Utama-Core/demo_ball_placement.py at f3324bf83efdd4aa81cc59ab54299c50273072b3 · First-Order-RoboCup-SSL/Utama-Core · GitHub

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"""demo_ball_placement.py — Entry point for the ball placement feature.

Run:
    pixi run python demo_ball_placement.py
    # RSim window opens; open http://localhost:8080 in a browser

What this sets up
-----------------
- Exhibition Road field (4 m × 3 m, ``GREAT_EXHIBITION_FIELD_DIMS``)
- 2v2 format: two yellow robots (your team) vs two blue robots that
  deliberately push the ball out once per side, then attack the yellow goal
- CustomReferee pre-configured with:
    - Goal detection enabled (issues PREPARE_KICKOFF → NORMAL_START cycle)
    - Out-of-bounds enabled (issues STOP → BALL_PLACEMENT_YELLOW → DIRECT_FREE)
    - Defense area and keep-out rules OFF (less noise during development)
    - Auto-advance fully enabled so state transitions fire automatically —
      you can watch the full placement → free-kick → restart cycle without
      touching the GUI
- Browser GUI at http://localhost:8080 — use "Manual Commands" to fire
  BALL_PLACEMENT_YELLOW at any time and set the target position

Workflow
--------
1. Run this script and open http://localhost:8080.
2. Let the blue robots push the ball out of bounds, or use the GUI "Manual
   Commands" panel to issue BALL_PLACEMENT_YELLOW.
3. Watch one of your robots (yellow) drive to the ball, capture it with the
   dribbler, and carry it to the target circle shown in the GUI.
4. After the referee advances to NORMAL_START, yellow kicks once toward the
   configured blue robot target.
"""

from utama_core.config.field_params import GREAT_EXHIBITION_FIELD_DIMS
from utama_core.custom_referee import CustomReferee
from utama_core.custom_referee.profiles.profile_loader import (
    AutoAdvanceConfig,
    DefenseAreaConfig,
    GameConfig,
    GoalDetectionConfig,
    KeepOutConfig,
    OutOfBoundsConfig,
    RefereeProfile,
    RulesConfig,
)
from utama_core.run import StrategyRunner
from utama_core.strategy.examples.ball_placement_and_kick_strategy import (
    BallPlacementAndKickStrategy,
)
from utama_core.strategy.examples.deliberate_out_of_bounds_strategy import (
    DeliberateOutOfBoundsStrategy,
)

# ---------------------------------------------------------------------------
# Configuration
# ---------------------------------------------------------------------------

GUI_PORT = 8080
N_ROBOTS = 2
MY_TEAM_IS_YELLOW = True
MY_TEAM_IS_RIGHT = True


# ---------------------------------------------------------------------------
# Referee profile
#
# Out-of-bounds is the primary trigger for ball placement in a real game.
# Defense area and keep-out rules are disabled to reduce noise while you're
# developing the placement skill itself.
# ---------------------------------------------------------------------------

_BALL_PLACEMENT_PROFILE = RefereeProfile(
    profile_name="ball_placement_dev",
    rules=RulesConfig(
        goal_detection=GoalDetectionConfig(
            enabled=True,
            cooldown_seconds=1.0,
        ),
        out_of_bounds=OutOfBoundsConfig(
            enabled=True,
            free_kick_assigner="last_touch",
        ),
        defense_area=DefenseAreaConfig(
            enabled=False,
            max_defenders=1,
            attacker_infringement=False,
        ),
        keep_out=KeepOutConfig(
            enabled=False,
            radius_meters=0.3,
            violation_persistence_frames=30,
        ),
    ),
    game=GameConfig(
        half_duration_seconds=300.0,
        kickoff_team="yellow",
        force_start_after_goal=False,
        stop_duration_seconds=2.0,
        prepare_duration_seconds=3.0,
        kickoff_timeout_seconds=10.0,
        auto_advance=AutoAdvanceConfig(
            # All auto-advance enabled: state machine drives itself so you can
            # observe the full placement → free-kick → normal-start cycle.
            stop_to_next_command=True,
            prepare_kickoff_to_normal=True,
            prepare_penalty_to_normal=True,
            direct_free_to_normal=True,
            ball_placement_to_next=True,
            normal_start_to_force=True,
        ),
    ),
)

# ---------------------------------------------------------------------------
# Entry point
# ---------------------------------------------------------------------------


def main() -> None:
    referee = CustomReferee(
        _BALL_PLACEMENT_PROFILE,
        n_robots_yellow=N_ROBOTS,
        n_robots_blue=N_ROBOTS,
        enable_gui=True,
        gui_port=GUI_PORT,
    )

    runner = StrategyRunner(
        strategy=BallPlacementAndKickStrategy(),
        # Opponents create one out-of-bounds event per side, then attack yellow's goal.
        opp_strategy=DeliberateOutOfBoundsStrategy(field_dims=GREAT_EXHIBITION_FIELD_DIMS),
        my_team_is_yellow=MY_TEAM_IS_YELLOW,
        my_team_is_right=MY_TEAM_IS_RIGHT,
        mode="rsim",
        control_scheme="pid",
        exp_friendly=N_ROBOTS,
        exp_enemy=N_ROBOTS,
        full_field_dims=GREAT_EXHIBITION_FIELD_DIMS,
        referee=referee,
        show_live_status=True,
    )

    runner.run()


if __name__ == "__main__":
    main()