Fix/defence parameter

[NingchuanIC]

Fix the defencer and goalkeeper, the goalkeeper won't go out of the block if the ball pass by the defencer, fix the defencer, will not go to block the shoot if it already block the path and it will not move if the attacker is not shooting rather than passing

[Copilot]

Pull request overview

Adjusts goalkeeper/defender positioning logic to better handle blocked shooting lanes and reduce unnecessary defender movement when the ball is likely being passed rather than shot.

Changes:

• Updates goalkeep to conditionally compute a fallback stop_y based on defender positions.
• Updates defend_parameter to use ball-position prediction at specific x-coordinates to decide when to block.
• Tweaks defender approach vector computation (currently introduces a likely error).

Reviewed changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 4 comments.

File	Description
utama_core/skills/src/goalkeep.py	Adds guards before using defender/ball geometry to set goalkeeper fallback positioning.
utama_core/skills/src/defend_parameter.py	Uses predicted ball path to decide when defender should commit to a blocking point, and adjusts target offset computation.

[Copilot]

@NingchuanIC I've opened a new pull request, #104, to work on those changes. Once the pull request is ready, I'll request review from you.

[Copilot]

@NingchuanIC I've opened a new pull request, #105, to work on those changes. Once the pull request is ready, I'll request review from you.

[Copilot]

Copilot encountered an error and was unable to review this pull request. You can try again by re-requesting a review.

[Copilot]

Pull request overview

Copilot reviewed 2 out of 2 changed files in this pull request and generated 5 comments.

[Copilot]

The predict_ball_pos_at_x function can return None when ball velocity is zero or when ux is zero. While the code checks for None, there's a dependency on the predict_ball_pos_at_x implementation which has a logical issue: it returns None when either vel[0] or vel[1] is zero, and returns the current ball position when uy is 0. This means horizontally-moving balls (uy ≈ 0) might not be properly predicted, potentially causing defenders to not block shots moving primarily in the x-direction. Consider adding additional checks or using a more robust prediction method.

[Copilot]

The condition only checks if defenders are between the ball and goal in the x-dimension, regardless of their y-coordinates. This means a defender far from the ball's trajectory (large y-difference) will still affect the goalkeeper's stop_y calculation. While the intersection_with_vertical_line function accounts for trajectory, using defenders that are significantly off the ball's path might result in suboptimal goalkeeper positioning. Consider adding a check to ensure defenders are within a reasonable y-distance from the ball before including them in the calculation.

[Copilot]

The new goalkeeper logic that determines when to adjust stop_y based on defender positions is not covered by tests. Given that this code handles critical defensive positioning and includes conditional logic for different team orientations, it should have test coverage to verify behavior for both game.my_team_is_right = True and False cases. Following the pattern seen in utama_core/tests/skills/test_find_best_shot.py, consider adding similar tests for this functionality.

[Copilot]

The condition checks if the ball will reach within the goal frame (between -0.5 and 0.5 y-coordinate) at the baseline. However, the logic only triggers defensive movement if this condition is true. This means that if the ball trajectory predicts it will miss the goal (outside the -0.5 to 0.5 range), the defender won't attempt to block it, even if the ball might be deflected or if the prediction is uncertain. Consider whether defenders should still maintain blocking positions for near-misses or add a margin to the goal frame check.

Suggested change

	if (
	vel[0] ** 2 + vel[1] ** 2 > 0.05
	and (ball_y_at_baseline is not None and ball_y_at_baseline[1] < 0.5 and ball_y_at_baseline[1] > -0.5)
	and (
	goal_margin = 0.1
	if (
	vel[0] ** 2 + vel[1] ** 2 > 0.05
	and (
	ball_y_at_baseline is not None
	and -0.5 - goal_margin < ball_y_at_baseline[1] < 0.5 + goal_margin
	)
	and (

[Copilot]

The new conditional logic that determines when defenders should move to block shots lacks test coverage. This code includes multiple complex conditions (ball velocity, predicted positions, distance thresholds) and has a critical bug in the vector calculation (line 84). Tests should verify the defender behavior in various scenarios: balls moving toward goal, balls moving away from goal, balls at different velocities, and defenders at different positions. Following the pattern in utama_core/tests/skills/test_find_best_shot.py, consider adding comprehensive test coverage.