66 lines
2.5 KiB
Python
66 lines
2.5 KiB
Python
from dataclasses import Field
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import numpy as np
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from world.commons.other_robot import OtherRobot
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from world.commons.field import FIFAField, HLAdultField
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from world.commons.play_mode import PlayModeEnum, PlayModeGroupEnum
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class World:
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"""
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Represents the current simulation world, containing all relevant
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information about the environment, the ball, and the robots.
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"""
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MAX_PLAYERS_PER_TEAM = 11
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def __init__(self, agent, team_name: str, number: int, field_name: str):
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"""
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Initializes the world state.
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Args:
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agent: Reference to the agent that owns this world.
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team_name (str): The name of the agent's team.
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number (int): The player's number within the team.
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field_name (str): The name of the field to initialize
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(e.g., 'fifa' or 'hl_adult').
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"""
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from agent.base_agent import Agent # type hinting
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self.agent: Agent = agent
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self.team_name: str = team_name
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self.number: int = number
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self.playmode: PlayModeEnum = PlayModeEnum.NOT_INITIALIZED
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self.playmode_group: PlayModeGroupEnum = PlayModeGroupEnum.NOT_INITIALIZED
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self.is_left_team: bool = None
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self.game_time: float = None
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self.server_time: float = None
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self.score_left: int = None
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self.score_right: int = None
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self.their_team_name: str = None
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self.last_server_time: str = None
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self._global_cheat_position: np.ndarray = np.zeros(3)
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self.global_position: np.ndarray = np.zeros(3)
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self.ball_pos: np.ndarray = np.zeros(3)
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self.is_ball_pos_updated: bool = False
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self.our_team_players: list[OtherRobot] = [OtherRobot() for _ in range(self.MAX_PLAYERS_PER_TEAM)]
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self.their_team_players: list[OtherRobot] = [OtherRobot(is_teammate=False) for _ in
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range(self.MAX_PLAYERS_PER_TEAM)]
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self.field: Field = self.__initialize_field(field_name=field_name)
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def update(self) -> None:
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"""
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Updates the world state
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"""
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self.playmode_group = PlayModeGroupEnum.get_group_from_playmode(
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playmode=self.playmode, is_left_team=self.is_left_team
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)
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def is_fallen(self) -> bool:
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return self.global_position[2] < 0.3
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def __initialize_field(self, field_name: str) -> Field:
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if field_name in ('hl_adult', 'hl_adult_2020', 'hl_adult_2019',):
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return HLAdultField(world=self)
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else:
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return FIFAField(world=self) |