From 4bade0be42d38f745b1f51cbed01646b4e5f9c53 Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Sat, 24 Jan 2026 16:43:23 +0000 Subject: [PATCH 1/2] Initial plan From f7f0851c9038088c133bb9ee67fa2d4f5546a04c Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Sat, 24 Jan 2026 16:45:54 +0000 Subject: [PATCH 2/2] Fix hardcoded goal x-coordinates in defend_parameter.py Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> --- utama_core/skills/src/defend_parameter.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/utama_core/skills/src/defend_parameter.py b/utama_core/skills/src/defend_parameter.py index b78ec7f8..1edd5309 100644 --- a/utama_core/skills/src/defend_parameter.py +++ b/utama_core/skills/src/defend_parameter.py @@ -22,10 +22,10 @@ def defend_parameter( vel = game.ball.v.to_2d() if len(game.friendly_robots) > 2: if game.ball.p.y >= -0.5 and robot_id == 1: - target_pos = [3.0, -1.2] + target_pos = [3.0 if game.my_team_is_right else -3.0, -1.2] return go_to_point(game, motion_controller, robot_id, Vector2D(target_pos[0], target_pos[1])) elif game.ball.p.y < -0.5 and robot_id == 2: - target_pos = [3.0, 1.2] + target_pos = [3.0 if game.my_team_is_right else -3.0, 1.2] return go_to_point(game, motion_controller, robot_id, Vector2D(target_pos[0], target_pos[1])) if robot_id == 1: goal_frame = 0.5 @@ -62,13 +62,13 @@ def distance(x1, y1, x2, y2): return x3, y3, x4, y4 if vel[0] ** 2 + vel[1] ** 2 > 0.05: - x2, y2 = 4.5, goal_frame + 0.2 if robot_id == 1 else goal_frame - 0.2 + x2, y2 = 4.5 if game.my_team_is_right else -4.5, goal_frame + 0.2 if robot_id == 1 else goal_frame - 0.2 x3, y3, x4, y4 = positions_to_defend_parameter(x2, y2) target_pos = np.array([x4, y4]) else: robot_rad = 0.09 - x2, y2 = 4.5, -goal_frame + x2, y2 = 4.5 if game.my_team_is_right else -4.5, -goal_frame x3, y3, x4, y4 = positions_to_defend_parameter(x2, y2) vec_to_target = np.array( [