(change Cyrus2D#14) Improved kick-off formation

By simply changing the target position for the two most offending players, the problem in issue Cyrus2D#14 is fixed by this

base/formation_dt/setplay_our_formation.conf

@@ -20,12 +20,12 @@ Ball 0 0
 3 -15.33 3.66
 4 -9.29 -15.12
 5 -10.84 13.69
-6 -0.71 -0.36
+6 -10.71 -0.36
 7 0 -6.97
 8 0.48 6.73
 9 13.69 -20.13
 10 10.73 24
-11 16.08 0
+11 -16.08 0
 ----- 1 -----
 Ball -54 0
 1 -50 -0

base/generator_action.py

@@ -27,9 +27,12 @@ def __init__(self):
         self.min_opp_dist = 0.0
 
     def calculate_min_opp_dist(self, wm: 'WorldModel' = None):
-        if wm is None or wm.opponents() is None or len(wm.opponents()) == 0:
+        try:
+            if wm is None or wm.opponents() is None or len(wm.opponents()) == 0:
+                return 0.0
+            return min([opp.pos().dist(self.target_ball_pos) for opp in wm.opponents() if opp is not None and opp.unum() > 0])
+        except:
             return 0.0
-        return min([opp.pos().dist(self.target_ball_pos) for opp in wm.opponents() if opp is not None and opp.unum() > 0])
 
     def evaluate(self, wm: 'WorldModel' = None):
         self.min_opp_dist = self.calculate_min_opp_dist(wm)

base/set_play/bhv_set_play.py

@@ -38,6 +38,7 @@ def execute(self, agent: 'PlayerAgent'):
 
         st = StrategyFormation.i()
         target = st.get_pos(wm.self().unum())
+
         if wm.game_mode().side() is wm.our_side():
             nearest_tm_dist = 1000
             nearest_tm = 0
@@ -50,8 +51,10 @@ def execute(self, agent: 'PlayerAgent'):
                     if dist < nearest_tm_dist:
                         nearest_tm_dist = dist
                         nearest_tm = i
+
             if nearest_tm is wm.self().unum():
                 target = wm.ball().pos()
+
         if GoToPoint(target, 0.5, 100).execute(agent):
             agent.set_neck_action(NeckTurnToBallOrScan())
             return True