Better defence, goalie and supporter positions by ayin21 · Pull Request #925 · bit-bots/bitbots_main

ayin21 · 2026-06-19T21:32:25Z

TBD, small proof of concept:

Checklist

jaagut · 2026-06-20T07:47:48Z

How did you get this image?

Flova · 2026-06-20T08:46:55Z

I vibe coded a simple GUI to interactively test the function that generates the placement.

This is the script I added in this pr. It is not ready yet.

…ngle robot that plays as striker)

…our)

Flova · 2026-06-23T16:11:24Z

+            width=parameters["field.size.y"],
+            goal_width=parameters["field.goal.width"],
+        )
+        self._params = Params()


Ideally we want to load theses parameters from the behavior config file (or a separate one, as the current one is pretty large as it is).

Flova · 2026-06-23T16:14:21Z

+
+        roles = []
+        if n >= 1:
+            roles.append("striker")


We might want to use a proper enum instead of strings

Flova · 2026-06-23T16:23:42Z

+
+    @cached_capsule_function
+    def get_formation_assignment(self) -> dict:
+        ballPose = self._blackboard.world_model.get_best_ball_point_stamped()


Maybe we should have separate functions for the team ball and "own ball" detection. Because we definitely want to use the team ball here.

Flova · 2026-06-23T16:36:10Z

                poses.append(data.robot_position.pose)
        return poses

+    def quaternion_to_yaw(self, q) -> float:


Specify the quaternion notation xyzw vs wxyz and maybe move/check but it's utils for these functions.

Flova · 2026-06-23T18:58:52Z

-                FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_first
-                SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
-                THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
+            YES --> $RankToBallWithGoalie


I don't think this selection is necessary anymore. Everyone should just go to their placement position and stand there if it was reached.

i will take a closer look there once we have discussed how to handle set play situations with the new positioning capsule, got a view ideas there

Flova · 2026-06-23T18:59:59Z

Only the striker should search the ball. The others should go to the role position.

Flova · 2026-06-23T19:03:08Z

-                    FIRST --> #StrikerRole
-                    SECOND --> #SupporterRole
-                    THIRD --> #DefensePositioning
+        YES --> $RankToBallWithGoalie


I think the only really useful destinction here is striker, supporter, defender, goalie (maybe). We can probably do the same placement strategy for the goalie and and defenders and we are not limited in the number of defenders that way.

The striker needs special handling because it wants to kick if it reached its goal position. The supporter wants to track the ball if the striker is kicking and needs special handling for that and the others just go to their positions to stand in the way.

Flova · 2026-06-23T19:09:28Z

-                    SECOND --> #SupporterRole
-                    THIRD --> #DefensePositioning
+        YES --> $RankToBallWithGoalie
+            STRIKER --> #StrikerRole


The striker role needs to be reworked to position itself using the new striker placement.

Flova · 2026-06-23T21:16:24Z

Also adapt the capsule/ gui so we can do headless tests of the placement function without the software stack. Currently the function is duplicated.

Also probably some denouncing/hysteresis is needed. I would add it to the capsule as this needs to be global state. Just store if we have changed our role in the last x seconds and if did we want to stick with it. This prevents flickering behavior. The x can be randomly selected from a configurable range (0-1 sec for example).

Signed-off-by: Florian Vahl <florian@flova.de>

Flova · 2026-07-01T01:31:58Z

                poses.append(data.robot_position.pose)
        return poses
+
+    def get_index_of_passive_player(self) -> int:


There can be multiple players that send a passive msg (either by accident or intentionally) and we need to handle it. Because we designed passive to be relatively independent of the specific behavior I could imagine situations with multiple passive robots and I would expect it to still work if I set two robots to passive. On addition to that we might need explicit handling for our own robots passive flag. I don't know if it is included here.

Also the robots habe IDs. Index might be confusing and lead to people expecting it being continuous.

Flova · 2026-07-02T12:44:02Z

-                SUPPORTER --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
-                GOALIE --> @GoToGoaliePosition
-                ELSE --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToFormationPosition
+    DONE -->  $ReachedAndAlignedToPathPlanningGoalPosition + threshold:0.2 + latch:true


We need to send at least one goal with a do once before we can check this. To simiplify things we could also modify goToFormationPostion to send a stop command if we are close enough in position and orientation (controlled by a parameter)

Flova · 2026-07-02T12:44:23Z

 #NormalBehavior
 $SecondBallTouchAllowed
-    NO --> @SetNoSecondBallContactVariable + value:false + r:false, @LookAtFieldFeatures + r:false, @ChangeAction + action:passive + r:false, @AvoidBallActive + r:false, @GoToFormationPosition + blocking:true 
+    NO --> $ReachedAndAlignedToPathPlanningGoalPosition + threshold:0.2 + latch:true


Flova · 2026-07-02T12:44:38Z

-                DEFENDER --> @LookAtFieldFeatures, @ChangeAction + action:positioning, @GoToFormationPosition
                SUPPORTER --> #SupporterRole
-                ELSE --> @LookAtFieldFeatures, @ChangeAction + action:positioning, @GoToFormationPosition
+                ELSE --> $ReachedAndAlignedToPathPlanningGoalPosition + threshold:0.2 + latch:true


Flova · 2026-07-02T12:44:55Z

            <geom name="head_pitch_link_collision0" class="collision" pos="0.026 0 0.055" type="box" size="0.05 0.055 0.0225"/>
            <body name="camera_link" pos="0.048925 0.0053519 0.058472">
              <inertial pos="0.00963743 0.00075253 0.00058537" quat="0.70738 0.706786 0.00245222 0.00788061" mass="0.0584" diaginertia="7.26043e-05 7.249e-05 5.51563e-06"/>
+              <camera name="head_camera" focalpixel="362.6533508300781 362.6533508300781" resolution="672 376" sensorsize="672 376" pos="0.03 0.024 0.0" xyaxes="0.0 -1.0 0.0 0.5 0.0 0.866"/>


What changed with the cam?

Signed-off-by: Florian Vahl <florian@flova.de>

…ts_main into feature/better_assignment

Signed-off-by: Florian Vahl <florian@flova.de>

ayin21 added 3 commits June 19, 2026 20:55

Forward correct image topics

e74145f

Make robots black

5c21291

Add example script for formation calc

6cd3000

github-project-automation Bot added this to Software Jun 19, 2026

github-project-automation Bot moved this to 🆕 New in Software Jun 19, 2026

ayin21 marked this pull request as draft June 19, 2026 21:32

ayin21 moved this from 🆕 New to 🏗 In progress in Software Jun 19, 2026

ayin21 added enhancement New feature or request behavior labels Jun 19, 2026

cleWu03 added 5 commits June 21, 2026 16:13

basic creation of positioning_capsule

1ced7f6

connect positioning capsule with behaviour (example for defender)

61bf6e7

fix some type errors and run format (now works in simulation for a si…

4fa2aed

…ngle robot that plays as striker)

test integration of different roles in simulation (only normal behavi…

eca2b97

…our)

add x any pos slider to rqt data sim

775da12

cleWu03 requested a review from Flova June 23, 2026 07:19

Flova reviewed Jun 23, 2026

View reviewed changes

Flova and others added 11 commits June 29, 2026 16:18

Use events executor for rviz markers

842adfd

Signed-off-by: Florian Vahl <florian@flova.de>

Isolate placement test script

43c6e31

Signed-off-by: Florian Vahl <florian@flova.de>

Delete redundant file

49ed7aa

Signed-off-by: Florian Vahl <florian@flova.de>

Add freekick mode

6d616d6

Signed-off-by: Florian Vahl <florian@flova.de>

Apply PR feedback

251a18d

Signed-off-by: Florian Vahl <florian@flova.de>

Add typing

9002998

Signed-off-by: Florian Vahl <florian@flova.de>

Apply format

49d519a

improved dsd based on comments in PR (not testet for building)

eaaf36d

integrate positioning capsule changes in main dsd

bfbf3c7

rqt add ball pose publish

3fc4e2c

add @ in dsd go tos

28dbf2e

change freekick param name and add function to set it

ab88f08

Flova self-requested a review July 1, 2026 01:28

Flova requested changes Jul 1, 2026

View reviewed changes

cleWu03 added 8 commits July 1, 2026 10:56

fixes sim errors

2ef42fe

this as well

b9bfea2

remove wrong log

104cea8

add own action to get passive

b6b222d

some more dsd fixes

ee12f90

Merge main to get the newest simulator stuff for testing

c09ac88

check for alingnement with goalPose to stop moving on place

1b03218

fix for communicated actions

5190a13

Flova reviewed Jul 2, 2026

View reviewed changes

cleWu03 and others added 17 commits July 3, 2026 10:05

quick save continue in formation position

09a1641

add reached goal logic to go to formation

d86cc96

Fix small regressions

e10883c

rewrite action

fa5e0ce

Fix various issues with GoToFormationPosition

9ddf72d

Merge branch 'main' into feature/better_assignment

bedf8e9

Remove Init Animation

5551f44

update passiv action for multiple players (Needs to be tested!)

94408f2

Remove old goto targets

85c0aaa

Signed-off-by: Florian Vahl <florian@flova.de>

Remove hysteresis and add set play formation

93cd9c4

Signed-off-by: Florian Vahl <florian@flova.de>

Adapt and fix the behavior

7c664c7

Signed-off-by: Florian Vahl <florian@flova.de>

Fix set play in gui

5cf3bab

Signed-off-by: Florian Vahl <florian@flova.de>

Fix seperation during complex / crowded set play situations

eeed157

Signed-off-by: Florian Vahl <florian@flova.de>

Merge branch 'feature/better_assignment' of github.com:bit-bots/bitbo…

a3f9344

…ts_main into feature/better_assignment

Apply format

8b63646

Signed-off-by: Florian Vahl <florian@flova.de>

Fix passive robots

9a3099b

Signed-off-by: Florian Vahl <florian@flova.de>

Adapt gui to model passive robots during assignment

bcfdbb2

Signed-off-by: Florian Vahl <florian@flova.de>

Uh oh!

Conversation

ayin21 commented Jun 19, 2026 • edited by Flova Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Checklist

Uh oh!

jaagut commented Jun 20, 2026

Uh oh!

Flova commented Jun 20, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Flova commented Jun 23, 2026

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

4 participants

ayin21 commented Jun 19, 2026 •

edited by Flova

Loading

Flova commented Jun 20, 2026 •

edited

Loading