dribble

.idea/FCPCodebase.iml

@@ -2,7 +2,7 @@
 <module type="PYTHON_MODULE" version="4">
   <component name="NewModuleRootManager">
     <content url="file://$MODULE_DIR$" />
-    <orderEntry type="inheritedJdk" />
+    <orderEntry type="jdk" jdkName="FCP" jdkType="Python SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
   <component name="PyDocumentationSettings">

.idea/misc.xml

@@ -3,5 +3,5 @@
   <component name="Black">
     <option name="sdkName" value="fcp_env" />
   </component>
-  <component name="ProjectRootManager" version="2" project-jdk-name="FCPCodebase" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="FCP" project-jdk-type="Python SDK" />
 </project>

agent/Agent.py

@@ -24,6 +24,14 @@ class Agent(Base_Agent):
 
         self.init_pos = ([-14,0],[-9,-5],[-9,0],[-9,5],[-5,-5],[-5,0],[-5,5],[-1,-6],[-1,-2.5],[-1,2.5],[-1,6])[unum-1] # initial formation
 
+    def dribble(self, target_2d=(15, 0), avoid_obstacles=True):
+
+        if avoid_obstacles:
+            next_pos, next_rel_ori = self.path_manager.get_dribble_path(optional_2d_target=target_2d)
+        else:
+            distance_to_final_target = np.linalg.norm(target_2d - self.loc_head_position[:2])
+        return self.behavior.execute("Dribble", next_rel_ori,
+                                     False)  # Args: target, is_target_abs, ori, is_ori_abs, distance
 
     def beam(self, avoid_center_circle=False):
         r = self.world.robot
@@ -124,7 +132,7 @@ class Agent(Base_Agent):
 
     def think_and_send(self):
         w = self.world
-        r = self.world.robot  
+        r = self.world.robot
         my_head_pos_2d = r.loc_head_position[:2]
         my_ori = r.imu_torso_orientation
         ball_2d = w.ball_abs_pos[:2]
@@ -158,8 +166,10 @@ class Agent(Base_Agent):
         min_teammate_ball_sq_dist = min(teammates_ball_sq_dist)
         self.min_teammate_ball_dist = math.sqrt(min_teammate_ball_sq_dist)   # distance between ball and closest teammate
         self.min_opponent_ball_dist = math.sqrt(min(opponents_ball_sq_dist)) # distance between ball and closest opponent
-
-        active_player_unum = teammates_ball_sq_dist.index(min_teammate_ball_sq_dist) + 1
+        if r.dribbling_state == "In":
+            active_player_unum = r.unum
+        else:
+            active_player_unum = teammates_ball_sq_dist.index(min_teammate_ball_sq_dist) + 1
 
 
         #--------------------------------------- 2. Decide action
@@ -173,6 +183,7 @@ class Agent(Base_Agent):
         elif PM_GROUP == w.MG_PASSIVE_BEAM:
             self.beam(True) # avoid center circle
         elif self.state == 1 or (behavior.is_ready("Get_Up") and self.fat_proxy_cmd is None):
+            r.dribbling_state = "Out"
             self.state = 0 if behavior.execute("Get_Up") else 1 # return to normal state if get up behavior has finished
         elif PM == w.M_OUR_KICKOFF:
             if r.unum == 9:
@@ -192,6 +203,7 @@ class Agent(Base_Agent):
                 self.move((new_x,self.init_pos[1]), orientation=ball_dir, priority_unums=[active_player_unum])
 
         else: # I am the active player
+
             path_draw_options(enable_obstacles=True, enable_path=True, use_team_drawing_channel=True) # enable path drawings for active player (ignored if self.enable_draw is False)
             enable_pass_command = (PM == w.M_PLAY_ON and ball_2d[0]<6)
 
@@ -202,11 +214,15 @@ class Agent(Base_Agent):
                 # no need to change the state when PM is not Play On
             elif self.min_opponent_ball_dist + 0.5 < self.min_teammate_ball_dist: # defend if opponent is considerably closer to the ball
                 if self.state == 2: # commit to kick while aborting
-                    self.state = 0 if self.kick(abort=True) else 2
+                    self.dribble()
+                    r.dribbling_state = "In"
                 else: # move towards ball, but position myself between ball and our goal
                     self.move(slow_ball_pos + M.normalize_vec((-16,0) - slow_ball_pos) * 0.2, is_aggressive=True)
+                    r.dribbling_state = "Out"
+
             else:
-                self.state = 0 if self.kick(goal_dir,9,False,enable_pass_command) else 2
+                self.dribble()
+                r.dribbling_state = "In"
 
             path_draw_options(enable_obstacles=False, enable_path=False) # disable path drawings
 

world/Robot.py

@@ -41,7 +41,7 @@ class Robot():
         #Fix symmetry issues 1b/4 (identification) 
         self.FIX_EFFECTOR_MASK = np.ones(self.no_of_joints)
         self.FIX_EFFECTOR_MASK[Robot.FIX_INDICES_LIST] = -1
-
+        self.dribbling_state = "Out"
         self.body_parts = dict()    # keys='body part names' (given by the robot's XML),  values='Body_Part objects'
         self.unum = unum            # Robot's uniform number
         self.gyro = np.zeros(3)     # Angular velocity along the three axes of freedom of the robot's torso (deg/s)

world/World.py

@@ -101,6 +101,7 @@ class World():
         self.robot = Robot(unum, robot_type)
 
 
+
     def log(self, msg:str):
         '''
         Shortcut for: