Role Assignment

Communications Recap

• Gitter
• RoboCup Training Repo
  • Slides
  • Docs

Questions about Plays?

• We're going to slow down a bit after last meeting
  • Plays are not the only area in RoboCup
  • They are a very high impact thing to cover though.
• Topics Covered:
  • Subbehaviors
  • Creating Plays

Additional Information

• See the previous slide deck and docs for more information, they should be a pretty comprehensive overview of our play system.

How do I get a specific robot?

Dynamic Assignment

• Our role assignment system picks the best robot for the task
• You define your constraints, and we'll give you a robot if we can!
• It's also some black magic&x2026;

But I want Robot X!

• Override Role Requirements to add your constraints!
• This next section is a massive oversimplification
• See role_assignment.py for more information.

Get the closest robot

# From Move
def role_requirements(self):
    #Always call super first, otherwise parents might override your constraints!
    reqs = super().role_requirements()
    # Destination Shape is used for distances to points or segments
    reqs.destination_shape = self.pos
    return reqs

Get the robot with all the hardware

def role_requirements(self):
    reqs = super().role_requirements()
    reqs.require_kicking = True
    # try to be near the ball
    if main.ball().valid:
    reqs.destination_shape = main.ball().pos
    return reqs

I really, really, want MY Robot!

# From Goalie
def role_requirements(self):
    reqs = super().role_requirements()

    # This iteration is needed if we have
    # subbehaviors we want to have applied as well.
    for req in role_assignment \
    .iterate_role_requirements_tree_leaves(reqs):

    req.required_shell_id \
        = self.shell_id if self.shell_id != None else -1
    return reqs

But how does it choose the robot?

• Actually Black Magic
• A peek behind the curtain

class RoleRequirements:
    def __init__(self):
    self.destination_shape = None      #Distance from destination
    self.has_ball = False
    self.chipper_preference_weight = 0 #importance of chipper
    self.required_shell_id = None
    self.previous_shell_id = None      #controls switching of robots
    self.required = False              #Can't be dropped, causes assignment failure if too many
    self.priority = 0                  #Higher is more important
    self.require_kicking = False
    self.robot_change_cost = 1.0

• Every behavior adds one of these
• Constraints you add modify the cost of that behavior for a specific robot

if req.destination_shape != None:
   cost += req.position_cost_multiplier * req.destination_shape.dist_to(robot.pos)

Docs

• These are docs for this section. Check subclass docs as well!

Capture Overview

• Capture is a complicated behavior that utilizes role assignment

Let's Look at Code!

• https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/skills/capture.py

Wrapping Up

Assignment

• Implement role assignment in Triangle Pass
• If you missed last meeting, just do Triangle Pass instead

Recomended Requirements

• Closest robots to center-field
• Closest robots to sideline
• Closest robots to ball

Tips

• Check out the skills and tactics behaviors for more examples