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对齐场地几何与运行模式基础设施

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This commit is contained in:
jjh
2026-04-02 11:50:35 +08:00
parent 4b9d5afbb6
commit 3d1fc285d3
7 changed files with 243 additions and 91 deletions
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38
agent/agent.py
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@@ -1,10 +1,7 @@
from dataclasses import Field
import logging
from typing import Mapping
import numpy as np
from utils.math_ops import MathOps
from world.commons.field import FIFAField, HLAdultField, Soccer7vs7Field
from world.commons.play_mode import PlayModeEnum, PlayModeGroupEnum
@@ -19,36 +16,6 @@ class Agent:
based on the current state of the world and game conditions.
"""
BEAM_POSES: Mapping[type[Field], Mapping[int, tuple[float, float, float]]] ={
FIFAField: {
1: (2.1, 0, 0),
2: (22.0, 12.0, 0),
3: (22.0, 4.0, 0),
4: (22.0, -4.0, 0),
5: (22.0, -12.0, 0),
6: (15.0, 0.0, 0),
7: (4.0, 16.0, 0),
8: (11.0, 6.0, 0),
9: (11.0, -6.0, 0),
10: (4.0, -16.0, 0),
11: (7.0, 0.0, 0),
},
HLAdultField: {
1: (7.0, 0.0, 0),
2: (2.0, -1.5, 0),
3: (2.0, 1.5, 0),
},
Soccer7vs7Field: {
1: (2.1, 0, 0),
2: (22.0, 12.0, 0),
3: (22.0, 4.0, 0),
4: (22.0, -4.0, 0),
5: (22.0, -12.0, 0),
6: (15.0, 0.0, 0),
7: (4.0, 16.0, 0)
}
}
def __init__(self, agent):
"""
Creates a new DecisionMaker linked to the given agent.
@@ -76,9 +43,10 @@ class Agent:
PlayModeGroupEnum.ACTIVE_BEAM,
PlayModeGroupEnum.PASSIVE_BEAM,
):
beam_pose = self.agent.world.field.get_beam_pose(self.agent.world.number)
self.agent.server.commit_beam(
pos2d=self.BEAM_POSES[type(self.agent.world.field)][self.agent.world.number][:2],
rotation=self.BEAM_POSES[type(self.agent.world.field)][self.agent.world.number][2],
pos2d=beam_pose[:2],
rotation=beam_pose[2],
)
if self.is_getting_up or self.agent.skills_manager.is_ready(skill_name="GetUp"):