Default params for get formations

utama_core/config/formations.py

@@ -4,7 +4,7 @@
 
 import numpy as np
 
-from utama_core.config.field_params import FieldBounds, FieldDimensions
+from utama_core.config.field_params import FieldBounds
 from utama_core.config.physical_constants import MAX_ROBOTS, ROBOT_RADIUS
 from utama_core.global_utils.math_utils import normalise_heading
 
@@ -136,19 +136,19 @@ def _validate_team_separation(left, right):
 
 def get_formations(
     bounds: FieldBounds,
-    n_right: int,
-    n_left: int,
-    formation_type: FormationType,
+    n_right: int = MAX_ROBOTS,
+    n_left: int = MAX_ROBOTS,
+    formation_type: FormationType = FormationType.START_ONE,
 ) -> tuple[list[FormationEntry], list[FormationEntry]]:
     """
-    Returns the starting formations for both teams based on the provided field dimensions.
+    Returns the starting formations for both teams based on the provided FieldBounds.
     The formations are defined as lists of FormationEntry objects, which contain the x and y coordinates
 
     Args:
         bounds: FieldBounds object defining the top-left and bottom-right corners of the field.
-        n_right: Number of robots on the right team.
-        n_left: Number of robots on the left team.
-        formation_type: The type of formation to generate (e.g., START_ONE).
+        n_right: Number of robots on the right team. Default is MAX_ROBOTS.
+        n_left: Number of robots on the left team. Default is MAX_ROBOTS.
+        formation_type: The type of formation to generate (e.g., START_ONE). Default is FormationType.START_ONE.
 
     Returns:
         tuple[list[FormationEntry], list[FormationEntry]]: A tuple containing two lists of FormationEntry objects.

utama_core/rsoccer_simulator/src/ssl/envs/standard_ssl.py

@@ -5,7 +5,7 @@
 from numpy.random import normal
 
 from utama_core.config.field_params import STANDARD_FIELD_DIMS, FieldDimensions
-from utama_core.config.formations import FormationEntry, FormationType, get_formations
+from utama_core.config.formations import FormationEntry, get_formations
 from utama_core.config.robot_params import RSIM_PARAMS
 from utama_core.config.settings import (
     MAX_BALL_SPEED,
@@ -121,7 +121,6 @@ def __init__(
                 STANDARD_FIELD_DIMS.full_field_bounds,
                 n_right=n_robots_yellow,
                 n_left=n_robots_blue,
-                formation_type=FormationType.START_ONE,
             )
 
         # Ball start position is expressed in normal field coordinates used by

utama_core/run/strategy_runner.py

@@ -13,7 +13,7 @@
 
 from utama_core.config.enums import Mode, mode_str_to_enum
 from utama_core.config.field_params import STANDARD_FIELD_DIMS, FieldDimensions
-from utama_core.config.formations import FormationType, get_formations
+from utama_core.config.formations import get_formations
 from utama_core.config.physical_constants import MAX_ROBOTS
 from utama_core.config.settings import (
     FPS_PRINT_INTERVAL,
@@ -351,7 +351,6 @@ def _load_sim(
             bounds=self.field_bounds,
             n_right=self.exp_friendly if self.my_team_is_right else self.exp_enemy,
             n_left=self.exp_enemy if self.my_team_is_right else self.exp_friendly,
-            formation_type=FormationType.START_ONE,
         )
 
         yellow_start, blue_start = map_left_right_to_colors(

utama_core/strategy/examples/startup_strategy.py

@@ -2,10 +2,8 @@
 from py_trees.composites import Sequence
 
 from utama_core.config.field_params import STANDARD_FIELD_DIMS
-from utama_core.config.formations import FormationType, get_formations
-from utama_core.config.physical_constants import MAX_ROBOTS
+from utama_core.config.formations import get_formations
 from utama_core.entities.data.vector import Vector2D
-from utama_core.global_utils.math_utils import compute_bounding_zone_from_points
 from utama_core.skills.src.go_to_point import go_to_point
 from utama_core.strategy.common import AbstractBehaviour, AbstractStrategy
 
@@ -14,12 +12,7 @@ def generate_starting_positions(is_right_team: bool):
     """
     Generate starting and target formations based on team side.
     """
-    right_formation, left_formation = get_formations(
-        STANDARD_FIELD_DIMS.full_field_bounds,
-        MAX_ROBOTS,
-        MAX_ROBOTS,
-        formation_type=FormationType.START_ONE,
-    )
+    right_formation, left_formation = get_formations(STANDARD_FIELD_DIMS.full_field_bounds)
     start_formation = right_formation if is_right_team else left_formation
     target_formation = start_formation.copy()
     target_formation.reverse()

utama_core/tests/strategy_runner/test_grsim_sim_setup.py

@@ -1,6 +1,6 @@
 from unittest.mock import patch
 
-from utama_core.config.formations import FormationType, get_formations
+from utama_core.config.formations import get_formations
 from utama_core.entities.game.field import FieldBounds
 from utama_core.global_utils.mapping_utils import (
     map_friendly_enemy_to_colors,
@@ -87,7 +87,6 @@ def test_grsim_spawn_positions_and_ball_use_field_bounds_center():
         bounds=bounds,
         n_right=exp_enemy,
         n_left=exp_friendly,
-        formation_type=FormationType.START_ONE,
     )
     expected_yellow, expected_blue = map_left_right_to_colors(
         my_team_is_yellow,

utama_core/tests/strategy_runner/test_rsim_formations.py

@@ -4,7 +4,7 @@
 import pytest
 
 from utama_core.config.field_params import GREAT_EXHIBITION_FIELD_DIMS
-from utama_core.config.formations import FormationType, get_formations
+from utama_core.config.formations import get_formations
 from utama_core.entities.game.field import FieldBounds
 from utama_core.global_utils.mapping_utils import map_left_right_to_colors
 from utama_core.run.strategy_runner import StrategyRunner
@@ -85,7 +85,6 @@ def test_rsim_formation_allocation_and_spawn_positions(
         bounds=runner.field_bounds,
         n_right=n_friendly if team_on_right else n_enemy,
         n_left=n_enemy if team_on_right else n_friendly,
-        formation_type=FormationType.START_ONE,
     )
     expected_yellow, expected_blue = map_left_right_to_colors(
         team_is_yellow,