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54 lines
1.9 KiB
Python
54 lines
1.9 KiB
Python
7 months ago
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from agent.Agent import Agent
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from agent.Base_Agent import Base_Agent
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from scripts.commons.Script import Script
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import numpy as np
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'''
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Objective:
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----------
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Dribble and score
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'''
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class Dribble():
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def __init__(self, script:Script) -> None:
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self.script = script
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def execute(self):
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a = self.script.args
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# Args: Server IP, Agent Port, Monitor Port, Uniform No., [Robot Type] (for Base_Agent), Team name, Enable Log, Enable Draw
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self.script.batch_create(Base_Agent, ((a.i,a.p,a.m,a.u,a.r,a.t,True,True),)) # one dribbler
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self.script.batch_create(Agent, ((a.i,a.p,a.m,u,"Opponent",False,False) for u in range(1,2))) # 1 opponent (normal agent)
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p : Base_Agent = self.script.players[0]
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p.path_manager.draw_options(enable_obstacles=True, enable_path=True)
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behavior = p.behavior
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w = p.world
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r = w.robot
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d = w.draw
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p.scom.unofficial_beam((-3,0,r.beam_height),0)
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p.scom.unofficial_set_play_mode("PlayOn")
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print("\nPress ctrl+c to return.")
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while True:
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if w.play_mode == w.M_THEIR_KICKOFF:
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p.scom.unofficial_set_play_mode("PlayOn")
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# execute dribbler
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if behavior.is_ready("Get_Up") or w.play_mode_group in [w.MG_ACTIVE_BEAM, w.MG_PASSIVE_BEAM]:
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p.scom.unofficial_beam((*(w.ball_abs_pos[:2]-(1,0)),r.beam_height),0)
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behavior.execute("Zero_Bent_Knees")
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else:
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behavior.execute("Dribble",None,None)
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d.annotation(r.loc_head_position+(0,0,0.2),f"{np.linalg.norm(r.get_head_abs_vel(40)[:2]):.2f}",d.Color.white,"vel_annotation")
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p.scom.commit_and_send( r.get_command() )
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# execute opponents as normal agents
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self.script.batch_execute_agent(slice(1,None))
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# all players wait for server to send feedback
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self.script.batch_receive()
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