架构改进：头部追踪 + 球过时检测 + 球员独占 + 定位球处理

头部追踪：
- 球可见时 he1/he2 追踪球方位，球不可见时左右扫描
- 在技能执行后、commit_motor_targets_pd 前覆盖头部电机目标

球位置过时检测：
- world.py 新增 ball_age property 和阈值常量
- 球消失 ≥3s 时外场球员原地旋转搜索，门将不再基于过期信息拦截

最近球员独占：
- 每个 agent 自行判断是否离球最近（视觉队友位置 + 0.5m 死区防抖）
- 最近球员执行 carry_ball，其他球员走到编号对应的支援站位

定位球基础处理：
- THEIR_KICK 时外场球员退到中圈半径外防守位，面朝球
- OUR_KICK 时最近球员上前踢球，其他人进攻支援位

决策层重构：
- update_current_behavior 外场分支拆分为 playmode_group 判断
- 新增 _outfield_decide / _am_i_nearest_to_ball / support_position / _defensive_set_piece

agent/agent.py

@@ -1,12 +1,9 @@
-from dataclasses import Field
 import logging
-from typing import Mapping
+import math
 
 import numpy as np
 from utils.math_ops import MathOps
-from world.commons.field import FIFAField, HLAdultField, Soccer7vs7Field
 from world.commons.play_mode import PlayModeEnum, PlayModeGroupEnum
-from agent.path_planner import PathPlanner
 
 
 logger = logging.getLogger()
@@ -20,35 +17,37 @@ class Agent:
     based on the current state of the world and game conditions.
     """
 
-    BEAM_POSES: Mapping[type[Field], Mapping[int, tuple[float, float, float]]] ={
+    GOALIE_MODE_RECOVER = "RECOVER"
-        FIFAField: {
+    GOALIE_MODE_HOME = "HOME"
-            1: (2.1, 0, 0),
+    GOALIE_MODE_INTERCEPT = "INTERCEPT"
-            2: (22.0, 12.0, 0),
+    GOALIE_MODE_CLEAR = "CLEAR"
-            3: (22.0, 4.0, 0),
+    GOALIE_MODE_PENALTY_READY = "PENALTY_READY"
-            4: (22.0, -4.0, 0),
+    GOALIE_MODE_CATCH_ATTEMPT = "CATCH_ATTEMPT"
-            5: (22.0, -12.0, 0),
+    GOALIE_MODE_CATCH_HOLD = "CATCH_HOLD"
-            6: (15.0, 0.0, 0),
+    GOALIE_MODE_CATCH_COOLDOWN = "CATCH_COOLDOWN"
-            7: (4.0, 16.0, 0),
+
-            8: (11.0, 6.0, 0),
+    GOALIE_ACTION_NONE = "NONE"
-            9: (11.0, -6.0, 0),
+    GOALIE_ACTION_SET = "SET"
-            10: (4.0, -16.0, 0),
+    GOALIE_ACTION_LOW_BLOCK_LEFT = "LOW_BLOCK_LEFT"
-            11: (7.0, 0.0, 0),
+    GOALIE_ACTION_LOW_BLOCK_RIGHT = "LOW_BLOCK_RIGHT"
-        },
+
-        HLAdultField: {
+    GOALIE_INTENT_NONE = "NONE"
-            1: (7.0, 0.0, 0),
+    GOALIE_INTENT_SET = "SET"
-            2: (2.0, -1.5, 0),
+    GOALIE_INTENT_BLOCK_LEFT = "BLOCK_LEFT"
-            3: (2.0, 1.5, 0),
+    GOALIE_INTENT_BLOCK_RIGHT = "BLOCK_RIGHT"
-        },
+    GOALIE_INTENT_CATCH_CANDIDATE = "CATCH_CANDIDATE"
-        Soccer7vs7Field: {
+
-            1: (2.1, 0, 0),
+    GOALIE_SET_BALL_SPEED_MIN = 0.2
-            2: (22.0, 12.0, 0),
+    GOALIE_SET_BALL_SPEED_MAX = 2.2
-            3: (22.0, 4.0, 0),
+    GOALIE_SET_BALL_HEIGHT_MAX = 0.22
-            4: (22.0, -4.0, 0),
+    GOALIE_SET_DISTANCE_MAX = 2.2
-            5: (22.0, -12.0, 0),
+    GOALIE_SET_LATERAL_MAX = 1.4
-            6: (15.0, 0.0, 0),
+    GOALIE_LOW_BLOCK_DISTANCE_MAX = 1.1
-            7: (4.0, 16.0, 0)
+    GOALIE_LOW_BLOCK_LATERAL_MAX = 0.7
-        }
+    GOALIE_SET_HOLD_TIME = 0.3
-    }
+    GOALIE_PENALTY_SET_DISTANCE_MAX = 0.9
+    GOALIE_CATCH_HOLD_TIME = 5.5
+    GOALIE_CATCH_COOLDOWN_TIME = 3.0
 
     def __init__(self, agent):
         """
@@ -61,7 +60,20 @@ class Agent:
 
         self.agent: Base_Agent = agent
         self.is_getting_up: bool = False
-        self.path_planner = PathPlanner(agent.world)
+        self.goalie_mode: str = self.GOALIE_MODE_HOME
+        self.goalie_mode_since: float = 0.0
+        self.goalie_action_mode: str = self.GOALIE_ACTION_NONE
+        self.goalie_action_since: float = 0.0
+        self.goalie_intent: str = self.GOALIE_INTENT_NONE
+        self.goalie_intent_since: float = 0.0
+        self.last_patrol_switch_time: float = 0.0
+        self.last_home_anchor: np.ndarray | None = None
+        self.last_home_anchor_change_time: float = 0.0
+        self.home_patrol_offset: float = 0.0
+        self.catch_ready_time: float = 0.0
+        self.catch_hold_started_at: float = -1.0
+        self.catch_cooldown_until: float = 0.0
+        self._head_scan_direction: float = 1.0
 
     def update_current_behavior(self) -> None:
         """
@@ -78,40 +90,413 @@ class Agent:
             PlayModeGroupEnum.ACTIVE_BEAM,
             PlayModeGroupEnum.PASSIVE_BEAM,
         ):
+            is_left_team = True if self.agent.world.is_left_team is None else self.agent.world.is_left_team
+            beam_pose = self.agent.world.field.get_beam_pose(
+                self.agent.world.number,
+                is_left_team=is_left_team,
+            )
             self.agent.server.commit_beam(
-                pos2d=self.BEAM_POSES[type(self.agent.world.field)][self.agent.world.number][:2],
+                pos2d=beam_pose[:2],
-                rotation=self.BEAM_POSES[type(self.agent.world.field)][self.agent.world.number][2],
+                rotation=beam_pose[2],
             )
 
         if self.is_getting_up or self.agent.skills_manager.is_ready(skill_name="GetUp"):
             self.is_getting_up = not self.agent.skills_manager.execute(skill_name="GetUp")
+            if self.agent.world.number == 1:
+                self._set_goalie_mode(self.GOALIE_MODE_RECOVER)
+                self._set_goalie_action_mode(self.GOALIE_ACTION_NONE)
+                self._set_goalie_intent(self.GOALIE_INTENT_NONE)
 
-        elif self.agent.world.playmode is PlayModeEnum.PLAY_ON:
-            self.carry_ball()
         elif self.agent.world.playmode in (PlayModeEnum.BEFORE_KICK_OFF, PlayModeEnum.THEIR_GOAL, PlayModeEnum.OUR_GOAL):
             self.agent.skills_manager.execute("Neutral")
-        else:
+            if self.agent.world.number == 1:
+                self._set_goalie_mode(self.GOALIE_MODE_HOME)
+                self._set_goalie_action_mode(self.GOALIE_ACTION_NONE)
+                self._set_goalie_intent(self.GOALIE_INTENT_NONE)
+        elif self.agent.world.number == 1:
+            self.goalkeeper()
+        elif self.agent.world.playmode_group == PlayModeGroupEnum.THEIR_KICK:
+            self._defensive_set_piece()
+        elif self.agent.world.playmode_group == PlayModeGroupEnum.OUR_KICK:
+            if self._am_i_nearest_to_ball():
                 self.carry_ball()
+            else:
+                self.support_position()
+        else:
+            self._outfield_decide()
 
+        self._apply_head_tracking()
         self.agent.robot.commit_motor_targets_pd()
 
+    # ------------------------------------------------------------------
+    # Ball search
+    # ------------------------------------------------------------------
+    BALL_STALE_THRESHOLD = 3.0
+
+    def _search_for_ball(self) -> None:
+        world = self.agent.world
+        my_pos = world.global_position[:2]
+        yaw = self.agent.robot.global_orientation_euler[2] if hasattr(self.agent.robot, "global_orientation_euler") else 0.0
+        self.agent.skills_manager.execute(
+            "Walk",
+            target_2d=my_pos,
+            is_target_absolute=True,
+            orientation=yaw + 60.0,
+            is_orientation_absolute=True,
+        )
+
+    # ------------------------------------------------------------------
+    # Head tracking
+    # ------------------------------------------------------------------
+    HEAD_YAW_MIN = -90.0
+    HEAD_YAW_MAX = 90.0
+    HEAD_PITCH_MIN = -20.0
+    HEAD_PITCH_MAX = 70.0
+    HEAD_SCAN_RANGE = 70.0
+    HEAD_SCAN_SPEED = 80.0      # deg per second
+    HEAD_SCAN_PITCH = 15.0
+    HEAD_TRACK_KP = 8.0
+    HEAD_TRACK_KD = 0.4
+    HEAD_HEIGHT = 0.56          # approximate head height above ground
+
+    def _apply_head_tracking(self) -> None:
+        world = self.agent.world
+        robot = self.agent.robot
+
+        if not hasattr(robot, "set_motor_target_position"):
+            return
+
+        ball_age = float("inf")
+        if world.ball_last_update_time is not None and world.server_time is not None:
+            ball_age = world.server_time - world.ball_last_update_time
+
+        if ball_age < 0.6:
+            ball_rel = world.ball_pos[:2] - world.global_position[:2]
+            yaw_deg = robot.global_orientation_euler[2]
+            local_2d = MathOps.rotate_2d_vec(ball_rel, -yaw_deg, is_rad=False)
+
+            target_yaw = math.degrees(math.atan2(local_2d[1], local_2d[0]))
+            horiz_dist = max(np.linalg.norm(local_2d), 0.1)
+            dz = world.ball_pos[2] - self.HEAD_HEIGHT
+            target_pitch = -math.degrees(math.atan2(dz, horiz_dist))
+
+            target_yaw = np.clip(target_yaw, self.HEAD_YAW_MIN, self.HEAD_YAW_MAX)
+            target_pitch = np.clip(target_pitch, self.HEAD_PITCH_MIN, self.HEAD_PITCH_MAX)
+        else:
+            dt = 0.02
+            if world.server_time and world.last_server_time:
+                dt = max(world.server_time - world.last_server_time, 0.005)
+            current_yaw = robot.motor_positions.get("he1", 0.0)
+            step = self.HEAD_SCAN_SPEED * dt * self._head_scan_direction
+            target_yaw = current_yaw + step
+            if target_yaw >= self.HEAD_SCAN_RANGE:
+                target_yaw = self.HEAD_SCAN_RANGE
+                self._head_scan_direction = -1.0
+            elif target_yaw <= -self.HEAD_SCAN_RANGE:
+                target_yaw = -self.HEAD_SCAN_RANGE
+                self._head_scan_direction = 1.0
+            target_pitch = self.HEAD_SCAN_PITCH
+
+        robot.set_motor_target_position("he1", target_yaw, kp=self.HEAD_TRACK_KP, kd=self.HEAD_TRACK_KD)
+        robot.set_motor_target_position("he2", target_pitch, kp=self.HEAD_TRACK_KP, kd=self.HEAD_TRACK_KD)
+
+    def _ball_age_safe(self) -> float:
+        world = self.agent.world
+        if hasattr(world, "ball_age"):
+            return world.ball_age
+        if world.ball_last_update_time is not None and world.server_time is not None:
+            return world.server_time - world.ball_last_update_time
+        return float("inf")
+
+    # ------------------------------------------------------------------
+    # Set piece handling
+    # ------------------------------------------------------------------
+    DEFENSIVE_OFFSETS: dict[int, tuple[float, float]] = {
+        2: (-14.0,  8.0),
+        3: (-10.0,  3.0),
+        4: (-10.0, -3.0),
+        5: (-14.0, -8.0),
+        6: (-6.0,   0.0),
+        7: (-18.0,  0.0),
+    }
+
+    def _defensive_set_piece(self) -> None:
+        world = self.agent.world
+        ball_2d = world.ball_pos[:2]
+        offset = self.DEFENSIVE_OFFSETS.get(world.number, (-14.0, 0.0))
+        target = ball_2d + np.array(offset, dtype=float)
+
+        half_x = world.field.get_length() / 2.0
+        half_y = world.field.get_width() / 2.0
+        target[0] = np.clip(target[0], -half_x + 1.0, half_x - 1.0)
+        target[1] = np.clip(target[1], -half_y + 1.0, half_y + 1.0)
+
+        dist_to_ball = float(np.linalg.norm(target - ball_2d))
+        min_dist = world.field.get_center_circle_radius()
+        if dist_to_ball < min_dist:
+            away_dir = target - ball_2d
+            norm = np.linalg.norm(away_dir)
+            if norm > 1e-6:
+                away_dir = away_dir / norm
+            else:
+                away_dir = np.array([-1.0, 0.0])
+            target = ball_2d + away_dir * min_dist
+
+        orientation = MathOps.target_abs_angle(
+            world.global_position[:2], ball_2d
+        )
+        self.agent.skills_manager.execute(
+            "Walk",
+            target_2d=target,
+            is_target_absolute=True,
+            orientation=orientation,
+        )
+
+    # ------------------------------------------------------------------
+    # Outfield coordination
+    # ------------------------------------------------------------------
+    NEAREST_HYSTERESIS = 0.5    # meters dead-zone to prevent flickering
+    TEAMMATE_FRESH_TIME = 2.0   # seconds — ignore teammates not seen recently
+
+    SUPPORT_OFFSETS: dict[int, tuple[float, float]] = {
+        2: (-8.0,  6.0),
+        3: (-5.0,  2.0),
+        4: (-5.0, -2.0),
+        5: (-8.0, -6.0),
+        6: (-2.0,  0.0),
+        7: (-12.0, 0.0),
+    }
+
+    def _am_i_nearest_to_ball(self) -> bool:
+        world = self.agent.world
+        if not hasattr(world, "our_team_players"):
+            return True
+        ball_2d = world.ball_pos[:2]
+        my_dist = float(np.linalg.norm(world.global_position[:2] - ball_2d))
+        now = world.server_time if world.server_time is not None else 0.0
+
+        for idx, teammate in enumerate(world.our_team_players):
+            unum = idx + 1
+            if unum == world.number or unum == 1:
+                continue
+            if teammate.last_seen_time is None:
+                continue
+            if now - teammate.last_seen_time > self.TEAMMATE_FRESH_TIME:
+                continue
+            mate_dist = float(np.linalg.norm(teammate.position[:2] - ball_2d))
+            if mate_dist < my_dist - self.NEAREST_HYSTERESIS:
+                return False
+        return True
+
+    def support_position(self) -> None:
+        world = self.agent.world
+        ball_2d = world.ball_pos[:2]
+        offset = self.SUPPORT_OFFSETS.get(world.number, (-8.0, 0.0))
+        target = ball_2d + np.array(offset, dtype=float)
+
+        half_x = world.field.get_length() / 2.0
+        half_y = world.field.get_width() / 2.0
+        target[0] = np.clip(target[0], -half_x + 1.0, half_x - 1.0)
+        target[1] = np.clip(target[1], -half_y + 1.0, half_y + 1.0)
+
+        orientation = MathOps.target_abs_angle(
+            world.global_position[:2], ball_2d
+        )
+        self.agent.skills_manager.execute(
+            "Walk",
+            target_2d=target,
+            is_target_absolute=True,
+            orientation=orientation,
+        )
+
+    def _outfield_decide(self) -> None:
+        if self._ball_age_safe() >= self.BALL_STALE_THRESHOLD:
+            self._search_for_ball()
+        elif self._am_i_nearest_to_ball():
+            self.carry_ball()
+        else:
+            self.support_position()
+
     def carry_ball(self):
+        their_goal_pos = np.array(self.agent.world.field.get_their_goal_position()[:2], dtype=float)
+        self._drive_ball_towards(their_goal_pos)
+
+    def goalkeeper(self) -> None:
+        world = self.agent.world
+        field = world.field
+        goal_x, _ = field.get_our_goal_position()
+        my_pos = world.global_position[:2]
+        now = self._current_time()
+
+        self._update_goalie_catch_state()
+
+        if world.playmode in (
+            PlayModeEnum.THEIR_PENALTY_KICK,
+            PlayModeEnum.THEIR_PENALTY_SHOOT,
+        ):
+            self._set_goalie_mode(self.GOALIE_MODE_PENALTY_READY)
+            target_2d = self.compute_goalie_penalty_target()
+            self._set_goalie_intent(self.compute_goalie_intent())
+
+            if self.goalie_intent in (
+                self.GOALIE_INTENT_BLOCK_LEFT,
+                self.GOALIE_INTENT_BLOCK_RIGHT,
+                self.GOALIE_INTENT_CATCH_CANDIDATE,
+            ):
+                self._execute_goalie_set()
+                return
+
+            if self.goalie_intent == self.GOALIE_INTENT_SET:
+                if np.linalg.norm(target_2d - my_pos) <= self.GOALIE_PENALTY_SET_DISTANCE_MAX:
+                    self._execute_goalie_set()
+                else:
+                    self._set_goalie_action_mode(self.GOALIE_ACTION_NONE)
+                    orientation = self.compute_goalie_orientation(target_2d)
+                    self.agent.skills_manager.execute(
+                        "Walk",
+                        target_2d=target_2d,
+                        is_target_absolute=True,
+                        orientation=orientation,
+                    )
+                return
+
+            self._set_goalie_action_mode(self.GOALIE_ACTION_NONE)
+            orientation = self.compute_goalie_orientation(target_2d)
+            self.agent.skills_manager.execute(
+                "Walk",
+                target_2d=target_2d,
+                is_target_absolute=True,
+                orientation=orientation,
+            )
+            return
+
+        if world.playmode is PlayModeEnum.OUR_GOAL_KICK:
+            self._set_goalie_mode(self.GOALIE_MODE_CLEAR)
+            self._set_goalie_action_mode(self.GOALIE_ACTION_NONE)
+            self._set_goalie_intent(self.GOALIE_INTENT_NONE)
+            self.goalie_clear_ball()
+            return
+
+        self._set_goalie_intent(self.compute_goalie_intent())
+
+        if (
+            self.goalie_action_mode == self.GOALIE_ACTION_SET
+            and now - self.goalie_action_since < self.GOALIE_SET_HOLD_TIME
+            and self.goalie_intent in (
+                self.GOALIE_INTENT_SET,
+                self.GOALIE_INTENT_BLOCK_LEFT,
+                self.GOALIE_INTENT_BLOCK_RIGHT,
+                self.GOALIE_INTENT_CATCH_CANDIDATE,
+            )
+            and not self.should_goalie_intercept()
+        ):
+            self._execute_goalie_set()
+            return
+
+        if self.should_goalie_intercept():
+            if self.goalie_intent in (
+                self.GOALIE_INTENT_BLOCK_LEFT,
+                self.GOALIE_INTENT_BLOCK_RIGHT,
+            ):
+                logger.debug("Goalie block intent fallback: using INTERCEPT/CLEAR instead of low-block keyframe.")
+
+            ball_pos = world.ball_pos[:2]
+            ball_in_penalty_area = world.field.is_inside_penalty_area(ball_pos, side="our")
+            ball_distance = np.linalg.norm(ball_pos - my_pos)
+
+            if self.goalie_mode == self.GOALIE_MODE_CLEAR:
+                if ball_in_penalty_area or ball_distance <= 1.2:
+                    self._set_goalie_action_mode(self.GOALIE_ACTION_NONE)
+                    self.goalie_clear_ball()
+                    return
+
+            if ball_distance <= 0.65:
+                self._set_goalie_mode(self.GOALIE_MODE_CLEAR)
+                self._set_goalie_action_mode(self.GOALIE_ACTION_NONE)
+                self.goalie_clear_ball()
+                return
+
+            self._set_goalie_mode(self.GOALIE_MODE_INTERCEPT)
+            self._set_goalie_action_mode(self.GOALIE_ACTION_NONE)
+            target_2d = self.compute_goalie_intercept_target()
+            orientation = self.compute_goalie_orientation(target_2d)
+            self.agent.skills_manager.execute(
+                "Walk",
+                target_2d=target_2d,
+                is_target_absolute=True,
+                orientation=orientation,
+            )
+            return
+
+        if self.goalie_intent in (
+            self.GOALIE_INTENT_SET,
+            self.GOALIE_INTENT_BLOCK_LEFT,
+            self.GOALIE_INTENT_BLOCK_RIGHT,
+            self.GOALIE_INTENT_CATCH_CANDIDATE,
+        ):
+            target_2d = self.compute_goalie_home_target()
+            if np.linalg.norm(target_2d - my_pos) <= 0.45:
+                self._execute_goalie_set()
+            else:
+                self._set_goalie_action_mode(self.GOALIE_ACTION_NONE)
+                orientation = self.compute_goalie_orientation(target_2d)
+                self.agent.skills_manager.execute(
+                    "Walk",
+                    target_2d=target_2d,
+                    is_target_absolute=True,
+                    orientation=orientation,
+                )
+            return
+
+        self._set_goalie_mode(self.GOALIE_MODE_HOME)
+        self._set_goalie_action_mode(self.GOALIE_ACTION_NONE)
+        target_2d = self.compute_goalie_home_target()
+        orientation = self.compute_goalie_orientation(target_2d)
+
+        # When the keeper is already close to the goal line target, force a
+        # stable forward-facing posture. This avoids repeated twist-fall cycles
+        # caused by tiny sideways home-line corrections.
+        if abs(my_pos[0] - goal_x) <= 2.0 and np.linalg.norm(target_2d - my_pos) <= 0.9:
+            orientation = 0.0
+
+        self.agent.skills_manager.execute(
+            "Walk",
+            target_2d=target_2d,
+            is_target_absolute=True,
+            orientation=orientation,
+        )
+
+    def _drive_ball_towards(self, drive_target_2d: np.ndarray) -> None:
         """
-        Basic example of a behavior: moves the robot toward the goal while handling the ball.
+        Minimal catch-ball behavior.
+
+        All players share the same logic:
+        1. approach a point behind the ball
+        2. reposition with a lateral offset if they are close but not yet behind it
+        3. push the ball forward once they are aligned
         """
-        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
+        ball_to_goal = drive_target_2d - ball_pos
         bg_norm = np.linalg.norm(ball_to_goal)
-        if bg_norm == 0:
+        if bg_norm <= 1e-6:
-            return
+            ball_to_goal_dir = np.array([1.0, 0.0])
+        else:
             ball_to_goal_dir = ball_to_goal / bg_norm
 
-        dist_from_ball_to_start_carrying = 0.30
+        lateral_dir = np.array([-ball_to_goal_dir[1], ball_to_goal_dir[0]])
-        carry_ball_pos = ball_pos - ball_to_goal_dir * dist_from_ball_to_start_carrying
+
+        back_offset = 0.40
+        side_offset = 0.35
+        push_distance = 0.80
+        approach_distance = 0.90
+        push_start_distance = 0.55
+        behind_margin = 0.08
+        angle_tolerance = np.deg2rad(20.0)
+
+        behind_point = ball_pos - ball_to_goal_dir * back_offset
+        push_target = ball_pos + ball_to_goal_dir * push_distance
 
         my_to_ball = ball_pos - my_pos
         my_to_ball_norm = np.linalg.norm(my_to_ball)
@@ -123,35 +508,278 @@ class Agent:
         cosang = np.dot(my_to_ball_dir, ball_to_goal_dir)
         cosang = np.clip(cosang, -1.0, 1.0)
         angle_diff = np.arccos(cosang)
+        aligned = (my_to_ball_norm > 1e-6) and (angle_diff <= angle_tolerance)
 
-        ANGLE_TOL = np.deg2rad(7.5)
+        behind_ball = np.dot(my_pos - ball_pos, ball_to_goal_dir) < -behind_margin
-        aligned = (my_to_ball_norm > 1e-6) and (angle_diff <= ANGLE_TOL)
-
-        behind_ball = np.dot(my_pos - ball_pos, ball_to_goal_dir) < 0
         desired_orientation = MathOps.vector_angle(ball_to_goal)
 
-        if not aligned or not behind_ball:
+        lateral_sign = np.sign(np.cross(ball_to_goal_dir, my_to_ball_dir))
-            self.path_planner.set_target(carry_ball_pos)
+        if lateral_sign == 0:
-            current_time = self.agent.world.server_time
+            lateral_sign = 1.0 if (my_pos[1] - ball_pos[1]) >= 0 else -1.0
-            next_target = self.path_planner.update(my_pos, current_time=current_time)
+
-            if next_target is None:
+        reposition_point = behind_point + lateral_dir * lateral_sign * side_offset
-                next_target = carry_ball_pos
+
-            self.agent.skills_manager.execute(
+        if my_to_ball_norm > approach_distance:
-                "Walk",
+            target_2d = behind_point
-                target_2d=carry_ball_pos,
+            orientation = None
-                is_target_absolute=True,
+        elif not behind_ball:
-                orientation=None if np.linalg.norm(my_pos - carry_ball_pos) > 2 else desired_orientation
+            target_2d = reposition_point
-            )
+            orientation = None if np.linalg.norm(my_pos - reposition_point) > 0.8 else desired_orientation
-        else:
+        elif not aligned and my_to_ball_norm > push_start_distance:
-            self.path_planner.set_target(their_goal_pos)
+            target_2d = behind_point
-            current_time = self.agent.world.server_time
-            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=their_goal_pos,
-                is_target_absolute=True,
             orientation = desired_orientation
+        else:
+            target_2d = push_target
+            orientation = desired_orientation
+
+        if np.linalg.norm(target_2d - my_pos) <= 1e-4:
+            target_2d = my_pos + ball_to_goal_dir * 0.30
+
+        self.agent.skills_manager.execute(
+            "Walk",
+            target_2d=target_2d,
+            is_target_absolute=True,
+            orientation=orientation,
         )
 
+    def _current_time(self) -> float:
+        server_time = self.agent.world.server_time
+        return 0.0 if server_time is None else float(server_time)
+
+    def _set_goalie_mode(self, mode: str) -> None:
+        if self.goalie_mode == mode:
+            return
+
+        self.goalie_mode = mode
+        self.goalie_mode_since = self._current_time()
+
+    def _set_goalie_action_mode(self, mode: str) -> None:
+        if self.goalie_action_mode == mode:
+            return
+
+        self.goalie_action_mode = mode
+        self.goalie_action_since = self._current_time()
+
+    def _set_goalie_intent(self, intent: str) -> None:
+        if self.goalie_intent == intent:
+            return
+
+        self.goalie_intent = intent
+        self.goalie_intent_since = self._current_time()
+
+    def _orientation_to_ball(self, from_pos_2d: np.ndarray) -> float:
+        return MathOps.vector_angle(self.agent.world.ball_pos[:2] - from_pos_2d)
+
+    def compute_goalie_orientation(self, from_pos_2d: np.ndarray) -> float:
+        ball_pos = self.agent.world.ball_pos[:2]
+        ball_vec = ball_pos - from_pos_2d
+
+        if np.linalg.norm(ball_vec) < 1e-6:
+            return 0.0
+
+        orientation = MathOps.vector_angle(ball_vec)
+        return float(np.clip(orientation, -90.0, 90.0))
+
+    def compute_goalie_home_target(self) -> np.ndarray:
+        field = self.agent.world.field
+        ball_pos = self.agent.world.ball_pos[:2]
+        goal_x, _ = field.get_our_goal_position()
+        goal_half_width = field.get_goal_half_width()
+
+        raw_target = np.array(
+            [
+                goal_x + 0.8,
+                np.clip(
+                    ball_pos[1] * 0.35,
+                    -(goal_half_width - 0.35),
+                    goal_half_width - 0.35,
+                ),
+            ],
+            dtype=float,
+        )
+
+        now = self._current_time()
+        if self.last_home_anchor is None or np.linalg.norm(raw_target - self.last_home_anchor) > 0.05:
+            self.last_home_anchor = raw_target
+            self.last_home_anchor_change_time = now
+            self.last_patrol_switch_time = now
+            self.home_patrol_offset = 0.0
+        elif now - self.last_home_anchor_change_time >= 8.0 and now - self.last_patrol_switch_time >= 2.0:
+            self.home_patrol_offset = -0.15 if self.home_patrol_offset > 0 else 0.15
+            self.last_patrol_switch_time = now
+
+        target = np.copy(self.last_home_anchor)
+        target[1] = np.clip(
+            target[1] + self.home_patrol_offset,
+            -(goal_half_width - 0.20),
+            goal_half_width - 0.20,
+        )
+        return target
+
+    def compute_goalie_penalty_target(self) -> np.ndarray:
+        field = self.agent.world.field
+        ball_pos = self.agent.world.ball_pos[:2]
+        goal_x, _ = field.get_our_goal_position()
+        return np.array(
+            [
+                goal_x + 0.15,
+                np.clip(ball_pos[1] * 0.15, -1.3, 1.3),
+            ],
+            dtype=float,
+        )
+
+    def _update_goalie_catch_state(self) -> None:
+        now = self._current_time()
+
+        if (
+            self.goalie_mode == self.GOALIE_MODE_CATCH_HOLD
+            and self.catch_hold_started_at >= 0.0
+            and now - self.catch_hold_started_at >= self.GOALIE_CATCH_HOLD_TIME
+        ):
+            self._set_goalie_mode(self.GOALIE_MODE_CATCH_COOLDOWN)
+            self.catch_cooldown_until = now + self.GOALIE_CATCH_COOLDOWN_TIME
+            self.catch_hold_started_at = -1.0
+
+        if (
+            self.goalie_mode == self.GOALIE_MODE_CATCH_COOLDOWN
+            and now >= self.catch_cooldown_until
+        ):
+            self._set_goalie_mode(self.GOALIE_MODE_HOME)
+
+    def can_attempt_goalie_catch(self) -> bool:
+        return False
+
+    def compute_goalie_intent(self) -> str:
+        if self.can_attempt_goalie_catch():
+            return self.GOALIE_INTENT_CATCH_CANDIDATE
+        if self.should_goalie_block_intent():
+            return self.select_goalie_block_intent()
+        if self.should_goalie_set():
+            return self.GOALIE_INTENT_SET
+        return self.GOALIE_INTENT_NONE
+
+    def should_goalie_set(self) -> bool:
+        world = self.agent.world
+        ball_pos = world.ball_pos
+        my_pos = world.global_position[:2]
+
+        if not world.field.is_inside_penalty_area(ball_pos[:2], side="our"):
+            return False
+        if ball_pos[2] > self.GOALIE_SET_BALL_HEIGHT_MAX:
+            return False
+        if world.ball_speed < self.GOALIE_SET_BALL_SPEED_MIN or world.ball_speed > self.GOALIE_SET_BALL_SPEED_MAX:
+            return False
+        if np.linalg.norm(ball_pos[:2] - my_pos) > self.GOALIE_SET_DISTANCE_MAX:
+            return False
+        if abs(ball_pos[1] - my_pos[1]) > self.GOALIE_SET_LATERAL_MAX:
+            return False
+
+        return True
+
+    def should_goalie_block_intent(self) -> bool:
+        world = self.agent.world
+        ball_pos = world.ball_pos
+        my_pos = world.global_position[:2]
+
+        if not world.field.is_inside_penalty_area(ball_pos[:2], side="our"):
+            return False
+        if ball_pos[2] > self.GOALIE_SET_BALL_HEIGHT_MAX:
+            return False
+        if world.ball_speed < self.GOALIE_SET_BALL_SPEED_MIN or world.ball_speed > self.GOALIE_SET_BALL_SPEED_MAX:
+            return False
+        if np.linalg.norm(ball_pos[:2] - my_pos) > self.GOALIE_LOW_BLOCK_DISTANCE_MAX:
+            return False
+        if abs(ball_pos[1] - my_pos[1]) > self.GOALIE_LOW_BLOCK_LATERAL_MAX:
+            return False
+
+        return True
+
+    def select_goalie_block_side(self) -> str:
+        ball_y = self.agent.world.ball_pos[1]
+        my_y = self.agent.world.global_position[1]
+        return "left" if (ball_y - my_y) >= 0.0 else "right"
+
+    def select_goalie_block_intent(self) -> str:
+        return (
+            self.GOALIE_INTENT_BLOCK_LEFT
+            if self.select_goalie_block_side() == "left"
+            else self.GOALIE_INTENT_BLOCK_RIGHT
+        )
+
+    def _execute_goalie_set(self) -> None:
+        self._set_goalie_action_mode(self.GOALIE_ACTION_SET)
+        skill_name = "GoalieSet" if self.agent.skills_manager.has_skill("GoalieSet") else "Neutral"
+        self.agent.skills_manager.execute(skill_name)
+
+    def predict_ball_goal_intersection(self, horizon_s: float = 1.2) -> np.ndarray | None:
+        field = self.agent.world.field
+        ball_pos = self.agent.world.ball_pos[:2]
+        ball_velocity = self.agent.world.ball_velocity_2d
+        goal_x, _ = field.get_our_goal_position()
+
+        if ball_velocity[0] >= -1e-6:
+            return None
+
+        time_to_goal_line = (goal_x - ball_pos[0]) / ball_velocity[0]
+        if time_to_goal_line <= 0.0 or time_to_goal_line > horizon_s:
+            return None
+
+        y_at_goal_line = ball_pos[1] + ball_velocity[1] * time_to_goal_line
+        if abs(y_at_goal_line) > field.get_goal_half_width() + 0.2:
+            return None
+
+        return np.array([goal_x, y_at_goal_line], dtype=float)
+
+    def should_goalie_intercept(self) -> bool:
+        if self._ball_age_safe() >= self.BALL_STALE_THRESHOLD:
+            return False
+        field = self.agent.world.field
+        ball_pos = self.agent.world.ball_pos[:2]
+        my_pos = self.agent.world.global_position[:2]
+        ball_distance = np.linalg.norm(ball_pos - my_pos)
+        ball_in_penalty_area = field.is_inside_penalty_area(ball_pos, side="our")
+
+        if field.is_inside_goalie_area(ball_pos, side="our"):
+            return True
+
+        if ball_in_penalty_area and self.predict_ball_goal_intersection() is not None:
+            return True
+
+        if ball_in_penalty_area and ball_distance < 1.6:
+            return True
+
+        return False
+
+    def compute_goalie_intercept_target(self) -> np.ndarray:
+        field = self.agent.world.field
+        ball_pos = self.agent.world.ball_pos[:2]
+        our_goal_pos = np.array(field.get_our_goal_position()[:2], dtype=float)
+        goal_to_ball = ball_pos - our_goal_pos
+        goal_to_ball_norm = np.linalg.norm(goal_to_ball)
+        if goal_to_ball_norm <= 1e-6:
+            goal_to_ball_dir = np.array([1.0, 0.0], dtype=float)
+        else:
+            goal_to_ball_dir = goal_to_ball / goal_to_ball_norm
+
+        intercept_target = ball_pos - goal_to_ball_dir * 0.30
+        min_x, max_x, min_y, max_y = field.get_penalty_area_bounds(side="our")
+        intercept_target[0] = np.clip(intercept_target[0], min_x + 0.15, max_x - 0.15)
+        intercept_target[1] = np.clip(intercept_target[1], min_y + 0.15, max_y - 0.15)
+        return intercept_target
+
+    def goalie_clear_ball(self) -> None:
+        field = self.agent.world.field
+        ball_pos = self.agent.world.ball_pos[:2]
+        my_pos = self.agent.world.global_position[:2]
+        field_half_width = field.get_width() / 2.0
+
+        side_reference = ball_pos[1] if abs(ball_pos[1]) > 1e-3 else my_pos[1]
+        side_sign = 1.0 if side_reference >= 0 else -1.0
+
+        clear_y = side_sign * min(field_half_width - 1.0, abs(ball_pos[1]) + 4.0)
+        clear_x = min(0.0, ball_pos[0] + 3.0)
+        clear_target = np.array([clear_x, clear_y], dtype=float)
+
+        self._set_goalie_mode(self.GOALIE_MODE_CLEAR)
+        self._set_goalie_action_mode(self.GOALIE_ACTION_NONE)
+        self._drive_ball_towards(clear_target)

agent/base_agent.py

@@ -5,6 +5,7 @@ from world.robot import T1, Robot
 from behaviors.behavior_manager import BehaviorManager
 from world.world import World
 from communication.server import Server
+from communication.monitor_client import MonitorClient
 from communication.world_parser import WorldParser
 
 logger = logging.getLogger(__file__)
@@ -35,6 +36,7 @@ class Base_Agent:
         self.server: Server = Server(
             host=host, port=port, world_parser=self.world_parser
         )
+        self.monitor: MonitorClient = MonitorClient(host=host, port=port + 1)
         self.robot: Robot = T1(agent=self)
         self.skills_manager: BehaviorManager = BehaviorManager(agent=self)
         self.decision_maker: Agent = Agent(agent=self)
@@ -53,6 +55,7 @@ class Base_Agent:
              - Sends the next set of commands to the server.
         """
         self.server.connect()
+        self.monitor.connect()
 
         self.server.send_immediate(
             f"(init {self.robot.name} {self.world.team_name} {self.world.number})"
@@ -78,4 +81,5 @@ class Base_Agent:
         Logs a shutdown message and closes the server connection.
         """
         logger.info("Shutting down.")
+        self.monitor.close()
         self.server.shutdown()

agent/path_planner.py

@@ -1,520 +0,0 @@
-import numpy as np
-from heapq import heappush, heappop
-from typing import List, Tuple, Optional
-from world.world import World  # 假设你的世界类
-from world.commons.field_landmarks import FieldLandmarks  # 假设你的地标类
-import time
-
-
-class PathPlanner:
-    """
-    足球机器人全局路径规划器（A* + 动态避障）
-    - 静态地图：边界硬墙，球门内部可通行，门柱硬墙
-    - 动态障碍物：对手球员（扩大半径 + 缓冲代价）
-    - 支持多目标点队列，自动切换
-    - 不预测对手运动，仅使用当前帧位置
-    """
-
-    def __init__(self, world, grid_resolution: float = 0.2):
-        """
-        :param world: 世界对象，需包含 field_landmarks 和 global_position 属性
-        :param grid_resolution: 栅格分辨率（米/格）
-        """
-        self.world = world
-        self.res = grid_resolution
-
-        # 球场参数（基于 Sim3D7vs7SoccerField）
-        self.field_half_len = 27.5      # 球场半长（不含球门深度）
-        self.field_half_width = 18.0    # 球场半宽
-        self.goal_width = 3.66          # 球门宽度
-        self.goal_depth = 1.0           # 球门深度
-        self.goal_half_width = self.goal_width / 2.0
-        self.post_radius = 0.05         # 门柱半径
-
-        # 机器人物理参数
-        self.robot_radius = 0.2         # 机器人半径（米）
-        self.safety_margin = 0.2        # 避障安全余量（代替预测）
-
-        # 栅格尺寸
-        # x 范围扩展以包含球门内部：[-field_half_len - goal_depth, field_half_len + goal_depth]
-        self.x_min = -self.field_half_len - self.goal_depth
-        self.x_max = self.field_half_len + self.goal_depth
-        self.y_min = -self.field_half_width
-        self.y_max = self.field_half_width
-        self.nx = int((self.x_max - self.x_min) / self.res) + 1
-        self.ny = int((self.y_max - self.y_min) / self.res) + 1
-
-        # 静态代价地图（初始化后不再改变）
-        self.static_cost_map = np.zeros((self.nx, self.ny), dtype=np.float32)
-        self._init_static_map()
-
-        # 多目标点管理
-        self.waypoints: List[np.ndarray] = []   # 目标点列表
-        self.current_wp_idx: int = 0
-        self.current_path: List[np.ndarray] = []   # 当前规划的完整路径（世界坐标）
-        self.replan_interval: float = 1.0          # 重新规划频率（Hz）
-        self.last_replan_time: float = 0.0
-        self.arrival_threshold: float = 0.3        # 到达目标的距离阈值（米）
-
-    # ---------- 坐标转换辅助 ----------
-    def _world_to_grid(self, x: float, y: float) -> Tuple[int, int]:
-        """世界坐标 -> 栅格坐标（边界裁剪）"""
-        ix = int((x - self.x_min) / self.res)
-        iy = int((y - self.y_min) / self.res)
-        ix = max(0, min(ix, self.nx - 1))
-        iy = max(0, min(iy, self.ny - 1))
-        return ix, iy
-
-    def _grid_to_world(self, ix: int, iy: int) -> Tuple[float, float]:
-        """栅格坐标 -> 世界坐标（中心点）"""
-        x = ix * self.res + self.x_min
-        y = iy * self.res + self.y_min
-        return x, y
-
-    def _world_to_grid_x(self, x: float) -> int:
-        return int((x - self.x_min) / self.res)
-
-    def _world_to_grid_y(self, y: float) -> int:
-        return int((y - self.y_min) / self.res)
-
-    def _grid_to_world_x(self, ix: int) -> float:
-        return ix * self.res + self.x_min
-
-    def _grid_to_world_y(self, iy: int) -> float:
-        return iy * self.res + self.y_min
-
-    # ---------- 静态地图生成 ----------
-    def _init_static_map(self):
-        """根据 Sim3D7vs7SoccerField 参数生成静态代价地图"""
-        # 球场参数
-        field_half_len = 27.5      # 球场半长（不含球门深度）
-        field_half_width = 18.0
-        goal_width = 3.66
-        goal_depth = 1.0
-        goal_half_width = goal_width / 2.0
-        post_radius = 0.05
-
-        # 1. 初始化全地图为 0（自由空间）
-        self.static_cost_map.fill(0.0)
-
-        # 2. 边界硬墙
-        # 左侧边界：x < -field_half_len 的区域，但保留球门开口（|y| <= goal_half_width 时球门内部可通行）
-        for i in range(self._world_to_grid_x(-field_half_len - 0.001), -1, -1):
-            for j in range(self.ny):
-                y = self._grid_to_world_y(j)
-                if abs(y) > goal_half_width:
-                    self.static_cost_map[i, j] = -3
-        # 右侧边界：x > field_half_len 的区域，保留球门开口
-        for i in range(self._world_to_grid_x(field_half_len + 0.001), self.nx):
-            for j in range(self.ny):
-                y = self._grid_to_world_y(j)
-                if abs(y) > goal_half_width:
-                    self.static_cost_map[i, j] = -3
-        # 上下边界
-        for i in range(self.nx):
-            for j in [0, self.ny-1]:
-                self.static_cost_map[i, j] = -3
-        # 可选：如果需要在边界内留出线宽，可额外处理
-
-        # 4. 门柱（作为硬墙）
-        goal_post_positions = [
-            
-            (field_half_len,  goal_half_width),  # 右侧上柱
-            (field_half_len,  -goal_half_width),  # 右侧下柱
-            (-field_half_len,  goal_half_width),  # 左侧上柱
-            (-field_half_len,  -goal_half_width),  # 左侧下柱
-        ]
-        for px, py in goal_post_positions:
-            ix, iy = self._world_to_grid(px, py)
-            rad_cells = int(post_radius / self.res) + 1
-            for dx in range(-rad_cells, rad_cells+1):
-                for dy in range(-rad_cells, rad_cells+1):
-                    nx, ny = ix + dx, iy + dy
-                    if not (0 <= nx < self.nx and 0 <= ny < self.ny):
-                        continue
-                    dist = np.hypot(dx * self.res, dy * self.res)
-                    if dist <= post_radius:
-                        self.static_cost_map[nx, ny] = -3
-
-    # ---------- 获取动态障碍物（对手球员） ----------
-    def _get_opponent_positions(self) -> List[np.ndarray]:
-        """从 FieldLandmarks 获取所有对手球员的全局位置"""
-        opponents = []
-        for player in self.world.their_team_players:
-            if player.last_seen_time is not None and (self.world.server_time - player.last_seen_time) < 1.0:
-                opponents.append(player.position[:2])  # 只使用 x, y
-            else:
-                # 长时间未看到的球员不添加到避障列表中
-                continue  # 跳过未看到的球员
-        return opponents
-
-    def _get_teammate_positions(self) -> List[np.ndarray]:
-        """从 FieldLandmarks 获取所有队友球员的全局位置"""
-        teammates = []
-        for player in self.world.our_team_players:
-            if player.last_seen_time is not None and (self.world.server_time - player.last_seen_time) < 1.0:
-                teammates.append(player.position[:2])  # 只使用 x, y
-            else:
-                # 长时间未看到的球员不添加到避障列表中
-                continue  # 跳过未看到的球员
-        return teammates
-    # ---------- 动态障碍物添加到代价地图 ----------
-    def _apply_opponents_to_map(self, cost_map: np.ndarray, opponents: List[np.ndarray]):
-        """
-        在动态代价地图上添加对手障碍物：
-        - 硬半径内：-3（不可通行）
-        - 缓冲区内：正代价（鼓励远离）
-        """
-        effective_radius = self.robot_radius + self.safety_margin
-        radius_cells = int(effective_radius / self.res) + 1
-        buffer_width = 0.2   # 缓冲区宽度（米）
-
-        for opp in opponents:
-            if opp is None:
-                continue
-            ox, oy = opp[0], opp[1]
-            ix, iy = self._world_to_grid(ox, oy)
-            for dx in range(-radius_cells, radius_cells + 1):
-                for dy in range(-radius_cells, radius_cells + 1):
-                    nx, ny = ix + dx, iy + dy
-                    if not (0 <= nx < self.nx and 0 <= ny < self.ny):
-                        continue
-                    dist = np.hypot(dx * self.res, dy * self.res)
-                    if dist <= effective_radius:
-                        cost_map[nx, ny] = -3   # 硬墙
-                    elif dist <= effective_radius + buffer_width:
-                        # 缓冲区内增加代价（线性衰减）
-                        if cost_map[nx, ny] >= 0:
-                            cost_map[nx, ny] += 10.0 * (1.0 - (dist - effective_radius) / buffer_width)
-
-    def _apply_teammate_to_map(self, cost_map, teammates):
-        soft_radius = self.robot_radius + 0.2   # 允许稍微接近
-        for tm in teammates:
-            ix, iy = self._world_to_grid(tm[0], tm[1])
-            rad_cells = int(soft_radius / self.res) + 1
-            for dx in range(-rad_cells, rad_cells+1):
-                for dy in range(-rad_cells, rad_cells+1):
-                    nx, ny = ix+dx, iy+dy
-                    if not (0 <= nx < self.nx and 0 <= ny < self.ny):
-                        continue
-                    dist = np.hypot(dx*self.res, dy*self.res)
-                    if dist <= soft_radius:
-                        # 不设为硬墙，只加较小代价
-                        if cost_map[nx, ny] >= 0:
-                            cost_map[nx, ny] += 5.0   # 代价比对手小
-
-    # ---------- 启发函数 ----------
-    def _heuristic(self, ix1: int, iy1: int, ix2: int, iy2: int) -> float:
-        """对角线距离（允许8方向移动）"""
-        dx = abs(ix1 - ix2)
-        dy = abs(iy1 - iy2)
-        return (dx + dy) - 0.585786 * min(dx, dy)   # sqrt(2)-1 ≈ 0.414
-
-    # ---------- 直线检测 ----------
-    def _line_is_free(self, start: np.ndarray, end: np.ndarray, opponents: List[np.ndarray]) -> bool:
-        """检查线段是否与任何对手（扩大后）相交"""
-        effective_radius = self.robot_radius + self.safety_margin
-        ax, ay = start
-        bx, by = end
-        abx = bx - ax
-        aby = by - ay
-        len_sq = abx * abx + aby * aby
-        if len_sq == 0:
-            return True
-
-        for opp in opponents:
-            if opp is None:
-                continue
-            ox, oy = opp[0], opp[1]
-            # 计算投影参数 t
-            t = ((ox - ax) * abx + (oy - ay) * aby) / len_sq
-            if t < 0:
-                t = 0
-            elif t > 1:
-                t = 1
-            closest_x = ax + t * abx
-            closest_y = ay + t * aby
-            dist = np.hypot(closest_x - ox, closest_y - oy)
-            if dist <= effective_radius:
-                return False
-        return True
-
-    # ---------- 路径重构 ----------
-    def _reconstruct_path(self, node: Tuple[int, int], parent: dict, start: np.ndarray) -> List[np.ndarray]:
-        """从父字典重构路径（世界坐标）"""
-        path = []
-        cur = node
-        while cur in parent:
-            x, y = self._grid_to_world(cur[0], cur[1])
-            path.append(np.array([x, y]))
-            cur = parent[cur]
-        path.append(start)
-        path.reverse()
-        return path
-
-    # ---------- A* 规划 ----------
-    def plan(self, start: np.ndarray, target: Optional[np.ndarray] = None,
-         go_to_goal: bool = False, timeout_ms: float = 10.0) -> List[np.ndarray]:
-        """
-        A* 路径规划
-        :param start: 起点 (x, y)
-        :param target: 目标点（当 go_to_goal=False 时使用）
-        :param go_to_goal: 是否前往对方球门
-        :param timeout_ms: 超时时间（毫秒）
-        :return: 路径点列表（世界坐标），若失败返回空列表
-        """
-        # 1. 获取队友并构建动态代价地图
-        teammates = self._get_teammate_positions()
-        cost_map = self.static_cost_map.copy()
-        self._apply_teammate_to_map(cost_map, teammates)
-        opponents = self._get_opponent_positions()
-        self._apply_opponents_to_map(cost_map, opponents)
-
-        # 2. 转换坐标
-        sx, sy = self._world_to_grid(start[0], start[1])
-        if go_to_goal:
-            # 目标点为球门线上 y=0 附近的格子
-            goal_x = self.field_half_len
-            goal_y = 0.0
-            tx, ty = self._world_to_grid(goal_x, goal_y)
-        else:
-            if target is None:
-                raise ValueError("target must be provided when go_to_goal=False")
-            tx, ty = self._world_to_grid(target[0], target[1])
-
-        # 3. 【关键修改】强制将目标点格子设为 -1（覆盖障碍物）
-        if go_to_goal:
-            # 球门线上所有格子都设为 -1（增加容错）
-            goal_line_cell = self._world_to_grid_x(self.field_half_len)
-            y_min_cell = self._world_to_grid_y(-self.goal_half_width)
-            y_max_cell = self._world_to_grid_y(self.goal_half_width)
-            for j in range(y_min_cell, y_max_cell + 1):
-                if 0 <= goal_line_cell < self.nx and 0 <= j < self.ny:
-                    cost_map[goal_line_cell, j] = -1
-        else:
-            if 0 <= tx < self.nx and 0 <= ty < self.ny:
-                cost_map[tx, ty] = -1
-
-        # 4. 快速直线检测（可选，可提高效率）
-        if go_to_goal:
-            end_point = np.array([goal_x, goal_y])
-        else:
-            end_point = target
-        if self._line_is_free(start, end_point, opponents):
-            # 直线无碰撞，直接返回
-            return [start, end_point]
-
-        # 5. A* 初始化
-        open_set = []
-        closed = np.zeros((self.nx, self.ny), dtype=bool)
-        g = np.full((self.nx, self.ny), np.inf)
-        f = np.full((self.nx, self.ny), np.inf)
-        parent = {}   # (ix, iy) -> (pix, piy)
-
-        g[sx, sy] = 0.0
-        f[sx, sy] = self._heuristic(sx, sy, tx, ty)
-        heappush(open_set, (f[sx, sy], sx, sy))
-
-        # 记录最佳节点（用于超时/不可达回退）
-        best_node = (sx, sy)
-        best_h = self._heuristic(sx, sy, tx, ty)
-
-        start_time = time.time()
-        iterations = 0
-
-        # 邻居方向（8方向）及其移动代价
-        dirs = [(-1, -1, 1.414), (-1, 0, 1.0), (-1, 1, 1.414),
-                (0, -1, 1.0),                 (0, 1, 1.0),
-                (1, -1, 1.414),  (1, 0, 1.0), (1, 1, 1.414)]
-
-        while open_set:
-            iterations += 1
-            # 超时检查
-            if iterations % 32 == 0 and (time.time() - start_time) * 1000 > timeout_ms:
-                # 超时，返回最佳节点路径（如果有）
-                if best_node != (sx, sy):
-                    return self._reconstruct_path(best_node, parent, start)
-                else:
-                    return []
-
-            _, cx, cy = heappop(open_set)
-            if closed[cx, cy]:
-                continue
-            closed[cx, cy] = True
-
-            # 更新最佳节点（基于启发式距离）
-            h = self._heuristic(cx, cy, tx, ty)
-            if h < best_h:
-                best_h = h
-                best_node = (cx, cy)
-
-            # 到达目标
-            if (cx, cy) == (tx, ty) or (go_to_goal and cost_map[cx, cy] == -1):
-                return self._reconstruct_path((cx, cy), parent, start)
-
-            # 扩展邻居
-            for dx, dy, step_cost in dirs:
-                nx, ny = cx + dx, cy + dy
-                if not (0 <= nx < self.nx and 0 <= ny < self.ny):
-                    continue
-                if closed[nx, ny]:
-                    continue
-
-                cell_cost = cost_map[nx, ny]
-                if cell_cost == -3:   # 硬墙
-                    continue
-
-                move_cost = step_cost + max(0.0, cell_cost)
-                tentative_g = g[cx, cy] + move_cost
-
-                if tentative_g < g[nx, ny]:
-                    parent[(nx, ny)] = (cx, cy)
-                    g[nx, ny] = tentative_g
-                    f[nx, ny] = tentative_g + self._heuristic(nx, ny, tx, ty)
-                    heappush(open_set, (f[nx, ny], nx, ny))
-
-        # open 集为空，不可达
-        if best_node != (sx, sy):
-            return self._reconstruct_path(best_node, parent, start)
-        else:
-            return []
-
-    # ---------- 多目标点管理 ----------
-    def set_waypoints(self, waypoints: List[np.ndarray]):
-        """
-        设置目标点序列（世界坐标）。如果某个元素为 None，表示前往对方球门。
-        """
-        self.waypoints = [np.array(wp) if wp is not None else None for wp in waypoints]
-        self.current_wp_idx = 0
-        self.current_path = []
-        self.last_replan_time = 0.0
-
-    def get_next_target(self) -> Optional[np.ndarray]:
-        """返回当前需要前往的目标点（世界坐标）"""
-        if self.current_wp_idx >= len(self.waypoints):
-            return None
-        wp = self.waypoints[self.current_wp_idx]
-        if wp is None:
-            # 前往球门
-            return np.array([self.field_half_len, 0.0])
-        return wp
-
-    def advance_to_next_target(self):
-        """标记当前目标已完成，切换到下一个"""
-        if self.current_wp_idx < len(self.waypoints):
-            self.current_wp_idx += 1
-            self.current_path = []   # 清空旧路径
-
-    def update(self, current_pos: np.ndarray, current_time: float) -> Optional[np.ndarray]:
-        """
-        更新路径规划，返回下一个需要前往的路径点。
-        :param current_pos: 机器人当前世界坐标 (x, y)
-        :param current_time: 当前时间（秒），用于可选的重规划频率控制
-        :return: 下一个路径点（世界坐标），若无有效目标则返回 None
-        """
-        # 1. 获取当前需要前往的目标点
-        target = self.get_next_target()
-        if target is None:
-            # 没有剩余目标，停止移动
-            return None
-
-        # 2. 到达检测：如果已有路径且路径终点距离机器人很近，则认为已到达当前目标
-        if len(self.current_path) >= 2:
-            last_point = self.current_path[-1]
-            if np.linalg.norm(last_point - current_pos) < self.arrival_threshold:
-                # 当前目标已完成，切换到下一个目标
-                self.advance_to_next_target()
-                target = self.get_next_target()
-                if target is None:
-                    return None
-                # 清空旧路径，强制下次重规划到新目标
-                self.current_path = []
-
-        # 3. 路径有效性检查（仅当存在有效路径时）
-        path_valid = (len(self.current_path) >= 2) and self._is_path_still_valid(current_pos)
-
-        # 4. 判断是否需要重新规划
-        #   条件1：当前路径为空（包括刚切换目标后）
-        #   条件2：当前路径被障碍物阻塞
-        need_replan = (len(self.current_path) < 2) or not path_valid
-
-        if need_replan:
-            # 重新规划到当前目标
-            new_path = self.plan(current_pos,
-                                target=target if target is not None else None,
-                                go_to_goal=(target is None),
-                                timeout_ms=10.0)
-            if new_path and len(new_path) > 1:
-                self.current_path = new_path
-                self.last_replan_time = current_time
-            else:
-                # 当前目标不可达（规划失败），跳过它，尝试下一个
-                self.advance_to_next_target()
-                # 递归调用，继续处理下一个目标（避免深度过大，但目标数量有限）
-                return self.update(current_pos, current_time)
-
-        # 5. 返回下一个路径点（路径的第二个点，第一个点为机器人当前位置的近似）
-        if len(self.current_path) >= 2:
-            return self.current_path[1]
-        else:
-            return None
-        
-    def _is_path_still_valid(self, current_pos: np.ndarray, lookahead_dist: float = 3.0) -> bool:
-        """
-        检查从机器人当前位置开始的剩余路径是否仍无碰撞（仅检查前方 lookahead_dist 米内）。
-        :param current_pos: 机器人当前世界坐标 (x, y)
-        :param lookahead_dist: 检查的前向距离（米），默认 3.0
-        :return: 如果路径在前方范围内无碰撞返回 True，否则 False
-        """
-        if len(self.current_path) < 2:
-            return False
-
-        # 获取对手最新位置
-        opponents = self._get_opponent_positions()
-
-        # 累积距离
-        accumulated_dist = 0.0
-        # 从机器人当前位置到路径第二个点的第一段
-        start = current_pos
-        end = self.current_path[1]
-        seg_dist = np.linalg.norm(end - start)
-        if not self._line_is_free(start, end, opponents):
-            return False
-        accumulated_dist += seg_dist
-        # 如果第一段就已经超过阈值，直接返回 True（已检查第一段无碰撞）
-        if accumulated_dist >= lookahead_dist:
-            return True
-
-        # 继续检查后续路径段，直到累积距离超过阈值
-        for i in range(1, len(self.current_path) - 1):
-            start = self.current_path[i]
-            end = self.current_path[i+1]
-            seg_dist = np.linalg.norm(end - start)
-            if not self._line_is_free(start, end, opponents):
-                return False
-            accumulated_dist += seg_dist
-            if accumulated_dist >= lookahead_dist:
-                break
-
-        return True
-    
-    def set_target(self, target: np.ndarray, force: bool = False):
-        """
-        设置单目标点（世界坐标）。
-        :param target: 新目标点
-        :param force: 是否强制更新（即使目标相同或距离很近）
-        """
-        # 获取当前有效目标（如果存在）
-        current_target = self.get_next_target()
-        if current_target is not None and not force:
-            # 计算新目标与当前目标的欧氏距离
-            dist = np.linalg.norm(target - current_target)
-            if dist < 0.2:   # 阈值可调（例如 0.2 米）
-                # 目标没有显著变化，不更新
-                return
-
-        # 目标变化显著，或强制更新
-        self.waypoints = [target]
-        self.current_wp_idx = 0
-        self.current_path = []          # 清空旧路径，触发重规划
-        self.last_replan_time = 0.0

behaviors/behavior_manager.py

@@ -1,5 +1,8 @@
 from behaviors.custom.keyframe.get_up.get_up import GetUp
 from behaviors.custom.keyframe.keyframe import KeyframeSkill
+from behaviors.custom.keyframe.poses.goalie_set.goalie_set import GoalieSet
+from behaviors.custom.keyframe.poses.low_block_left.low_block_left import LowBlockLeft
+from behaviors.custom.keyframe.poses.low_block_right.low_block_right import LowBlockRight
 from behaviors.custom.keyframe.poses.neutral.neutral import Neutral
 from behaviors.behavior import Behavior
 from behaviors.custom.reinforcement.walk.walk import Walk
@@ -22,7 +25,7 @@ class BehaviorManager:
         Each skill is indexed by its class name.
         """
 
-        classes: list[type[Behavior]] = [Walk, Neutral, GetUp]
+        classes: list[type[Behavior]] = [Walk, Neutral, GoalieSet, LowBlockLeft, LowBlockRight, GetUp]
 
         # instantiate each Skill and store in the skills dictionary
         self.skills = {cls.__name__: cls(agent=self.agent) for cls in classes}
@@ -33,6 +36,9 @@ class BehaviorManager:
             raise KeyError(f"No skill found with the name '{name}'")
         return self.skills[name]
 
+    def has_skill(self, name: str) -> bool:
+        return name in self.skills
+
     def execute(self, skill_name: str, *args, **kwargs) -> bool:
         """
         Executes one step of the specified skill.

behaviors/custom/keyframe/poses/goalie_set/goalie_set.py

@@ -0,0 +1,8 @@
+import os
+
+from behaviors.custom.keyframe.keyframe import KeyframeSkill
+
+
+class GoalieSet(KeyframeSkill):
+    def __init__(self, agent):
+        super().__init__(agent, os.path.join(os.path.dirname(__file__), "goalie_set.yaml"))

behaviors/custom/keyframe/poses/low_block_left/low_block_left.py

@@ -0,0 +1,8 @@
+import os
+
+from behaviors.custom.keyframe.keyframe import KeyframeSkill
+
+
+class LowBlockLeft(KeyframeSkill):
+    def __init__(self, agent):
+        super().__init__(agent, os.path.join(os.path.dirname(__file__), "low_block_left.yaml"))

behaviors/custom/keyframe/poses/low_block_right/low_block_right.py

@@ -0,0 +1,8 @@
+import os
+
+from behaviors.custom.keyframe.keyframe import KeyframeSkill
+
+
+class LowBlockRight(KeyframeSkill):
+    def __init__(self, agent):
+        super().__init__(agent, os.path.join(os.path.dirname(__file__), "low_block_right.yaml"))

behaviors/custom/reinforcement/goalie_block/goalie_block.py

@@ -0,0 +1,32 @@
+import logging
+
+from behaviors.behavior import Behavior
+
+
+logger = logging.getLogger(__name__)
+
+
+class GoalieBlock(Behavior):
+    """
+    Placeholder interface for a future RL-based goalkeeper blocking skill.
+
+    The production code does not register or call this skill yet.
+    It exists to lock down the expected execution shape for later training work.
+    """
+
+    def __init__(self, agent):
+        super().__init__(agent)
+        self.last_side: str | None = None
+
+    def execute(self, reset: bool, side: str, *args, **kwargs) -> bool:
+        if reset:
+            self.last_side = side
+
+        logger.warning(
+            "GoalieBlock.execute(side=%s) was called before an RL model was integrated.",
+            side,
+        )
+        return True
+
+    def is_ready(self, *args) -> bool:
+        return False

behaviors/custom/reinforcement/walk/walk.py

@@ -143,5 +143,7 @@ class Walk(Behavior):
                 robot.ROBOT_MOTORS[idx], target*180/math.pi, kp=25, kd=0.6
             )
 
+        return False
+
     def is_ready(self, *args, **kwargs) -> bool:
         return True

communication/monitor_client.py

@@ -0,0 +1,70 @@
+import logging
+import socket
+
+
+logger = logging.getLogger(__name__)
+
+
+class MonitorClient:
+    """
+    TCP client for the RCSSServerMJ monitor port.
+
+    Sends monitor commands via the length-prefixed S-expression protocol.
+    """
+
+    def __init__(self, host: str = "localhost", port: int = 60001):
+        self._host = host
+        self._port = port
+        self._socket: socket.socket | None = None
+
+    def connect(self) -> None:
+        self._socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self._socket.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
+        self._socket.connect((self._host, self._port))
+        logger.info("Monitor connection established to %s:%d.", self._host, self._port)
+
+    def close(self) -> None:
+        if self._socket is not None:
+            self._socket.close()
+            self._socket = None
+
+    def send(self, msg: str) -> None:
+        data = msg.encode()
+        self._socket.send(len(data).to_bytes(4, byteorder="big") + data)
+
+    def place_ball(
+        self,
+        pos: tuple[float, float, float],
+        vel: tuple[float, float, float] | None = None,
+    ) -> None:
+        msg = f"(ball (pos {pos[0]} {pos[1]} {pos[2]})"
+        if vel is not None:
+            msg += f" (vel {vel[0]} {vel[1]} {vel[2]})"
+        msg += ")"
+        self.send(msg)
+
+    def drop_ball(self) -> None:
+        self.send("(dropBall)")
+
+    def kick_off(self, side: str = "Left") -> None:
+        self.send(f"(kickOff {side})")
+
+    def set_play_mode(self, mode: str) -> None:
+        self.send(f"(playMode {mode})")
+
+    def place_player(
+        self,
+        unum: int,
+        team_name: str,
+        pos: tuple[float, float, float],
+        yaw_deg: float | None = None,
+    ) -> None:
+        if yaw_deg is None:
+            command = f"(agent (unum {unum}) (team {team_name}) (pos {pos[0]} {pos[1]} {pos[2]}))"
+        else:
+            command = (
+                f"(agent (unum {unum}) (team {team_name}) "
+                f"(move {pos[0]} {pos[1]} {pos[2]} {yaw_deg}))"
+            )
+
+        self.send(command)

communication/server.py

@@ -1,5 +1,6 @@
 import logging
 import socket
+import time
 from select import select
 from communication.world_parser import WorldParser
 
@@ -27,12 +28,16 @@ class Server:
                 logger.error(
                     "Connection refused. Make sure the server is running and listening on {self.__host}:{self.__port}."
                 )
+                time.sleep(1.0)
 
         logger.info(f"Server connection established to {self.__host}:{self.__port}.")
 
     def shutdown(self) -> None:
-        self.__socket.close()
+        try:
             self.__socket.shutdown(socket.SHUT_RDWR)
+        except OSError:
+            pass
+        self.__socket.close()
 
     def send_immediate(self, msg: str) -> None:
         """
@@ -107,3 +112,6 @@ class Server:
     def commit_beam(self, pos2d: list, rotation: float) -> None:
         assert len(pos2d) == 2
         self.commit(f"(beam {pos2d[0]} {pos2d[1]} {rotation})")
+
+    def commit_catch(self, angle_deg: float) -> None:
+        logger.debug("commit_catch(%s) is a no-op on the current server backend.", angle_deg)

communication/world_parser.py

@@ -127,7 +127,10 @@ class WorldParser:
             if not world.is_left_team:
                 world._global_cheat_position[:2] = -world._global_cheat_position[:2]
 
-                global_rotation = R.from_quat(robot.global_orientation_quat)
+                # Rotate the current raw server pose into Apollo's unified
+                # left-team view. Using the previous frame orientation here
+                # makes right-side players drift and face the wrong direction.
+                global_rotation = R.from_quat(robot._global_cheat_orientation)
                 yaw180 = R.from_euler('z', 180, degrees=True)
                 fixed_rotation = yaw180 * global_rotation
                 robot._global_cheat_orientation = fixed_rotation.as_quat()
@@ -138,7 +141,7 @@ class WorldParser:
                 [MathOps.normalize_deg(axis_angle) for axis_angle in euler_angles_deg])
             robot.global_orientation_quat = robot._global_cheat_orientation
             world.global_position = world._global_cheat_position
-        except:
+        except Exception:
             logger.exception(f'Failed to rotate orientation and position considering team side')
 
         robot.gyroscope = np.array(perception_dict["GYR"]["rt"])
@@ -157,12 +160,33 @@ class WorldParser:
 
                     polar_coords = np.array(seen_object['pol'])
                     local_cartesian_3d = MathOps.deg_sph2cart(polar_coords)
+                    previous_ball_pos = np.copy(world.ball_pos)
+                    previous_ball_time = world.ball_last_update_time
 
                     world.ball_pos = MathOps.rel_to_global_3d(
                         local_pos_3d=local_cartesian_3d,
                         global_pos_3d=world.global_position,
                         global_orientation_quat=robot.global_orientation_quat
                     )
+                    world.ball_last_pos = previous_ball_pos
+                    world.ball_last_update_time = world.server_time
+
+                    if previous_ball_time is not None:
+                        dt = world.server_time - previous_ball_time
+                        if dt > 1e-6:
+                            raw_vel = (
+                                world.ball_pos[:2] - previous_ball_pos[:2]
+                            ) / dt
+                            alpha = 0.4
+                            world.ball_velocity_2d = (
+                                alpha * raw_vel
+                                + (1.0 - alpha) * world.ball_velocity_2d
+                            )
+                            world.ball_speed = float(np.linalg.norm(world.ball_velocity_2d))
+                    else:
+                        world.ball_velocity_2d = np.zeros(2)
+                        world.ball_speed = 0.0
+
                     world.is_ball_pos_updated = True
 
                 elif obj_type == "P":

readme.md

@@ -41,7 +41,14 @@ CLI parameter (a usage help is also available):
 - `--port <port>` to specify the agent port (default: 60000)
 - `-n <number>` Player number (1–11) (default: 1)
 - `-t <team_name>` Team name (default: 'Default')
+- `-f <field>` Field profile (default: `fifa`)
 
+### Field profiles
+
+There are two supported ways to run Apollo3D:
+
+- Official rules test: use the server with `--rules ssim`, and run agents with `-f fifa`. This matches the current `rcssservermj` default field for the SSIM rule book.
+- Apollo custom 7v7: run agents with `-f sim3d_7vs7`. This profile is kept for Apollo's custom small-field setup and should not be treated as the official SSIM geometry baseline.
 
 ### Run a team
 You can also use a shell script to start the entire team, optionally specifying host and port:
@@ -55,6 +62,8 @@ Using **Poetry**:
 poetry run ./start_7v7.sh [host] [port]
 ```
 
+`start_7v7.sh` now launches agents explicitly with `-f sim3d_7vs7`.
+
 CLI parameter:
 
 - `[host]` Server IP address (default: 'localhost')

run_player.py

@@ -16,7 +16,7 @@ parser.add_argument("-t", "--team", type=str, default="Default", help="Team name
 parser.add_argument("-n", "--number", type=int, default=1, help="Player number")
 parser.add_argument("--host", type=str, default="127.0.0.1", help="Server host")
 parser.add_argument("--port", type=int, default=60000, help="Server port")
-parser.add_argument("-f", "--field", type=str, default='sim3d_7vs7', help="Field to be played")
+parser.add_argument("-f", "--field", type=str, default='fifa', help="Field to be played")
 
 args = parser.parse_args()
 

start_7v7.sh

@@ -5,5 +5,5 @@ host=${1:-localhost}
 port=${2:-60000}
 
 for i in {1..7}; do
-  python3 run_player.py --host $host --port $port -n $i -t SE &
+  python3 run_player.py --host $host --port $port -n $i -t SE -f sim3d_7vs7 &
 done

utils/math_ops.py

@@ -5,7 +5,7 @@ import sys
 
 try:
     GLOBAL_DIR = sys._MEIPASS  # temporary folder with libs & data files
-except:
+except AttributeError:
     GLOBAL_DIR = "."
 
 
@@ -51,6 +51,7 @@ class MathOps():
         if size == 0: return vec
         return vec / size
 
+    @staticmethod
     def rel_to_global_3d(local_pos_3d: np.ndarray, global_pos_3d: np.ndarray,
                          global_orientation_quat: np.ndarray) -> np.ndarray:
         ''' Converts a local 3d position to a global 3d position given the global position and orientation (quaternion) '''
@@ -285,22 +286,10 @@ class MathOps():
     @staticmethod
     def intersection_segment_opp_goal(a: np.ndarray, b: np.ndarray):
         ''' Computes the intersection point of 2d segment 'ab' and the opponents' goal (front line) '''
-        vec_x = b[0] - a[0]
+        raise NotImplementedError(
-
+            "intersection_segment_opp_goal uses hardcoded x=15 / y=±1.01. "
-        # Collinear intersections are not accepted
+            "Refactor to accept field dimensions before use."
-        if vec_x == 0: return None
+        )
-
-        k = (15.01 - a[0]) / vec_x
-
-        # No collision
-        if k < 0 or k > 1: return None
-
-        intersection_pt = a + (b - a) * k
-
-        if -1.01 <= intersection_pt[1] <= 1.01:
-            return intersection_pt
-        else:
-            return None
 
     @staticmethod
     def intersection_circle_opp_goal(p: np.ndarray, r):
@@ -308,34 +297,18 @@ class MathOps():
         Computes the intersection segment of circle (center p, radius r) and the opponents' goal (front line)
         Only the y coordinates are returned since the x coordinates are always equal to 15
         '''
-
+        raise NotImplementedError(
-        x_dev = abs(15 - p[0])
+            "intersection_circle_opp_goal uses hardcoded x=15 / y=±1.01. "
-
+            "Refactor to accept field dimensions before use."
-        if x_dev > r:
+        )
-            return None  # no intersection with x=15
-
-        y_dev = sqrt(r * r - x_dev * x_dev)
-
-        p1 = max(p[1] - y_dev, -1.01)
-        p2 = min(p[1] + y_dev, 1.01)
-
-        if p1 == p2:
-            return p1  # return the y coordinate of a single intersection point
-        elif p2 < p1:
-            return None  # no intersection
-        else:
-            return p1, p2  # return the y coordinates of the intersection segment
 
     @staticmethod
     def distance_point_to_opp_goal(p: np.ndarray):
         ''' Distance between point 'p' and the opponents' goal (front line) '''
-
+        raise NotImplementedError(
-        if p[1] < -1.01:
+            "distance_point_to_opp_goal uses hardcoded x=15 / y=±1.01. "
-            return np.linalg.norm(p - (15, -1.01))
+            "Refactor to accept field dimensions before use."
-        elif p[1] > 1.01:
+        )
-            return np.linalg.norm(p - (15, 1.01))
-        else:
-            return abs(15 - p[0])
 
     @staticmethod
     def circle_line_segment_intersection(circle_center, circle_radius, pt1, pt2, full_line=True, tangent_tol=1e-9):

world/commons/field.py

@@ -1,62 +1,237 @@
-from abc import ABC, abstractmethod
+from __future__ import annotations
-from typing_extensions import override
+
+from abc import ABC
+from typing import Literal
+
+import numpy as np
+
 from world.commons.field_landmarks import FieldLandmarks
 
+GoalSide = Literal["our", "their", "left", "right"]
+Bounds2D = tuple[float, float, float, float]
+
 
 class Field(ABC):
+    FIELD_DIM: tuple[float, float, float]
+    LINE_WIDTH: float
+    GOAL_DIM: tuple[float, float, float]
+    GOALIE_AREA_DIM: tuple[float, float]
+    PENALTY_AREA_DIM: tuple[float, float] | None
+    PENALTY_SPOT_DISTANCE: float
+    CENTER_CIRCLE_RADIUS: float
+    DEFAULT_BEAM_POSES: dict[int, tuple[float, float, float]]
+
     def __init__(self, world):
         from world.world import World  # type hinting
+
         self.world: World = world
-        self.field_landmarks: FieldLandmarks = FieldLandmarks(world=self.world)
+        self.field_landmarks: FieldLandmarks = FieldLandmarks(field=self)
 
-    def get_our_goal_position(self):
+    def _resolve_side(self, side: GoalSide) -> Literal["left", "right"]:
-        return (-self.get_length() / 2, 0)
+        if side == "left":
+            return "left"
+        if side == "right":
+            return "right"
+        is_left = self.world.is_left_team
+        if side == "our":
+            return "left" if is_left else "right"
+        if side == "their":
+            return "right" if is_left else "left"
+        raise ValueError(f"Unknown field side: {side}")
 
-    def get_their_goal_position(self):
+    def get_width(self) -> float:
-        return (self.get_length() / 2, 0)
+        return self.FIELD_DIM[1]
 
-    @abstractmethod
+    def get_length(self) -> float:
-    def get_width(self):
+        return self.FIELD_DIM[0]
-        raise NotImplementedError()
 
-    @abstractmethod
+    def get_goal_dim(self) -> tuple[float, float, float]:
-    def get_length(self):
+        return self.GOAL_DIM
-        raise NotImplementedError()
+
+    def get_goal_half_width(self) -> float:
+        return self.GOAL_DIM[1] / 2.0
+
+    def get_center_circle_radius(self) -> float:
+        return self.CENTER_CIRCLE_RADIUS
+
+    def get_goal_position(self, side: GoalSide = "our") -> tuple[float, float]:
+        resolved_side = self._resolve_side(side)
+        x = -self.get_length() / 2.0 if resolved_side == "left" else self.get_length() / 2.0
+        return (x, 0.0)
+
+    def get_our_goal_position(self) -> tuple[float, float]:
+        return self.get_goal_position("our")
+
+    def get_their_goal_position(self) -> tuple[float, float]:
+        return self.get_goal_position("their")
+
+    def _build_box_bounds(self, depth: float, width: float, side: GoalSide) -> Bounds2D:
+        resolved_side = self._resolve_side(side)
+        field_half_x = self.get_length() / 2.0
+        half_width = width / 2.0
+
+        if resolved_side == "left":
+            return (-field_half_x, -field_half_x + depth, -half_width, half_width)
+        return (field_half_x - depth, field_half_x, -half_width, half_width)
+
+    def get_goalie_area_bounds(self, side: GoalSide = "our") -> Bounds2D:
+        return self._build_box_bounds(
+            depth=self.GOALIE_AREA_DIM[0],
+            width=self.GOALIE_AREA_DIM[1],
+            side=side,
+        )
+
+    def get_penalty_area_bounds(self, side: GoalSide = "our") -> Bounds2D:
+        if self.PENALTY_AREA_DIM is None:
+            raise ValueError(f"{type(self).__name__} does not define a penalty area")
+
+        return self._build_box_bounds(
+            depth=self.PENALTY_AREA_DIM[0],
+            width=self.PENALTY_AREA_DIM[1],
+            side=side,
+        )
+
+    def get_penalty_spot(self, side: GoalSide = "our") -> tuple[float, float]:
+        resolved_side = self._resolve_side(side)
+        x = (self.get_length() / 2.0) - self.PENALTY_SPOT_DISTANCE
+        return (-x, 0.0) if resolved_side == "left" else (x, 0.0)
+
+    def _is_inside_bounds(self, pos2d: np.ndarray | tuple[float, float], bounds: Bounds2D) -> bool:
+        x, y = float(pos2d[0]), float(pos2d[1])
+        min_x, max_x, min_y, max_y = bounds
+        return min_x <= x <= max_x and min_y <= y <= max_y
+
+    def is_inside_goalie_area(
+        self, pos2d: np.ndarray | tuple[float, float], side: GoalSide = "our"
+    ) -> bool:
+        return self._is_inside_bounds(pos2d, self.get_goalie_area_bounds(side))
+
+    def is_inside_penalty_area(
+        self, pos2d: np.ndarray | tuple[float, float], side: GoalSide = "our"
+    ) -> bool:
+        return self._is_inside_bounds(pos2d, self.get_penalty_area_bounds(side))
+
+    def is_inside_field(self, pos2d: np.ndarray | tuple[float, float]) -> bool:
+        field_half_x = self.get_length() / 2.0
+        field_half_y = self.get_width() / 2.0
+        return self._is_inside_bounds(pos2d, (-field_half_x, field_half_x, -field_half_y, field_half_y))
+
+    def get_beam_pose(self, number: int, is_left_team: bool = True) -> tuple[float, float, float]:
+        try:
+            pose = self.DEFAULT_BEAM_POSES[number]
+        except KeyError as exc:
+            raise KeyError(f"No beam pose configured for player {number} on {type(self).__name__}") from exc
+
+        if is_left_team:
+            return pose
+
+        x, y, rotation = pose
+        mirrored_rotation = ((rotation + 180.0 + 180.0) % 360.0) - 180.0
+        return (-x, -y, mirrored_rotation)
+
+    def get_default_beam_poses(self) -> dict[int, tuple[float, float, float]]:
+        return dict(self.DEFAULT_BEAM_POSES)
+
+    def get_canonical_landmarks(self) -> dict[str, np.ndarray]:
+        field_half_x = self.get_length() / 2.0
+        field_half_y = self.get_width() / 2.0
+        goal_half_y = self.get_goal_half_width()
+        penalty_marker_x = field_half_x - self.PENALTY_SPOT_DISTANCE
+        goalie_area_x = field_half_x - self.GOALIE_AREA_DIM[0]
+        goalie_marker_y = self.GOALIE_AREA_DIM[1] / 2.0
+
+        landmarks = {
+            "l_luf": np.array([-field_half_x, field_half_y, 0.0]),
+            "l_llf": np.array([-field_half_x, -field_half_y, 0.0]),
+            "l_ruf": np.array([field_half_x, field_half_y, 0.0]),
+            "l_rlf": np.array([field_half_x, -field_half_y, 0.0]),
+            "t_cuf": np.array([0.0, field_half_y, 0.0]),
+            "t_clf": np.array([0.0, -field_half_y, 0.0]),
+            "x_cuc": np.array([0.0, self.CENTER_CIRCLE_RADIUS, 0.0]),
+            "x_clc": np.array([0.0, -self.CENTER_CIRCLE_RADIUS, 0.0]),
+            "p_lpm": np.array([-penalty_marker_x, 0.0, 0.0]),
+            "p_rpm": np.array([penalty_marker_x, 0.0, 0.0]),
+            "g_lup": np.array([-field_half_x, goal_half_y, self.GOAL_DIM[2]]),
+            "g_llp": np.array([-field_half_x, -goal_half_y, self.GOAL_DIM[2]]),
+            "g_rup": np.array([field_half_x, goal_half_y, self.GOAL_DIM[2]]),
+            "g_rlp": np.array([field_half_x, -goal_half_y, self.GOAL_DIM[2]]),
+            "l_luga": np.array([-goalie_area_x, goalie_marker_y, 0.0]),
+            "l_llga": np.array([-goalie_area_x, -goalie_marker_y, 0.0]),
+            "l_ruga": np.array([goalie_area_x, goalie_marker_y, 0.0]),
+            "l_rlga": np.array([goalie_area_x, -goalie_marker_y, 0.0]),
+            "t_luga": np.array([-field_half_x, goalie_marker_y, 0.0]),
+            "t_llga": np.array([-field_half_x, -goalie_marker_y, 0.0]),
+            "t_ruga": np.array([field_half_x, goalie_marker_y, 0.0]),
+            "t_rlga": np.array([field_half_x, -goalie_marker_y, 0.0]),
+        }
+
+        if self.PENALTY_AREA_DIM is not None:
+            penalty_area_x = field_half_x - self.PENALTY_AREA_DIM[0]
+            penalty_marker_y = self.PENALTY_AREA_DIM[1] / 2.0
+            landmarks.update(
+                {
+                    "l_lupa": np.array([-penalty_area_x, penalty_marker_y, 0.0]),
+                    "l_llpa": np.array([-penalty_area_x, -penalty_marker_y, 0.0]),
+                    "l_rupa": np.array([penalty_area_x, penalty_marker_y, 0.0]),
+                    "l_rlpa": np.array([penalty_area_x, -penalty_marker_y, 0.0]),
+                    "t_lupa": np.array([-field_half_x, penalty_marker_y, 0.0]),
+                    "t_llpa": np.array([-field_half_x, -penalty_marker_y, 0.0]),
+                    "t_rupa": np.array([field_half_x, penalty_marker_y, 0.0]),
+                    "t_rlpa": np.array([field_half_x, -penalty_marker_y, 0.0]),
+                }
+            )
+
+        return landmarks
 
 
 class FIFAField(Field):
-    def __init__(self, world):
+    FIELD_DIM = (105.0, 68.0, 40.0)
-        super().__init__(world)
+    LINE_WIDTH = 0.1
-
+    GOAL_DIM = (1.6, 7.32, 2.44)
-    @override
+    GOALIE_AREA_DIM = (5.5, 18.32)
-    def get_width(self):
+    PENALTY_AREA_DIM = (16.5, 40.32)
-        return 68
+    PENALTY_SPOT_DISTANCE = 11.0
-
+    CENTER_CIRCLE_RADIUS = 9.15
-    @override
+    DEFAULT_BEAM_POSES = {
-    def get_length(self):
+        1: (-50.7, 0.0, 0.0),
-        return 105
+        2: (-38.9, 10.9, 0.0),
+        3: (-36.8, 4.8, 0.0),
+        4: (-36.8, -4.8, 0.0),
+        5: (-38.9, -10.9, 0.0),
+        6: (-10.2, 0.0, 0.0),
+        7: (-18.9, 0.0, 0.0),
+    }
 
 
 class HLAdultField(Field):
-    def __init__(self, world):
+    FIELD_DIM = (14.0, 9.0, 40.0)
-        super().__init__(world)
+    LINE_WIDTH = 0.05
+    GOAL_DIM = (0.6, 2.6, 1.8)
+    GOALIE_AREA_DIM = (1.0, 4.0)
+    PENALTY_AREA_DIM = (3.0, 6.0)
+    PENALTY_SPOT_DISTANCE = 2.1
+    CENTER_CIRCLE_RADIUS = 1.5
+    DEFAULT_BEAM_POSES = {
+        1: (-5.5, 0.0, 0.0),
+        2: (-2.0, -1.5, 0.0),
+        3: (-2.0, 1.5, 0.0),
+    }
 
-    @override
-    def get_width(self):
-        return 9
-
-    @override
-    def get_length(self):
-        return 14
 
 class Soccer7vs7Field(Field):
-    def __init__(self, world):
+    FIELD_DIM = (55.0, 36.0, 40.0)
-        super().__init__(world)
+    LINE_WIDTH = 0.1
-
+    GOAL_DIM = (0.84, 3.9, 2.44)
-    @override
+    GOALIE_AREA_DIM = (2.9, 9.6)
-    def get_width(self):
+    PENALTY_AREA_DIM = (8.6, 21.3)
-        return 36
+    PENALTY_SPOT_DISTANCE = 5.8
-
+    CENTER_CIRCLE_RADIUS = 4.79
-    @override
+    DEFAULT_BEAM_POSES = {
-    def get_length(self):
+        1: (-25.7, 0.0, 0.0),
-        return 55
+        2: (-15.7, 5.8, 0.0),
+        3: (-13.8, 2.5, 0.0),
+        4: (-13.8, -2.5, 0.0),
+        5: (-15.7, -5.8, 0.0),
+        6: (-5.8, 0.0, 0.0),
+        7: (-9.9, 0.0, 0.0),
+    }

world/commons/field_landmarks.py

@@ -1,14 +1,16 @@
+from __future__ import annotations
+
 import numpy as np
+
 from utils.math_ops import MathOps
 
 
 class FieldLandmarks:
-    def __init__(self, world):
+    def __init__(self, field):
-        from world.world import World  # type hinting
+        self.field = field
-
+        self.world = field.world
-        self.world: World = world
+        self.landmarks: dict[str, np.ndarray] = {}
-
+        self.canonical_landmarks: dict[str, np.ndarray] = field.get_canonical_landmarks()
-        self.landmarks: dict = {}
 
     def update_from_perception(self, landmark_id: str, landmark_pos: np.ndarray) -> None:
         """
@@ -21,14 +23,19 @@ class FieldLandmarks:
         global_pos_3d = MathOps.rel_to_global_3d(
             local_pos_3d=local_cart_3d,
             global_pos_3d=world.global_position,
-            global_orientation_quat=world.agent.robot.global_orientation_quat
+            global_orientation_quat=world.agent.robot.global_orientation_quat,
         )
 
         self.landmarks[landmark_id] = global_pos_3d
 
-    def get_landmark_position(self, landmark_id: str) -> np.ndarray | None:
+    def get_landmark_position(
+        self, landmark_id: str, use_canonical: bool = False
+    ) -> np.ndarray | None:
         """
-        Returns the calculated 2d global position for a given landmark ID.
+        Returns the current perceived or canonical global position for a landmark.
-        Returns None if the landmark is not currently visible or processed.
         """
-        return self.global_positions.get(landmark_id)
+        source = self.canonical_landmarks if use_canonical else self.landmarks
+        return source.get(landmark_id)
+
+    def get_canonical_landmark_position(self, landmark_id: str) -> np.ndarray | None:
+        return self.canonical_landmarks.get(landmark_id)

world/world.py

@@ -1,4 +1,4 @@
-from dataclasses import Field
+from world.commons.field import Field
 import numpy as np
 from world.commons.other_robot import OtherRobot
 from world.commons.field import FIFAField, HLAdultField, Soccer7vs7Field
@@ -34,14 +34,18 @@ class World:
         self.playmode_group: PlayModeGroupEnum = PlayModeGroupEnum.NOT_INITIALIZED
         self.is_left_team: bool = None
         self.game_time: float = None
-        self.server_time: float = None  # 服务器时间，单位：秒
+        self.server_time: float = None
         self.score_left: int = None
         self.score_right: int = None
         self.their_team_name: str = None
-        self.last_server_time: str = None
+        self.last_server_time: float = None
         self._global_cheat_position: np.ndarray = np.zeros(3)
         self.global_position: np.ndarray = np.zeros(3)
         self.ball_pos: np.ndarray = np.zeros(3)
+        self.ball_last_pos: np.ndarray = np.zeros(3)
+        self.ball_last_update_time: float = None
+        self.ball_velocity_2d: np.ndarray = np.zeros(2)
+        self.ball_speed: float = 0.0
         self.is_ball_pos_updated: bool = False
         self.our_team_players: list[OtherRobot] = [OtherRobot() for _ in range(self.MAX_PLAYERS_PER_TEAM)]
         self.their_team_players: list[OtherRobot] = [OtherRobot(is_teammate=False) for _ in
@@ -56,6 +60,19 @@ class World:
             playmode=self.playmode, is_left_team=self.is_left_team
         )
 
+    # ------------------------------------------------------------------
+    # Ball freshness
+    # ------------------------------------------------------------------
+    BALL_FRESH_THRESHOLD: float = 0.6    # < 0.6s: reliable
+    BALL_STALE_THRESHOLD: float = 3.0    # > 3.0s: completely lost
+
+    @property
+    def ball_age(self) -> float:
+        """Seconds since the ball position was last updated by vision."""
+        if self.ball_last_update_time is None or self.server_time is None:
+            return float("inf")
+        return self.server_time - self.ball_last_update_time
+
     def is_fallen(self) -> bool:
         return self.global_position[2] < 0.3