Fix/goalkeeping

[maimaicircle]

The branch makes progress in the algorithm of defend_parameter.py, creatively coming up with an idea to defend the ball via perpendicularly cut-off, instead of the basic moving along the lines only. The algorithm manages to improve the use of the defender friends' robots, and also helps to decrease the stress of the goalkeeper. Now the two defenders and the goalkeeper work together for defense. Instead of working individually, the new defend_parameter algorithm attenuates the probability of the failure to manage resources comprehensively.

[Copilot]

Pull request overview

This PR implements improvements to the defensive algorithm in robot soccer, introducing a perpendicular cut-off strategy for defenders and enhanced coordination between defenders and the goalkeeper.

Changes:

• Modified goalkeep.py to calculate goalkeeper positioning based on defender positions using line intersection geometry
• Added goal_keep.py containing the previous defender algorithm implementation
• Completely rewrote defend_parameter.py with a new perpendicular interception algorithm
• Added math import to standard_ssl.py

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 21 comments.

File	Description
utama_core/skills/src/goalkeep.py	Updated goalkeeper positioning to coordinate with defenders using intersection calculations; removed ball possession handling logic
utama_core/skills/src/goal_keep.py	New file containing the old defend_parameter implementation; appears to be unused dead code
utama_core/skills/src/defend_parameter.py	Complete rewrite implementing perpendicular ball interception strategy with hardcoded field positions
utama_core/rsoccer_simulator/src/ssl/envs/standard_ssl.py	Added unused math import

[Copilot]

The intersection_with_vertical_line function doesn't consider the my_team_is_right parameter. The x_line default value of 4.5 is hardcoded and will be incorrect when defending the left goal.

[Copilot]

The hardcoded value 4.5 assumes the team is always defending the right goal. This will produce incorrect behavior when my_team_is_right is False. Similar to goalkeep.py, this should use game.my_team_is_right to determine the correct x-coordinate.

[NingchuanIC]

@copilot open a new pull request to apply changes based on this feedback

[Copilot]

The removed code previously handled the case when the goalkeeper has possession of the ball by moving to a clear position and kicking. This logic is now completely absent from the goalkeep function. Without this, the goalkeeper may not properly clear the ball when it gains possession, which could lead to defensive failures.

Suggested change

	):
	):
	# Determine if the goalkeeper effectively has possession of the ball.
	# In the absence of an explicit possession flag, approximate it by proximity.
	keeper = game.friendly_robots[robot_id]
	ball = game.ball
	distance_to_ball = np.hypot(keeper.p.x - ball.p.x, keeper.p.y - ball.p.y)
	# If very close to the ball, clear it toward a safer area away from our own goal.
	if distance_to_ball < 0.1:
	if game.my_team_is_right:
	# Our goal is on the right; clear toward the left half.
	clear_target = Vector2D(-3.0, 0.0)
	else:
	# Our goal is on the left; clear toward the right half.
	clear_target = Vector2D(3.0, 0.0)
	return go_to_point(
	game,
	motion_controller,
	robot_id,
	clear_target,
	dribbling=False,
	)

[Copilot]

The function assumes game.ball.v is not None and has a valid to_2d() method. If the ball velocity is None or invalid, this will cause an AttributeError. Consider adding a None check before accessing ball velocity.

Suggested change

	vel = game.ball.v.to_2d()
	ball_v = game.ball.v
	if ball_v is None:
	vel = np.array([0.0, 0.0])
	else:
	vel = ball_v.to_2d()

[Copilot]

The conditions check for exactly 2 or 3 friendly robots, but don't handle the case when there are more than 3 robots. In such cases, stop_y would remain 0.0, but the calculation would still reference game.friendly_robots[1] and potentially game.friendly_robots[2], which may not represent defenders. Consider handling the case when len(game.friendly_robots) > 3.

[NingchuanIC]

@copilot open a new pull request to apply changes based on this feedback

[Copilot]

Import of 'face_ball' is not used.
Import of 'move' is not used.

[NingchuanIC]

@copilot open a new pull request to apply changes based on this feedback

[Copilot]

@NingchuanIC I've opened a new pull request, #96, 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, #97, 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, #98, 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, #99, 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, #100, to work on those changes. Once the pull request is ready, I'll request review from you.