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repair some bugs and path planning 0.2.0 version

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徐学颢
2026-03-24 20:42:18 +08:00
parent bc288cc2ee
commit b49185a04a
2 changed files with 49 additions and 47 deletions
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15
agent/agent.py
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@@ -99,9 +99,10 @@ class Agent:
"""
Basic example of a behavior: moves the robot toward the goal while handling the ball.
"""
their_goal_pos = self.agent.world.field.get_their_goal_position()[:2]
their_goal_pos = np.array(self.agent.world.field.get_their_goal_position()[:2])
ball_pos = self.agent.world.ball_pos[:2]
my_pos = self.agent.world.global_position[:2]
next_target = None
ball_to_goal = their_goal_pos - ball_pos
bg_norm = np.linalg.norm(ball_to_goal)
@@ -132,20 +133,24 @@ class Agent:
if not aligned or not behind_ball:
self.path_planner.set_target(carry_ball_pos)
current_time = self.agent.world.server_time
next_target = self.path_planner.update(my_pos, current_time=current_time) if next_target is not None else carry_ball_pos
next_target = self.path_planner.update(my_pos, current_time=current_time)
if next_target is None:
next_target = carry_ball_pos
self.agent.skills_manager.execute(
"Walk",
target_2d=next_target,
target_2d=carry_ball_pos,
is_target_absolute=True,
orientation=None if np.linalg.norm(my_pos - carry_ball_pos) > 2 else desired_orientation
)
else:
self.path_planner.set_target(their_goal_pos)
current_time = self.agent.world.server_time
next_target = self.path_planner.update(my_pos, current_time=current_time) if next_target is not None else their_goal_pos
next_target = self.path_planner.update(my_pos, current_time=current_time)
if next_target is None:
next_target = their_goal_pos
self.agent.skills_manager.execute(
"Walk",
target_2d=next_target,
target_2d=their_goal_pos,
is_target_absolute=True,
orientation=desired_orientation
)