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our_sideに相手ロボットが多いときPlayを切り替える #501

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Merged
ShotaAk merged 4 commits into from
Aug 11, 2025
Merged

our_sideに相手ロボットが多いときPlayを切り替える #501

ShotaAk merged 4 commits into from
Aug 11, 2025

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@agich073
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@agich073 agich073 commented Aug 8, 2025

概要

  • 相手ロボットの閾値分の台数以上が自陣に侵入してきたらPlayを切り替えるように変更しました。
  • 閾値は仮に5と置いています。

関連チケット

変更内容

  • 変更: consai_game/play/books/playbook_default.py
  • 変更: consai_game/play/factory/running_plays.py
  • 変更: consai_game/world_model/robot_activity_model.py
  • 追加: consai_game/play/conditions/robot_conditions.py

動作確認内容

  • ビルドが通ること
  • 手動での動作確認（該当箇所の実行結果など）

確認したReferee Command

  • HALT
  • STOP
  • FORCE_START
  • OUR_FREEKICK
  • THEIR_FREEKICK
  • OUR KICKOFF
  • THEIR KICKOFF
  • OUR_PENALTY
  • THEIR_PENALTY
  • OUR_TIMEOUT
  • THEIR_TIMEOUT

補足

  • 一旦これでプルリクを出しますが、仮です。

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github-actions bot commented Aug 8, 2025

test_scenario_force_start.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/artifacts/3717952722

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github-actions bot commented Aug 8, 2025

test_scenario_free_kick.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/artifacts/3717954007

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github-actions bot commented Aug 8, 2025

test_scenario_obstacle_avoidance.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/artifacts/3717954140

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github-actions bot commented Aug 8, 2025

yellow_invert/test_scenario_yellow_invert_kickoff.py failed. Failure logs:

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github-actions bot commented Aug 8, 2025

test_scenario_kickoff.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/artifacts/3717955994

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github-actions bot commented Aug 8, 2025

test_scenario_penalty.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/artifacts/3717959956

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github-actions bot commented Aug 8, 2025

test_scenario_ball_placement.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/artifacts/3717963721

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github-actions bot commented Aug 8, 2025

test_scenario_ball_placement2.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/artifacts/3717964073

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github-actions bot commented Aug 8, 2025

test_scenario_force_start.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/artifacts/3717985328

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github-actions bot commented Aug 8, 2025

test_scenario_obstacle_avoidance.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/artifacts/3717985944

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github-actions bot commented Aug 8, 2025

test_scenario_free_kick.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/artifacts/3717986715

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github-actions bot commented Aug 8, 2025

yellow_invert/test_scenario_yellow_invert_kickoff.py failed. Failure logs:

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github-actions bot commented Aug 8, 2025

test_scenario_kickoff.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/artifacts/3717988932

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github-actions bot commented Aug 8, 2025

test_scenario_penalty.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/artifacts/3717991585

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github-actions bot commented Aug 8, 2025

test_scenario_ball_placement2.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/artifacts/3717995554

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github-actions bot commented Aug 8, 2025

test_scenario_ball_placement.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/artifacts/3717996106

@ShotaAk
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ShotaAk commented Aug 9, 2025

@agich073
実行時エラーでCIがコケてるので直してほしいです〜

https://github.com/SSL-Roots/consai_ros2/actions/runs/16825847494/job/47662427145#step:11:74

consai  | [main.py-4] Traceback (most recent call last):
consai  | [main.py-4]   File "/root/ros2_ws/install/consai_game/lib/consai_game/main.py", line 62, in <module>
consai  | [main.py-4]     play_node = PlayNode(update_hz=UPDATE_HZ, book_name=args.playbook)
consai  | [main.py-4]   File "/root/ros2_ws/install/consai_game/local/lib/python3.10/dist-packages/consai_game/core/play/play_node.py", line 56, in __init__
consai  | [main.py-4]     self.playbook = self.load_playbook(book_name)
consai  | [main.py-4]   File "/root/ros2_ws/install/consai_game/local/lib/python3.10/dist-packages/consai_game/core/play/play_node.py", line 96, in load_playbook
consai  | [main.py-4]     spec.loader.exec_module(module)
consai  | [main.py-4]   File "<frozen importlib._bootstrap_external>", line 883, in exec_module
consai  | [main.py-4]   File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
consai  | [main.py-4]   File "/root/ros2_ws/src/consai_ros2/consai_game/consai_game/play/books/playbook_default.py", line 27, in <module>
consai  | [main.py-4]     running_plays.outside_defense_area_1(),
consai  | [main.py-4] AttributeError: module 'consai_game.play.factory.running_plays' has no attribute 'outside_defense_area_1'. Did you mean: 'outside_defense_area_their_in'?

ShotaAk
ShotaAk requested changes Aug 11, 2025
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動作OKです！
気になるところコメントしました〜

consai_game/consai_game/play/conditions/robot_conditions.py Outdated


class RobotConditions:
"""ロボットに関連する条件をまとめたクラス."""
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ここのコメント修正お願いします〜

consai_game/consai_game/play/conditions/robot_conditions.py Outdated
"""

def condition(world_model: WorldModel) -> bool:
"""ボールの速度が閾値より小さいかを判定する条件関数."""
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ここのコメントも修正お願いします〜

consai_game/consai_game/play/conditions/robot_conditions.py Outdated
"""ロボットに関連する条件をまとめたクラス."""

@staticmethod
def their_robots_in_our_area() -> PlayCondition:
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判定条件もわかるような名前にしたいです。
例えば half をいれるとよいかな

Suggested change
def their_robots_in_our_area() -> PlayCondition:
def are_half_of_their_robots_in_our_area() -> PlayCondition:

ShotaAk
ShotaAk approved these changes Aug 11, 2025
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LGTMです

@ShotaAk ShotaAk merged commit 95b39cc into main Aug 11, 2025
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@ShotaAk ShotaAk deleted the invasion_switch branch August 11, 2025 08:22
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@ShotaAk ShotaAk ShotaAk approved these changes

@nabekuro0104 nabekuro0104 Awaiting requested review from nabekuro0104

@uchikun2493 uchikun2493 Awaiting requested review from uchikun2493

@Yamam0t0 Yamam0t0 Awaiting requested review from Yamam0t0

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3 participants

@agich073 @ShotaAk