Basic defense play #1671
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Basic defense play #1671
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kfu02
commented
Jun 17, 2021
| @@ -9,11 +9,11 @@ | |||
| from typing import Dict, Generic, Iterator, List, Optional, Tuple, Type, TypeVar | |||
| import numpy as np | |||
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this file is identical to the file merged into ros2 recently by #1661, shows here bc I ran make pretty-lines
| @@ -46,7 +45,8 @@ def __init__(self, | |||
| self.root.setup_with_descendants() | |||
| self.__name__ = 'move skill' | |||
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| def tick(self, robot: rc.Robot, world_state: rc.WorldState): #returns dict of robot and actions | |||
| def tick(self, robot: rc.Robot, | |||
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again, make pretty-lines the only changes here
HussainGynai
suggested changes
Jun 19, 2021
kfu02
commented
Jun 19, 2021
| @@ -0,0 +1,38 @@ | |||
| """This module contains the interface and action for intercept.""" | |||
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Broken intercept, not sure if it's motion planning side or here. Feel free to skip for now since it's not used.
| @@ -0,0 +1,52 @@ | |||
| from abc import ABC, abstractmethod | |||
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again, intercept isn't used because it's broken, feel free to skip
| @@ -18,30 +18,33 @@ | |||
| from stp.utils.constants import RobotConstants, BallConstants | |||
| import stp.global_parameters as global_parameters | |||
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| MIN_WALL_RAD = None | |||
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the only changes to this file from what's in #1661 are from make pretty-lines, skip this too
1 task
HussainGynai
suggested changes
Jun 20, 2021
Yudai-8-om
reviewed
Jun 20, 2021
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Description
There's a surprising amount of new stuff here:
world_state.game_info.goalie_id)Steps to test
FIRST: Change the number of robots to 6. This can be done by clicking on grSim, then in the left menu finding Game > Robots Count and changing the count to 6. (If you can't see the current number, scroll to the right.)
Test Case 1
(This is set off of the
/referee/goalie_idtopic; you can check rqt to confirm that they match.)Test Case 2
Expected result:
Test Case 3
play/basic_defense.py(to disable the wall).Expected result:
This last test case is the most likely to fail, since I essentially hacked around the non-working intercept motion command with my own move to point command.
Test Case 4
Expected result: