FarAwayBall(TrainingExercise):
grader: Grader = field(default_factory=lambda: GameTickPacketWrapperGrader(
StrikerGrader(timeout_seconds=7.0, ally_team=0)))
car_x: float = 1000
car_y: float = -4608
car_z: float = 17
car_vx: float = 0
car_vy: float = 0
car_spin: float = pi / 2
boost: float = 33
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(physics=Physics(
location=Vector3(0, 4500, 100),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0))),
cars={
0: CarState(
physics=Physics(
location=Vector3(self.car_x, self.car_y, self.car_z),
rotation=Rotator(0, self.car_spin, 0),
velocity=Vector3(self.car_vx, self.car_vy, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False,
boost_amount=self.boost)
},
boosts={1: BoostState(100)},
)
class KickOff1v1(TrainingExercise):
grader: Grader = field(default_factory=lambda: GameTickPacketWrapperGrader(
StrikerGrader(timeout_seconds=8, ally_team=0)))
car_start_x: float = 0
car_start_y: float = 0
car_yaw: float = 0
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(physics=Physics(location=Vector3(0, 0, 100),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0))),
cars={
0:
CarState(physics=Physics(location=Vector3(
self.car_start_x, self.car_start_y, 16.5),
rotation=Rotator(0, self.car_yaw, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
boost_amount=33),
1:
CarState(physics=Physics(location=Vector3(
-self.car_start_x, -self.car_start_y, 16.5),
rotation=Rotator(0, -self.car_yaw, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
boost_amount=33)
},
)
class StationaryBall(TrainingExercise):
grader: Grader = field(default_factory=lambda: GameTickPacketWrapperGrader(
StrikerGrader(timeout_seconds=8.0, ally_team=0)))
ball_start_x: float = 0
ball_start_y: float = -3000
ball_start_z: float = 120
car_start_x: float = 1000
car_start_y: float = -4000
car_angle: float = pi / 2
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(physics=Physics(
location=Vector3(self.ball_start_x + rng.uniform(-30, 30), self.ball_start_y, self.ball_start_z),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0))),
cars={
0: CarState(
physics=Physics(
location=Vector3(self.car_start_x, self.car_start_y, 0),
rotation=Rotator(0, self.car_angle, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False,
boost_amount=100)
},
boosts={1: BoostState(100)},
)
def __init__(self,
ball_physics: Dict[str, Any],
cars: List[Dict[str, Any]],
boosts: Optional[List[Union[str, int]]] = None,
timeout: Optional[float] = None,
description: Optional[str] = None):
self.description = description or "Striker Exercise"
self.ball = ball_physics
self.cars = cars
self.boosts = boosts or []
self.timeout = timeout or 10.0
self.grader = StrikerGrader(
self.timeout) if self.timeout > 0 else PassOnGoalForAllyTeam(0)
JSONExercise.__init__(self)
class Setup(TrainingExercise):
grader: Grader = field(default_factory=lambda: GameTickPacketWrapperGrader(
StrikerGrader(timeout_seconds=10.0, ally_team=0)))
ball_x: float = 0
ball_y: float = 0
ball_z: float = 0
ball_vx: float = 0
ball_vy: float = 0
ball_vz: float = 0
ball_sx: float = 0
ball_sy: float = 0
ball_sz: float = 0
car_x: float = 0
car_y: float = -4000
car_z: float = 20
car_spin: float = pi / 2
boost: float = 50
minboost: float = None
maxboost: float = None
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
minboost = self.boost if self.minboost is None else self.minboost
maxboost = self.boost if self.maxboost is None else self.maxboost
return GameState(
ball=BallState(physics=Physics(
location=Vector3(self.ball_x, self.ball_y, self.ball_z),
velocity=Vector3(self.ball_vx, self.ball_vy, self.ball_vz),
angular_velocity=Vector3(self.ball_sx, self.ball_sy,
self.ball_sz))),
cars={
0:
CarState(physics=Physics(location=Vector3(
self.car_x, self.car_y, self.car_z),
rotation=Rotator(0, self.car_spin, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False,
boost_amount=rng.uniform(minboost, maxboost))
},
boosts={i: BoostState(0)
for i in range(34)}, # Is this needed.
)
class VersusLineGoalie(TrainingExercise):
match_config: MatchConfig = field(
default_factory=lambda: versus_line_goalie_match_config(
attacker=BotConfigs.simple_bot))
grader: StrikerGrader = field(default_factory=lambda: StrikerGrader(
timeout_seconds=7, ally_team=striker_team))
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(
physics=Physics(location=Vector3(0, -1500, 100),
velocity=Vector3(rng.uniform(-1, 1), 10, 0),
angular_velocity=Vector3(0, 0, 0))),
cars={
# Striker
0:
CarState(
physics=Physics(location=Vector3(300 * rng.n11(),
200 * rng.n11(), 15),
rotation=Rotator(0, -pi / 2, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
# jumped=False,
# double_jumped=False,
boost_amount=100),
# Goalie
1:
CarState(
physics=Physics(location=Vector3(0, -5000, 15),
rotation=Rotator(0, rng.uniform(-.1, .1),
0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
# jumped=True,
# double_jumped=True,
boost_amount=100),
},
boosts={i: BoostState(0)
for i in range(34)},
)
class WideRollingTowardsGoalShot(StrikerExercise):
grader: StrikerGrader = field(
default_factory=lambda: StrikerGrader(timeout_seconds=6.))
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(ball=BallState(
Physics(location=Vector3(rng.uniform(900, 1300),
rng.uniform(0, 1500), 100),
velocity=Vector3(0, 550, 0))),
cars={
0:
CarState(boost_amount=87,
jumped=True,
double_jumped=True,
physics=Physics(
location=Vector3(2000, -2500, 25),
rotation=Rotator(0, pi / 2, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0),
))
})
class Strike(TrainingExercise):
grader: Grader = field(
default_factory=lambda: StrikerGrader(timeout_seconds=4))
ball_x: float = 0
ball_y: float = 10
ball_z: float = 150
ball_vx: float = 0
ball_vy: float = 0
ball_vz: float = 0
ball_sx: float = 0
ball_sy: float = 0
ball_sz: float = 0.1
car_x: float = 0
car_y: float = 10
car_z: float = 17
car_spin: float = 0
car_pitch: float = 0
car_roll: float = 0
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(physics=Physics(
location=Vector3(self.ball_x, self.ball_y, self.ball_z),
velocity=Vector3(self.ball_vx, self.ball_vy, self.ball_vz),
angular_velocity=Vector3(self.ball_sx, self.ball_sy,
self.ball_sz))),
cars={
0:
CarState(physics=Physics(
location=Vector3(self.car_x, self.car_y, self.car_z),
rotation=Rotator(self.car_pitch, self.car_spin,
self.car_roll),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
boost_amount=100)
},
boosts={i: BoostState(0)
for i in range(34)}, # Is this needed.
)
def make_recovery_grader():
return StrikerGrader(timeout_seconds=4)
def make_striker_grader():
return StrikerGrader(timeout_seconds=8)
def __init__(self, shot_id: str):
self.shot_json = self._get_shot_json(shot_id)
super().__init__(
name=self.shot_json['name'],
grader=StrikerGrader()
)