From 6f3646dc842d4f586dac0e421110426f67c7ff6c Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Sat, 24 Jan 2026 16:46:10 +0000
Subject: [PATCH 1/2] Initial plan


From 300348fbd07d85ee59c29088b1e1481f8511fd9f Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Sat, 24 Jan 2026 16:47:47 +0000
Subject: [PATCH 2/2] Remove dead code file goal_keep.py

Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com>
---
 utama_core/skills/src/goal_keep.py | 58 ------------------------------
 1 file changed, 58 deletions(-)
 delete mode 100644 utama_core/skills/src/goal_keep.py

diff --git a/utama_core/skills/src/goal_keep.py b/utama_core/skills/src/goal_keep.py
deleted file mode 100644
index ca060e98..00000000
--- a/utama_core/skills/src/goal_keep.py
+++ /dev/null
@@ -1,58 +0,0 @@
-from typing import Optional
-
-from utama_core.entities.data.command import RobotCommand
-from utama_core.entities.data.vector import Vector2D
-from utama_core.entities.game import Game
-from utama_core.motion_planning.src.common.motion_controller import MotionController
-from utama_core.rsoccer_simulator.src.ssl.envs.standard_ssl import SSLStandardEnv
-from utama_core.skills.src.go_to_point import go_to_point
-from utama_core.skills.src.utils.defense_utils import (
-    align_defenders,
-    find_likely_enemy_shooter,
-    to_defense_parametric,
-    velocity_to_orientation,
-)
-
-
-def goal_keep(
-    game: Game,
-    motion_controller: MotionController,
-    defender_id: int,
-    env: Optional[SSLStandardEnv] = None,
-) -> RobotCommand:
-    _, enemy, ball = game.friendly_robots, game.enemy_robots, game.ball
-    shooters_data = find_likely_enemy_shooter(enemy, ball)
-    orientation = None
-    tracking_ball = False
-
-    if not shooters_data:
-        target_tracking_coord = ball.p.to_2d()
-        if ball.v is not None and None not in ball.v:
-            orientation = velocity_to_orientation(ball.v.to_2d())
-            tracking_ball = True
-    else:
-        # TODO (deploy more defenders, or find closest shooter?)
-        sd = shooters_data[0]
-        target_tracking_coord = Vector2D(sd.p.x, sd.p.y)
-        orientation = sd.orientation
-
-    real_def_pos = game.friendly_robots[defender_id].p
-    current_def_parametric = to_defense_parametric(game, real_def_pos)
-    target = align_defenders(game, current_def_parametric, target_tracking_coord, orientation, env)
-    cmd = go_to_point(
-        game,
-        motion_controller,
-        defender_id,
-        target,
-        dribbling=True,
-    )
-
-    gp = (game.field.my_goal_line, 0)
-    if env:
-        env.draw_line(
-            [gp, (target_tracking_coord[0], target_tracking_coord[1])],
-            width=5,
-            color="RED" if tracking_ball else "PINK",
-        )
-
-    return cmd