RoboCup 2D Half Field Offense

Half Field Offense in RoboCup 2D Soccer is a subtask in RoboCup simulated soccer, modeling a situation in which the offense of one team has to get past the defense of the opposition in order to shoot goals. This repository offers the ability to quickly and easily interface your learning agent with the HFO domain.

Dependencies

• rcssserver-15.2.2
• If configure fails to detect boost libraries, set the configure flag --with-boost-libdir=your_boost_path
• If make encounters lex errors, ensure you have bison 2.7.1 installed.
• Only run single-threaded make. Multi-threaded make (eg make -j4) fails.
• librcsc-4.1.0
• soccerwindow2-5.1.0 (Optional)
• If -laudio is not found during make, it can be safely removed from the link command.

Install

1. Edit the LIBRCSC_INCLUDE/LIBRCSC_LINK variables in CMakeLists.txt to point to your librcsc include/lib directories.
2. cmake .
3. make

Patch rcssserver

By default if your agent takes longer then two seconds to select an action it will be disconnected from the server. To enable longer wait times, apply the following patch and rebuild your rcssserver:

patch your_path/rcssserver-15.2.2/src/stadium.cpp < stadium.patch

Example Agents

Example C++ and Python agents are provided in the example directory.

Run

To start the HFO server run: ./bin/start.py then start an example agent: ./example/hfo_example_agent or start them both at the same time:

(./bin/start.py &) && ./example/hfo_example_agent

Documentation

The state and action spaces provided by the HFO domain are documented in the manual.