world_modelとtacticからの評価関数の抜き出し by agich073 · Pull Request #505 · SSL-Roots/consai_ros2

agich073 · 2025-08-12T09:09:32Z

概要

world_modelとtacticから評価関数等を抜き出した
evaluationとperceptionディレクトリを作成した
- evaluation: 評価により計算等が発生するもの
- perception: 客観的な事実を見ているworld_modelと違い、主観的な事実を見ているもの

変更内容

tactickはなるべく戦術の実行だけをまとめた
kick_target_model.pyはkick_target_evaluation.pyとして移植

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

影響範囲

たくさん

        new file:   consai_game/consai_game/evaluation/__init__.py
        new file:   consai_game/consai_game/evaluation/ball_evaluation.py
        new file:   consai_game/consai_game/evaluation/evaluation.py
        new file:   consai_game/consai_game/evaluation/evaluation_meta_data.py
        new file:   consai_game/consai_game/evaluation/evaluation_provider_node.py
        new file:   consai_game/consai_game/evaluation/kick_target_evaluation.py
        new file:   consai_game/consai_game/evaluation/robot_evaluation.py
        modified:   consai_game/consai_game/main.py
        new file:   consai_game/consai_game/perception/__init__.py
        new file:   consai_game/consai_game/perception/ball_perception.py
        new file:   consai_game/consai_game/perception/robot_perception.py
        modified:   consai_game/consai_game/tactic/composite/composite_defense.py
        modified:   consai_game/consai_game/tactic/composite/composite_offense.py
        modified:   consai_game/consai_game/tactic/dribble.py
        modified:   consai_game/consai_game/tactic/kick.py
        modified:   consai_game/consai_game/visualization/visualize_msg_publisher_node.py
        modified:   consai_game/consai_game/world_model/ball_activity_model.py
        modified:   consai_game/consai_game/world_model/kick_target_model.py
        modified:   consai_game/consai_game/world_model/world_model.py
        modified:   consai_game/consai_game/world_model/world_model_provider_node.py

補足

PR作成時点でevaluationをtacticのrun()の引数に設定する方法がわからず、場当たり的にevaluationを使っている

github-actions · 2025-08-12T09:14:07Z

test_scenario_kickoff.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16904335626/artifacts/3742959644
How to replay the logs: README_play_logfile

github-actions · 2025-08-12T09:14:24Z

test_scenario_penalty.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16904335626/artifacts/3742962204
How to replay the logs: README_play_logfile

github-actions · 2025-08-12T13:53:15Z

test_scenario_kickoff.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16904335626/artifacts/3745297432
How to replay the logs: README_play_logfile

github-actions · 2025-08-12T13:53:26Z

test_scenario_penalty.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16904335626/artifacts/3745299398
How to replay the logs: README_play_logfile

ShotaAk · 2025-08-12T13:57:33Z

キックオフとペナルティのシナリオで失敗しているので、何が起きてるのか確認お願いします！

ログファイルの確認方法も上のリンク先に書いてあります

ShotaAk

コメントしました。

evaluationの実装方針を変えたほうが良いですね 👀

ShotaAk · 2025-08-12T13:54:47Z

consai_game/consai_game/evaluation/evaluation_provider_node.py

+"""
+WorldModelProviderNode モジュール.
+
+このモジュールは ROS2 ノードとして動作する.
+Referee メッセージや TrackedFrame を受け取り, ワールドモデルをリアルタイムに更新する.
+"""


コメント修正お願いします！

ShotaAk · 2025-08-12T13:55:10Z

consai_game/consai_game/evaluation/evaluation_provider_node.py

+        """
+        タイマーにより定期的に呼び出され、WorldModelの状態を更新する.
+
+        ロボットのアクティビティやボール位置を再計算する.
+        """


こちらも修正お願いします

ShotaAk · 2025-08-12T14:07:22Z

consai_game/consai_game/evaluation/ball_evaluation.py

ball_evaluationは使ってないので　このPRから削除お願いします。

（中身もBallPositionModelになってます）

ShotaAk · 2025-08-12T14:14:28Z

consai_game/consai_game/evaluation/robot_evaluation.py

巨大なファイルになっているので分割しましょう。

1関数/1ファイルになっても良いです。

ShotaAk · 2025-08-12T14:16:50Z

consai_game/consai_game/evaluation/robot_evaluation.py

+@dataclass
+class Threat:
+    score: int  # 0以上
+    robot_id: int  # 相手のロボットID
+
+class ThreatsModel:


threat_model.pyに抽出しましょう

ShotaAk · 2025-08-12T14:18:21Z

consai_game/consai_game/evaluation/robot_evaluation.py

+
+
+# kick_target_model.py
+def _obstacle_exists(target: State2D, ball: BallModel, robots: dict[int, Robot], tolerance) -> bool:


obstacle_exists.pyに抽出しましょう。
関数名も、アンダーバーをつけずにobstacle_exists　にしてください。

ShotaAk · 2025-08-12T14:18:52Z

consai_game/consai_game/evaluation/robot_evaluation.py

+            return True
+    return False
+
+def _is_robot_inside_pass_area(ball: BallModel, robot: Robot, _half_width: Field) -> bool:


is_robot_inside_pass_area.pyに抽出しましょう。

関数名もアンダーバーを外してください。

ShotaAk · 2025-08-12T14:20:14Z

consai_game/consai_game/evaluation/robot_evaluation.py

+# robot_activity_model.py
+"""未完了."""
+@dataclass
+class ReceiveScore:
+    """ボールをどれだけ受け取りやすいかを保持するデータクラス."""
+
+    robot_id: int = 0
+    intercept_time: float = float("inf")  # あと何秒後にボールを受け取れるか
+
+def calc_ball_receive_score_list(
+    robots: dict[int, Robot], ball: BallModel, ball_activity: BallActivityModel, game_config: GameConfigModel
+) -> list[ReceiveScore]:
+    """ロボットごとにボールを受け取れるスコアを計算する."""
+
+    # ボールが動いていない場合は、スコアをデフォルト値にする
+    if not ball_activity.ball_is_moving:
+        return [ReceiveScore(robot_id=robot.robot_id) for robot in robots.values()]
+
+    score_list = []
+    for robot in robots.values():
+        score_list.append(
+            ReceiveScore(
+                robot_id=robot.robot_id,
+                intercept_time=calc_intercept_time(robot, ball, game_config),
+            )
+        )
+
+        # intercept_timeが小さい順にソート
+        score_list.sort(key=lambda x: x.intercept_time)
+        return score_list
+
+def calc_intercept_time(robot: Robot, ball: BallModel, game_config: GameConfigModel) -> float:


未完了コードはPRから外しましょう〜。

また、依存関係によってはrobot_evaluationに入れずに、他の関数と同様に独立させてもいいと思います。

ShotaAk · 2025-08-12T14:46:21Z

consai_game/consai_game/tactic/composite/composite_defense.py

        self.very_close_to_ball_threshold = 0.3
        self.do_receive = do_receive

+        self.evaluation: Evaluation = Evaluation()


evaluationをメンバに持ってますが、
evaluationを更新する仕組みが用意されてないので期待通りに動かないと思います。

最初はworld_modelのメンバにevaluationを追加する、という仕組みにしてみてほしいです。

ShotaAk · 2025-08-12T14:50:11Z

consai_game/consai_game/evaluation/robot_evaluation.py

+# dribble.py
+def ball_is_front(ball_pos: State2D, robot_pos: State2D, target_pos: State2D) -> bool:
+    """ボールがロボットの前にあるかどうかを判定する."""


ballの関数なので別ファイルに抽出しましょう。

ball_is_front.py にしても良いです。

github-actions · 2025-08-13T05:45:12Z

test_scenario_force_start.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16928602572/artifacts/3751843279
How to replay the logs: README_play_logfile

github-actions · 2025-08-13T05:45:23Z

test_scenario_free_kick.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16928602572/artifacts/3751844120
How to replay the logs: README_play_logfile

github-actions · 2025-08-13T05:45:27Z

yellow_invert/test_scenario_yellow_invert_kickoff.py failed. Failure logs:
How to replay the logs: README_play_logfile

github-actions · 2025-08-13T05:45:48Z

test_scenario_kickoff.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16928602572/artifacts/3751845988
How to replay the logs: README_play_logfile

github-actions · 2025-08-13T05:46:49Z

test_scenario_ball_placement2.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16928602572/artifacts/3751850707
How to replay the logs: README_play_logfile

github-actions · 2025-08-13T05:46:51Z

test_scenario_ball_placement.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16928602572/artifacts/3751850820
How to replay the logs: README_play_logfile

github-actions · 2025-08-13T05:46:57Z

test_scenario_obstacle_avoidance.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16928602572/artifacts/3751851364
How to replay the logs: README_play_logfile

github-actions · 2025-08-13T06:06:47Z

test_scenario_penalty.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16928926600/artifacts/3751942475
How to replay the logs: README_play_logfile

github-actions · 2025-08-13T07:07:50Z

test_scenario_kickoff.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16930057125/artifacts/3752283786
How to replay the logs: README_play_logfile

github-actions · 2025-08-13T07:08:00Z

test_scenario_penalty.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16930057125/artifacts/3752284986
How to replay the logs: README_play_logfile

github-actions · 2025-08-13T07:29:41Z

test_scenario_kickoff.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16930057125/artifacts/3752423742
How to replay the logs: README_play_logfile

github-actions · 2025-08-13T07:29:48Z

test_scenario_penalty.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16930057125/artifacts/3752424521
How to replay the logs: README_play_logfile

github-actions · 2025-08-14T00:21:26Z

test_scenario_kickoff.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16930057125/artifacts/3760574650
How to replay the logs: README_play_logfile

github-actions · 2025-08-14T00:21:37Z

test_scenario_penalty.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16930057125/artifacts/3760575613
How to replay the logs: README_play_logfile

github-actions · 2025-08-14T00:26:15Z

test_scenario_penalty.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16930057125/artifacts/3760600600
How to replay the logs: README_play_logfile

github-actions · 2025-08-15T08:38:47Z

test_scenario_force_start.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16986324251/artifacts/3772490311
How to replay the logs: README_play_logfile

github-actions · 2025-08-15T08:39:00Z

test_scenario_obstacle_avoidance.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16986324251/artifacts/3772491484
How to replay the logs: README_play_logfile

github-actions · 2025-08-15T08:39:03Z

test_scenario_free_kick.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16986324251/artifacts/3772491741
How to replay the logs: README_play_logfile

github-actions · 2025-08-15T08:39:12Z

yellow_invert/test_scenario_yellow_invert_kickoff.py failed. Failure logs:
How to replay the logs: README_play_logfile

github-actions · 2025-08-15T08:39:22Z

test_scenario_kickoff.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16986324251/artifacts/3772493188
How to replay the logs: README_play_logfile

github-actions · 2025-08-15T08:39:56Z

test_scenario_penalty.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16986324251/artifacts/3772496028
How to replay the logs: README_play_logfile

github-actions · 2025-08-15T08:40:22Z

test_scenario_ball_placement2.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16986324251/artifacts/3772498240
How to replay the logs: README_play_logfile

github-actions · 2025-08-15T08:40:26Z

test_scenario_ball_placement.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16986324251/artifacts/3772498588
How to replay the logs: README_play_logfile

github-actions · 2025-08-15T08:46:03Z

test_scenario_obstacle_avoidance.py failed. Failure logs: https://github.com/SSL-Roots/consai_ros2/actions/runs/16986436278/artifacts/3772527868
How to replay the logs: README_play_logfile

ShotaAk

リファクタリングの方針良いと思います。
気になるところをコメントしました！

consai_game/consai_game/world_model/perception/robot_decision.py

consai_game/consai_game/world_model/perception/perception.py

ShotaAk · 2025-08-17T05:38:44Z

consai_game/consai_game/world_model/ball_activity_model.py

        self.last_ball_pos_to_detect_moving: Optional[State2D] = None

+        # ボールの予測クラスのインスタンスを生成
+        self.ball_prediction = BallPrediction()


ここでpredictionのインスタンスが存在しているのが気になります。
world_model、evaluation、perceptionは並列の関係（親子関係じゃない）のはずなので、
インスタンスをメンバとして持たないほうがいいと思いました。

world_modelとtacticからの評価関数の抜き出し

6dd533f

agich073 requested review from ShotaAk, Yamam0t0, nabekuro0104 and uchikun2493 August 12, 2025 09:09

ShotaAk requested changes Aug 12, 2025

View reviewed changes

evaluationをworld_modelの直下に移動

9537489

uchikun2493 added 2 commits August 13, 2025 14:47

モジュール削除に伴う余計なimportを削除

d234815

kick_targetをevaluationに移植

0d70d3c

ball_activity_modelから予測するコードを切り離した

839b7a2

uchikun2493 and others added 4 commits August 14, 2025 10:44

fix: ボールの予測位置の更新

ae93749

threats_modelの移植とperceptionにロボットの位置に関する評価を追加

e8ec1bb

lintの修正

1772b4c

lintの修正

112f6e5

ShotaAk self-requested a review August 14, 2025 13:46

agich073 added 3 commits August 15, 2025 09:57

Merge remote-tracking branch 'origin' into add_evalution

767f7b0

robot_activity_modelを移植

cf8404b

tacticの移植, 定数の抽出

5fad5e1

threats_evaluationが動くようにした

fbcccb7

ShotaAk reviewed Aug 17, 2025

View reviewed changes

重複した関数の削除, update_our_robots_arrivedの更新

92164d1



		# kick_target_model.py
		def _obstacle_exists(target: State2D, ball: BallModel, robots: dict[int, Robot], tolerance) -> bool:

Conversation

agich073 commented Aug 12, 2025

概要

関連チケット

変更内容

動作確認内容

確認したReferee Command

影響範囲

補足

Uh oh!

github-actions bot commented Aug 12, 2025

Uh oh!

github-actions bot commented Aug 12, 2025

Uh oh!

github-actions bot commented Aug 12, 2025

Uh oh!

github-actions bot commented Aug 12, 2025

Uh oh!

ShotaAk commented Aug 12, 2025

Uh oh!

ShotaAk left a comment

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

github-actions bot commented Aug 13, 2025

Uh oh!

github-actions bot commented Aug 13, 2025

Uh oh!

github-actions bot commented Aug 13, 2025

Uh oh!

github-actions bot commented Aug 13, 2025

Uh oh!

github-actions bot commented Aug 13, 2025

Uh oh!

github-actions bot commented Aug 13, 2025

Uh oh!

github-actions bot commented Aug 13, 2025

Uh oh!

github-actions bot commented Aug 13, 2025

Uh oh!

github-actions bot commented Aug 13, 2025

Uh oh!

github-actions bot commented Aug 13, 2025

Uh oh!

github-actions bot commented Aug 13, 2025

Uh oh!

github-actions bot commented Aug 13, 2025

Uh oh!

github-actions bot commented Aug 14, 2025

Uh oh!

github-actions bot commented Aug 14, 2025

Uh oh!

github-actions bot commented Aug 14, 2025

Uh oh!

github-actions bot commented Aug 15, 2025

Uh oh!

github-actions bot commented Aug 15, 2025

Uh oh!

github-actions bot commented Aug 15, 2025

Uh oh!

github-actions bot commented Aug 15, 2025