Fix/defence algo - #119

Merged

energy-in-joles merged 154 commits into

mainfrom

fix/defence-algo

Jun 4, 2026

Commits on Nov 26, 2025

feat: referee support in rsim
isaac0804
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9720dc1
hotfix: self.name bug
isaac0804
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4cff935

Commits on Feb 18, 2026

Merge branch 'main' into referee_integration
isaac0804
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ac7ffb0
feat: receive complete referee data and use it in strategy runner
isaac0804
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3f6b0d9
feat: referee command nodes and test
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27850b1

Commits on Mar 13, 2026

fix: make RefereeData.__eq__ actually override tuple equality; fix test bugs

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ec2558b
merge: resolve conflicts from main into referee_integration

isaac0804
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08af954

Commits on Mar 29, 2026

improved some defence interactions + added new tests
fred-huang122
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ed5a176

Commits on Mar 31, 2026

Add custom referee integration and profile rename
isaac0804
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769a8a6
Fix referee runner startup and keep-out behavior
isaac0804
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5c0b05a
Scale referee actions with field geometry
isaac0804
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626ef22
Fix referee restart progression and clearance
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d4adaeb
Fix custom referee demo wiring and status messages
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a0b120d
Show referee source details in live status
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2250a92

Commits on Apr 3, 2026

Add referee behaviour integration tests and unit test coverage

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5d757c1
Use public Field class properties instead of private constants

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b683f39
Default headless=True, skip ball teleport when placement pending, document future work

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f6f1297
Document end-to-end ball placement test as future work

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aa4974a
Remove advanced controls (penalty & ball placement) from referee GUI

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15aa391
Add three future work items to referee integration docs

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c148b34

Commits on Apr 7, 2026

Fix three bugs identified in Copilot review

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cb6b176
Update utama_core/custom_referee/state_machine.py

isaac0804
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Copilot
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5282cc2
Address second round of Copilot review comments

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cc1b187

Commits on Apr 8, 2026

chore: cleanup
fred-huang122
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da75567
Merge remote-tracking branch 'origin/main' into fix/defence-algo
fred-huang122
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6694f39

Commits on Apr 14, 2026

fix: stage_time_left now updates every frame in RefereeRefiner

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9d6b8ea
fix: increase BALL_KEEP_OUT_DISTANCE to 0.8 m to prevent restart violation loop

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6c265ab
Merge origin/main into referee_integration

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3125309
fix: adapt referee code to FieldDimensions API and arbitrary field sizes

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2040685
fix: use own-half fallback direction when robot is coincident with ball

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3d170b8
feat: make StrategyRunner the single source of truth for referee geometry

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04288e5
refactor: remove RefereeGeometry.from_standard_div_b()

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fe1c490
refactor: rename half_defense_length → half_defense_depth in RefereeGeometry

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82051b9

Commits on Apr 15, 2026

fix: remove dead CLEARANCE_FALLBACK_DIRECTION and fix _clear_to_legal_positions

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4869ca9
fix: exclude PREPARE_KICKOFF/PENALTY from keep-out rule to prevent sequence resets

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d6f4f11
Revert "fix: exclude PREPARE_KICKOFF/PENALTY from keep-out rule to prevent sequence resets"
isaac0804
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b3a02bd
fix: clear encroaching robots from current position, not formation target

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3bb31bc
fix: use BALL_KEEP_OUT_DISTANCE in _ensure_outside_center_circle

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ea33066

Commits on Apr 16, 2026

fix: address Copilot review issues in referee code and docs

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386dd94
fix: address Copilot review issues in referee actions and tests

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ea8514b
fix: keep RefereeRefiner properties current when deduplication skips a record

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530cd0b
docs: rename half_defense_length → half_defense_depth in all docs

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7707973
docs: remove non-existent exhibition.yaml from file structure

isaac0804
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e5f381b

Commits on May 10, 2026

Merge branch 'main' into referee_integration
energy-in-joles
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aceeb8e
bug fix for pytest and add referee example in main
energy-in-joles
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0c65a12
fix(defense): make keeper and defender geometry radius-aware
fred-huang122
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a54dcd8
Fix graceful SIGINT shutdown under pixi
fred-huang122
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4884c3f
Update Pixi environment configuration
fred-huang122
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8c71661
Merge branch 'main' into fix/defence-algo
fred-huang122
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aeaf5f6
Fix FPP no-render path and point cycle API
fred-huang122
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03ee40a
Fix FPP nullable RSim env typing
fred-huang122
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cc6e0f8

Commits on May 15, 2026

fix: use game.ts as referee timebase instead of wall clock

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82e80a2
fix(#107): suppress Kalman ghost tracking during robot substitution

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69b96e0
Revert "fix(#107): suppress Kalman ghost tracking during robot substitution"
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3cc2ee8
fix: address Copilot review issues in main.py and referee tree dispatchers

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d89a3af
fix: make DefenseAreaRule color-aware for symmetric enforcement

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2e65361
fix: cache last RefereeData so GameFrame.referee stays populated between packets

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6db9d49

Commits on May 16, 2026

fix: address Copilot review issues in referee tree dispatchers and penalty docstrings

isaac0804
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0a1e912

Commits on May 17, 2026

fix: prevent keep-out violations and defense-area infinite loop

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60b7c52
fix: seed _prepare_entered_time in set_command() for direct PREPARE_* commands

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b317811

Commits on May 18, 2026

refactor: replace referee_system+custom_referee args with typed RefereeSource union

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56b20a9
feat: add center_circle_radius to FieldDimensions

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4104b95
refactor: replace hardcoded geometry fallbacks with STANDARD_FIELD_DIMS references

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58fd7e1
refactor: remove dead initial_command and initial_time params from GameStateMachine

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bdbe130
refactor: remove GameTracer from referee_integration branch

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7502472
fix: address Copilot review issues — timebase mismatch and center_circle_radius validation

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7b95ae8
fix: snapshot TeamInfo per packet to prevent retroactive history mutation

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d689b5d

Commits on May 19, 2026

Commits on May 20, 2026

referee should be using FieldDimensions only
energy-in-joles
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98e41ee
tighten docs
energy-in-joles
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7aae73d
Potential fix for pull request finding

energy-in-joles
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Copilot
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b64e4db
Potential fix for pull request finding

energy-in-joles
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Copilot
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25d660d
update docs
energy-in-joles
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f7b9204

Commits on May 23, 2026

implement mapping
energy-in-joles
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e2ce95f
Merge branch 'main' into real_mapping
energy-in-joles
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e446948
remove automatic id increment
energy-in-joles
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2c5551b
Potential fix for pull request finding

energy-in-joles
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Copilot
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7d2bebf
check for duplication of cmd ids
energy-in-joles
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f07f01f
prevent double saving duplicaterobot responses
energy-in-joles
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278c940
fix mapping logic
energy-in-joles
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e206914
Potential fix for pull request finding

energy-in-joles
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Copilot
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dbb13c9
fix robot response pulling
energy-in-joles
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b267ce2
Merge branch 'real_mapping' of https://github.com/First-Order-RoboCup-SSL/Utama-Core into real_mapping
energy-in-joles
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4c39664
Potential fix for pull request finding

energy-in-joles
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Copilot
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2ed3a53
fix unbound reference
energy-in-joles
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7be21ba
move self.opp
energy-in-joles
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c804a28
migrate mapping logic to strat runner for get_robot_responses
energy-in-joles
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ebf7d4e
change erro to warning
SSL_Linux_Laptop
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8374db1

Commits on May 30, 2026

fix: address 6 open Copilot inline review comments in real mapping
isaac0804
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5e8ca10
fix: follow-up review fixes in real mapping
isaac0804
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fedda8a
Potential fix for pull request finding

energy-in-joles
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Copilot
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900581b
add test cases for new checks
energy-in-joles
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ccf061f
Potential fix for pull request finding

energy-in-joles
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Copilot
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a57f386
Potential fix for pull request finding

energy-in-joles
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Copilot
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bcd1c10

Commits on May 31, 2026

feat: per-robot IR sensor trust list with vision-proximity fallback

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fe2ddc0
feat: leaky-bucket dribbler thermal limiter in RealRobotController

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bdae22b
refactor: switch dribbler thermal limiter from steps to wall-clock seconds

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f81c274
fix: warning spam, hysteresis, and heat telemetry for dribbler limiter

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f7c19d5
feat: migrate hardware test demos and strategies from robot-hardware-tests

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9913e45
fix: address Fred's review comments on PR #123

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f2915f5
fix: address Fred's second-round review comments

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55aef7b
fix: update placement strategy tests for 3x3 grid and fix arrival tolerance

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1edcad1

Commits on Jun 1, 2026

Add public rSim scenario hooks
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bbb29a5
Enforce blackboard contracts in behaviour setup
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d7deaf7

Commits on Jun 2, 2026

Merge branch 'main' into fix/defence-algo
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a9c57ef
Merge branch 'feat/llm-rsim-scenario-hooks' into fix/defence-algo
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083ac7c
fix: track ball y with lone goalkeeper fallback
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ac72805

Commits on Jun 3, 2026

Reset strategy on referee stoppages
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2b1d9b2
Make out-of-bounds restarts playable
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82ae188
Use startup strategy in core demo
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e8dc8b9
feat: muted colour palette and grouped ghost-style buttons in GUI
isaac0804
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35d8545
Revert "feat: muted colour palette and grouped ghost-style buttons in GUI"
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4d34d06
Revert "feat: redesign GUI to 2x2 quadrant layout with field filling top-left"
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0b1de08
feat: restore 2x2 quadrant layout with original colour scheme
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adc046a
feat: add goal_depth to FieldDimensions and propagate to RefereeGeometry and RSim renderer
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63c2744
feat: add ball placement entry point, strategy skeleton, and tests

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6a58139
fix: finish the ball_placement

NingchuanIC
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cd413fd
init demp

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b5b74df
take the free kick

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f3e8233
success sow the demo

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6c2c746
finish the ball placement

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test: tighten ball placement rsim tests and add placer selection coverage

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855da02
feat: add god mode to referee GUI for manual ball placement testing

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b7124d3
fix: update direct free kick tests broken by ball-placement-first routing

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3544775
feat: pivot around ball using turn_on_spot during ball placement carry

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2d1c7f6
fix: address 4 P2 review comments from fred

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b664c73
fix: test_placer_moves_toward_designated_position robot start position

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96a1660
fix: address 2 new P2 review comments from fred

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f6edabe
Add vision-to-firmware ID mapping to demo_ball_placement_real
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b503908
fix: approach ball with back facing it for back-mounted kicker
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9fe7852
Filter vision detections to roster defined by vision→cmd mapping
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1fa9dbc

Commits on Jun 4, 2026