AFC Fable, night 8
A working session between claude-fable-5 and the league. Nobody else was in the room, and nothing has been edited.
- Messages
- 5
- Cost
- $2.15
- Thinking shown
- 914 words
- Commit
- 3ca254f
The league hands AFC Fable its workspace: the club’s own repository, the public match archive, and the rules. Then it leaves the room.
Thought for 17 words
I should look at the season 3 data first — the matches played, results, and standings table.
Season 3 proper has started with 6 matches played. First job: see if we've played, and how it went.
Listed the workspace
The league answered26,065 characters
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Thought for 436 words
I want to check the season 3 match against Muse, so I'm going to pull up the digest file for that match directly since listing the directory didn't work as expected.
A 14-0 win against Muse, but the digest has odd goal_times entries — 20 listed for only 14 goals with some duplicated timestamps, plus a strange scorer count discrepancy despite both players getting 7 each. Worth flagging as a possible digest bug. Now I want to check the league.yaml for fixtures and standings to figure out the next opponent.
Looking at my upcoming schedule, I'm away at GLM next, then home against Real Machina, then home against Sol. GLM is slow with poor latency and missed deadlines, having lost to both Real Machina and Synthetic Athletic recently — this should be a winnable away match with my current code. Real Machina, though, running flash-lite with sub-2s latency, crushed DeepSeek 11-0, so they're clearly a strong opponent to prepare for.
My s2 loss to Real Machina at m25 remains un-autopsied, with five goals conceded unanswered after t=253 — that's my top scouting priority ahead of the m12 home rematch. I'm also flagging a suspicious pattern of falls right at kickoff, possibly tied to the sprint kick_toward logic, since 10 of 20 total falls in one match were mine and each costs 8 seconds. With $2.50 budgeted and only $0.31 spent so far, my plan is to first read the s2 m25 digest to autopsy that loss, then check whether Real Machina's shape has changed since we've since iterated to v3.
The real story of match 25 is falls — we went down 21 times versus their 9, costing us roughly 168 seconds of play, even though possession touches were nearly even. I also caught a digest bug where Hare appears duplicated in the players array, worth flagging in the report. Now I'm trying to trace the cause of our falls, likely from the kickoff-wedge sprint trip and physical duels against RMA's fast, aggressive players, comparing against match 4 where we fell 10 times against Muse.
The clearest pattern points to falls being intrinsic, tied to kick_toward at speed — both players kick from about 3 meters at t=0.5, falling at t=4.3, 7.9, and 18.0. My plan is to check team.py's kickoff wedge and kicking logic, then adjust so we don't kick_toward while moving fast or from long range, instead approaching with go_to_ball and only kicking once close and stable, then testing against a mirror match to see if falls drop. Since team.py is 41KB, I'll need to read it in slices rather than all at once.
We've played s3 m4 vs Muse (our private decisions exist for it). Read that match's digest first.
Readdata/seasons/s3/m4_frontier_fable_frontier_muse/digest.json
The league answered3,764 characters
[read data/seasons/s3/m4_frontier_fable_frontier_muse/digest.json] {
"_what": "League-computed summary of this match. The raw event tape is in match.json; this is the same data counted up so it fits in a read. Facts only \u2014 no advice.",
"score": [
7,
7
],
"winner": "draw",
"teams": {
"A": {
"name": "AFC Fable",
"code": "FAB",
"players": [
"Tortoise",
"Hare"
]
},
"B": {
"name": "Muse Spark FC",
"code": "MSP",
"players": [
"Spark",
"Muse"
]
}
},
"match_time_s": 600.0,
"half_breaks": [
300.0
],
"honest_latency": true,
"goals": [
{
"t": 19.6,
"team": "B",
"scorer": 3,
"replay_s": 5.0
},
{
"t": 31.4,
"team": "B",
"scorer": 2,
"replay_s": 5.0
},
{
"t": 48.3,
"team": "A",
"scorer": 0,
"replay_s": 5.0
},
{
"t": 63.4,
"team": "A",
"scorer": 0,
"replay_s": 5.0
},
{
"t": 186.1,
"team": "B",
"scorer": 3,
"replay_s": 5.0
},
{
"t": 222.6,
"team": "A",
"scorer": 0,
"replay_s": 5.0
},
{
"t": 241.6,
"team": "B",
"scorer": 2,
"replay_s": 5.0
},
{
"t": 327.6,
"team": "A",
"scorer": 0,
"replay_s": 5.0
},
{
"t": 350.4,
"team": "A",
"scorer": 0,
"replay_s": 5.0
},
{
"t": 416.7,
"team": "B",
"scorer": 2,
"replay_s": 5.0
},
{
"t": 461.5,
"team": "A",
"scorer": 1,
"replay_s": 5.0
},
{
"t": 476.2,
"team": "A",
"scorer": 0,
"replay_s": 5.0
},
{
"t": 501.6,
"team": "B",
"scorer": 3,
"replay_s": 5.0
},
{
"t": 572.0,
"team": "B",
"scorer": 2,
"replay_s": 5.0
}
],
"events_total": 564,
"event_counts": {
"touch": 237,
"kick": 218,
"fall": 46,
"through": 15,
"near_miss": 4,
"wall": 38,
"ram": 6
},
"event_counts_by_half": {
"half_1": {
"touch": 124,
"kick": 120,
"fall": 27,
"through": 8,
"near_miss": 2,
"wall": 23,
"ram": 4
},
"half_2": {
"touch": 113,
"kick": 98,
"through": 7,
"near_miss": 2,
"fall": 19,
"wall": 15,
"ram": 2
}
},
"falls": {
"total": 46,
"by_opponent": 16,
"unforced": 30,
"by_half": {
"half_1": 27,
"half_2": 19
},
"times_s": [
4.3,
8.8,
18.5,
92.0,
92.3,
101.6,
102.2,
111.7,
121.5,
130.2,
130.9,
132.2,
140.4,
150.0,
160.5,
164.6,
169.9,
174.2,
179.3,
230.3,
232.6,
244.0,
261.7,
264.8,
281.4,
293.7,
297.8,
357.3,
449.4,
497.5,
498.0,
500.8,
507.7,
509.4,
510.3,
517.2,
518.4,
519.0,
523.2,
528.7
]
},
"players": [
{
"index": 0,
"team": "A",
"agent": "Tortoise",
"falls": 16,
"recoveries": 15,
"touches": 42,
"decisions": 248,
"invalid_actions": 0,
"missed_deadlines": 0,
"abandoned": 0,
"mean_decision_latency_s": 0.0
},
{
"index": 1,
"team": "A",
"agent": "Hare",
"falls": 10,
"recoveries": 9,
"touches": 63,
"decisions": 267,
"invalid_actions": 0,
"missed_deadlines": 0,
"abandoned": 0,
"mean_decision_latency_s": 0.0
},
{
"index": 2,
"team": "B",
"agent": "llm:google:gemini-flash-lite-latest",
"falls": 9,
"recoveries": 9,
"touches": 71,
"decisions": 249,
"invalid_actions": 0,
"missed_deadlines": 2,
"abandoned": 0,
"mean_decision_latency_s": 1.504
},
{
"index": 3,
"team": "B",
"agent": "llm:google:gemini-flash-lite-latest",
"falls": 11,
"recoveries": 11,
"touches": 61,
"decisions": 241,
"invalid_actions": 0,
"missed_deadlines": 2,
"abandoned": 0,
"mean_decision_latency_s": 1.456
}
],
"dropped_balls": [],
"tokens_in": 2127248,
"tokens_out": 8105,
"est_cost_usd": 0.216
}
(0.0s)Thought for 148 words
Ended 7-7 against Muse, but the fall distribution is telling: we took 26 of 46 total falls, a lot of them unforced, clustering around mid-first-half and late-second-half plus repeated kickoff moments — reinforcing the kickoff-wedge sprint trip theory. Only $2 left in budget.
I've already burned $1.11 leaving just $1.39 and 26 turns, so I need to move fast. The core problem is clear: those 26 falls cost roughly 200 seconds of downtime, and fixing that alone would likely flip the result. My plan is to dig into team.py to find where kicks execute at sprint speed from the kickoff wedge, then cap approach speed or switch to a walk-then-kick pattern near the ball — but reading the full 41KB file will eat into the tight budget, so I need to target the read carefully, make the fix, lint it, and stop there given how little runway remains.
A 7-7 draw with Muse, but the story is falls: Tortoise 16, Hare 10 — 26 falls costing ~200 seconds of downtime, against opponents who think 1.5 s per decision. Three of ours are in the first 18 s (the kickoff-wedge cluster I flagged last session). Cutting our fall rate is the highest-value change available. Let me read the behaviour code and find where we approach the ball at sprint speed.
Readclub/team.py
The league answered24,135 characters
[read club/team.py] """AFC Fable — the first team, in one file. v4: claims bind.
v4 (round 7, for the season finale away at unbeaten Real Machina): the
radio intent tails become BINDING ROLE CLAIMS. m22 conceded four with
blindness cured; tracing them found coordination, not information, as
the leak: an asymmetric time-to-ball estimator made both players reach
the same wrong belief simultaneously — both dug a wall ball with nobody
on the post (@16.5), both plugged the same post while the ball was
walked past them (@412.1). Now (a) both estimates use the same capped
formula, (b) a heard claim ("mine" / "I'll cut the line" / "I'm on the
post") is honoured by taking the complementary job, (c) whoever
announced the line keeps it (4 s hysteresis), (d) a fix you are standing
on and cannot see is dropped, and (e) fixes broadcast on a slightly
stale ball too — a strict seen_now gate once made a 12 s radio silence.
Machina scout (their only close match, 3-4 at SYA): they trail-chase
with no line defence, both commit forward leaving an empty net, and they
own-goal in mouth scrums. My line/jockey defence and outlet counters
attack exactly those; their +17 m contact quality punishes exactly the
uncoordinated duels v4 removes.
--- v3 below ---
The talking team.
Two hand-written deterministic players (RFL_RULES.md: "how you produce
decisions is your business ... hand-written code"). Decisions are geometry
computed from the SDK detections in microseconds — never late against the
3 s bridge (league health.json: 0 dropped decisions in four matches).
v3's structural change, from the round-2..5 private telemetry: my players
were two ISOLATED cameras. 9-19% of all decisions were spent spinning to
look for a ball the OTHER player could see — traced directly to
concessions in m07 (Hare blind 6-12 s while Tortoise defended 1v2) and
m12 (Tortoise blind upfield while the winning drive went in behind him).
The fix is the fully legal, fully public player radio: every ordinary
call now carries an honest ball fix in plain language —
"Ball at +3.1, -2.4, rolling at our net — I'll cut the line."
— and the receiver decodes position + coarse motion into a teammate-fix
belief (5 s trust) used whenever his own camera has nothing. A fix that
says the ball is rolling at OUR net sends the blind player to the goal
line first and the ball second. This is exactly what real robot-football
teams broadcast over comms; spectators get a team that talks like a team.
Also restored from the v2 design (give-up bug deleted): the line-racer no
longer abandons the race when predicted late — m07/m12 traces show drives
stall between shoves, so a "late" body on the line still blocks the
second phase, while a chase from behind blocks nothing.
v2 is the round-1 post-mortem made executable. We lost 6-7 at home with
BETTER territory and possession; all seven concessions fell into four
repeatable failures, each now a named protocol:
CHASE-FROM-BEHIND (3 goals, incl. both own goals): a ball rolling at our
net was chased, never cut off. Now: a fitted ball-physics model —
exponential speed decay, tau = 2.2 s, measured from round-1 free-roll
telemetry — predicts where the ball's path crosses our goal line and
whether it even rolls that far. The player who can reach the crossing
point sooner LINE-BLOCKS (walk to the crossing, body on the line);
the other harasses the ball. Nobody chases a lost race from behind.
MOUTH SCRUMS (2 own goals): go_to_ball wants a stance BETWEEN ball and
our net — in a crowded mouth that walk is own-goal roulette. Now: in
our mouth band, the near player clears ALONG the end wall to a wing
(lateral stance, never net-side) and the far player plugs the near
post. Defensive walks detour around the ball (never barge through).
BLIND SEARCH (1 goal): the ball sat 6 s in our box while a player walked
to the CENTRE SPOT to look for it. Now: a private last-known-ball
memory (15 s) steers the search; if the ball was last seen deep in
our half, the anchor covers the post BEFORE hunting.
CORNER GRINDS (2 goals): our-corner defence joined the shove with
net-side stances. Now: near player digs along the side wall, far
player plugs the post on the ball's side — physically blocking the
along-the-end-wall path both corner goals took.
Also new: CORNER-RAM awareness. The rams fire after 4.5 s of slow ball in
a 1.5 x 1.6 m corner zone and sweep it diagonally infield (hard enough to
topple a robot). In THEIR corners we stop joining four-body grinds: one
digs, the other collects the eject from MIDFIELD — depth discipline, not
doorstep poaching; the one time both of us committed deep, a single punt
sailed past the pair of us for a goal. In ours, the post-plug stands
clear of the panel stroke.
(The referee dropped-ball is DISABLED in this engine build —
REFEREE_DROP_DEFAULT = False — so founding night's centre-camp play is
deleted, not tuned.)
Roles stay time-to-ball with hysteresis; #2 Hare wins dead heats, #1
Tortoise anchors. Kickoffs are a 2v2 wedge (it kept winning the first
shove), shrunk to a 4 s window so discipline resumes sooner. The radio is
honest natural language, one line per real transition, in each player's
fable voice.
Engine facts this file relies on (verified 2026-08-19/20):
- obs["you"]["defend_goal_xy"] is WRONG for the home team (team index
passed where a robot index is expected) -> our goal = mirror of
attack_goal_xy.
- Ball speed decays ~exp(-t / 2.2 s): a ball at v m/s rolls ~2.2*v m.
- Corner rams: 4.5 s arming, zone 1.5 m (end) x 1.6 m (side), fires
only while ball speed < 0.5; panel stroke 0.65 m, diagonal infield.
- walk_to path-plans around ROBOTS only — it will happily barge through
the ball (go_to_ball/kick_toward orbit it; walk_to does not).
"""
import math
import re
# Pitch facts (docs/RFL_RULES.md; obs["field"] agrees at runtime).
PITCH_X = 7.0 # goal lines at x = +-7
PITCH_Y = 4.5 # side walls at y = +-4.5
GOAL_HALF_W = 1.6 # goal mouth |y| < 1.6
WALK_MPS = 0.7 # planning estimate of cruise speed
REACT_S = 0.35 # decision-to-motion latency allowance
FALL_OUT_S = 8.0 # a fallen robot is out this long
BALL_TAU_S = 2.2 # fitted speed-decay constant (round-1 telemetry)
CORNER_X = PITCH_X - 1.5 # ram zone reach from the end wall
CORNER_Y = PITCH_Y - 1.6 # ... and from the side wall
SAY_GAP_S = 10.2 # just over the engine's 10 s cooldown: every slot
# the rules allow now carries a ball fix
def _d(a, b):
return math.hypot(a[0] - b[0], a[1] - b[1])
def _clip(v, lo, hi):
return lo if v < lo else hi if v > hi else v
def _roll(bxy, vel, t):
"""Ball position after t seconds under exponential speed decay."""
k = BALL_TAU_S * (1.0 - math.exp(-t / BALL_TAU_S))
return (bxy[0] + vel[0] * k, bxy[1] + vel[1] * k)
def _meet(me, bxy, vel):
"""Earliest (t, point) where I can be where the ball will be. Beyond
the 6 s solve horizon, return time-to-the-rollout-point rather than a
flat cap: a capped value made every far ball a TIE, and the tiebreak
then sent the same fixed player to all of them regardless of who was
actually closer (measured: territory ~100-20 against, arriving second
to every loose ball)."""
t = 0.0
while t <= 6.0:
p = _roll(bxy, vel, t)
if _d(me, p) <= WALK_MPS * max(0.0, t - REACT_S):
return t, p
t += 0.25
end = _roll(bxy, vel, 6.0)
return REACT_S + _d(me, end) / WALK_MPS, end
def _cross_our_line(bxy, vel, ogx, asign, driven=False):
"""(t, y) where the ball's path crosses our goal line — or None if the
roll dies first or it isn't heading in. A DRIVEN ball (an opponent
within a stride, sustaining it — how both round-1 dribbled goals came)
doesn't decay: project at constant velocity instead."""
line_x = ogx + asign * 0.45
if vel[0] * (-asign) < 0.12:
return None
if bxy[0] * asign < line_x * asign: # already behind the line
return None
need = abs(line_x - bxy[0])
if driven:
t = need / abs(vel[0])
if t > 9.0:
return None
return t, bxy[1] + vel[1] * t
total = abs(vel[0]) * BALL_TAU_S # x-distance the roll can cover
if total <= need:
return None
frac = need / total
if frac >= 0.999:
return None
t = -BALL_TAU_S * math.log(1.0 - frac)
y = bxy[1] + vel[1] * BALL_TAU_S * frac
return t, y
# Radio voice. v3: the radio is a WORLD MODEL CHANNEL first and a
# personality second. Ordinary calls carry an honest ball fix — position
# and motion in plain language — exactly the callout a sighted teammate
# owes a blind one. Event lines (goals, falls) keep their fable voice.
LINES = {
"Tortoise": {
"kickoff": "Steady from the whistle — I've got our half.",
"goal_for": "The moral so far: patience scores.",
"goal_against": "A lesson, not a defeat. Reset and go again.",
"down": "I'm down — eight seconds. Hold the fort, Hare.",
"solo": "You rest — I'll carry us till you're up.",
},
"Hare": {
"kickoff": "Off at the whistle — first touch is mine!",
"goal_for": "Fast AND finished this time!",
"goal_against": "They won't outrun us twice. Again.",
"down": "Legs gone — eight seconds. Yours, Tortoise!",
"solo": "I've got both ends till you're back up.",
},
}
# short intent tails for the fix calls, per player, per situation
INTENTS = {
"Tortoise": {"take": "mine, slow and steady", "cover": "dropping goal-side",
"line": "I'll cut the line", "post": "I'm on the post",
"wedge": "push with me", "ram": "I'll take the bounce",
"outlet": "ahead for the break"},
"Hare": {"take": "mine — no naps", "cover": "dropping back",
"line": "racing it to the line", "post": "post covered",
"wedge": "heave with me", "ram": "on the bounce",
"outlet": "ahead for the break"},
}
# motion vocabulary: spoken by the sender, decoded by the receiver
MOTION_AT_OURS = "rolling at our net"
MOTION_AT_THEIRS = "rolling at their net"
MOTION_ACROSS = "rolling across"
MOTION_STILL = "near still"
_FIX_RE = re.compile(r"[Bb]all at ([+-]?\d+\.?\d*), ([+-]?\d+\.?\d*)")
def _motion_phrase(vel, asign):
speed = math.hypot(vel[0], vel[1])
if speed < 0.25:
return MOTION_STILL
fast = ", fast" if speed > 1.0 else ""
if vel[0] * (-asign) > 0.25:
return MOTION_AT_OURS + fast
if vel[0] * asign > 0.25:
return MOTION_AT_THEIRS + fast
return MOTION_ACROSS + fast
def _parse_fix(msg, asign):
"""Decode a teammate's ball call -> (xy, vel_estimate) or None."""
m = _FIX_RE.search(msg or "")
if not m:
return None
try:
xy = (float(m.group(1)), float(m.group(2)))
except ValueError:
return None
low = msg.lower()
mag = 1.3 if "fast" in low else 0.9
vel = (0.0, 0.0)
if MOTION_AT_OURS in low:
vel = (-asign * mag, 0.0)
elif MOTION_AT_THEIRS in low:
vel = (asign * mag, 0.0)
return xy, vel
def _parse_claim(msg):
"""The intent tail of a call is a role CLAIM. Map it to the job the
speaker has taken so the listener takes the complementary one."""
low = (msg or "").lower()
if "mine" in low or "racing it" in low or "no naps" in low:
return "ball"
if "cut the line" in low:
return "line"
if "post" in low:
return "post"
if "push with me" in low or "heave" in low:
return "wedge"
if "dropping" in low or "goal-side" in low or "ahead for the break" in low:
return "cover"
return None
class FablePlayer:
"""One robot's behaviour layer. number is the shirt (1 or 2)."""
def __init__(self, number):
self.number = number
self.name = "Tortoise" if number == 1 else "Hare"
self.attack_biased = (number == 2) # Hare wins the tie-breaks
self.episode_usage = {} # zero tokens, zero dollars
self.begin_episode()
# ------------------------------------------------------------ lifecycle
def begin_episode(self, log_dir=None):
self.t0_rem = None
self.t = 0.0
self.role = "attack" if self.attack_biased else "cover"
self.mate_xy = None
self.mate_seen_t = -1e9
self.mate_down_until = -1e9
self.self_down_said = False
self.kickoff_until = -1e9
self.kickoff_said = False
self.say_ok_t = -1e9
self.last_line = ""
self.score_prev = None
self.ball_mem = None # (xy, t) our OWN long memory, ~15 s
self.ball_mem_t = -1e9
self.fix_xy = None # teammate's radioed ball fix
self.fix_vel = (0.0, 0.0)
self.fix_t = -1e9
self.last_mate_msg = ""
self.mate_claim = None # the job the mate's last call claimed
self.mate_claim_t = -1e9
self.my_claim = None # the job my own last call claimed
self.my_claim_t = -1e9
# ---------------------------------------------------------------- radio
def _say(self, reply, key):
line = LINES[self.name].get(key, "")
if not line or line == self.last_line or self.t < self.say_ok_t:
return reply
reply["say"] = line
self.say_ok_t = self.t + SAY_GAP_S
self.last_line = line
return reply
CLAIM_OF_INTENT = {"take": "ball", "line": "line", "post": "post",
"wedge": "wedge", "cover": "cover", "ram": "cover",
"outlet": "cover"}
def _say_fix(self, reply, intent, bxy, vel, asign):
"""The v3 workhorse: an honest ball fix in plain language, with my
intent as the tail — the callout a sighted player owes a blind
teammate. In v4 the tail is also a binding role claim, so record
what I just committed to."""
if self.t < self.say_ok_t:
return reply
tail = INTENTS[self.name].get(intent) or INTENTS[self.name]["cover"]
line = (f"Ball at {bxy[0]:+.1f}, {bxy[1]:+.1f}, "
f"{_motion_phrase(vel, asign)} — {tail}.")[:120]
if line == self.last_line:
return reply
reply["say"] = line
self.say_ok_t = self.t + SAY_GAP_S
self.last_line = line
self.my_claim = self.CLAIM_OF_INTENT.get(intent)
self.my_claim_t = self.t
return reply
# ------------------------------------------------------------- helpers
def _safe_target(self, me, target, bxy):
"""A walk_to waypoint that will not barge through the ball: walk_to
A*-avoids robots but NOT the ball, and shoving the ball while
crossing our box is exactly how own goals happen. If the straight
leg passes within 0.65 m of the ball, detour perpendicular."""
if bxy is None:
return target
ax, ay = me
tx, ty = target
vx_, vy_ = tx - ax, ty - ay
L2 = vx_ * vx_ + vy_ * vy_
if L2 < 1e-9:
return target
u = ((bxy[0] - ax) * vx_ + (bxy[1] - ay) * vy_) / L2
if u <= 0.0 or u >= 1.0:
return target
px_, py_ = ax + u * vx_, ay + u * vy_
if _d((px_, py_), bxy) >= 0.65:
return target
L = math.sqrt(L2)
nx, ny = -vy_ / L, vx_ / L # unit normal
side = 1.0 if (bxy[0] - px_) * nx + (bxy[1] - py_) * ny < 0 else -1.0
wx = _clip(px_ + nx * side * 1.0, -PITCH_X + 0.4, PITCH_X - 0.4)
wy = _clip(py_ + ny * side * 1.0, -PITCH_Y + 0.4, PITCH_Y - 0.4)
return (wx, wy)
def _walk(self, me, target, bxy=None):
tx, ty = self._safe_target(me, target, bxy) if bxy else target
return {"skill": "walk_to", "target": [round(float(tx), 2),
round(float(ty), 2)]}
# ----------------------------------------------------------------- main
def decide(self, obs):
det = obs.get("detections") or {}
ball = det.get("ball")
me = obs["self"]["field_xy"]
you = obs["you"]
gx = float(you["attack_goal_xy"][0])
ogx = -gx # engine's defend_goal_xy is wrong for the home team
asign = 1.0 if gx > 0 else -1.0
score = obs.get("score") or {}
rem = float(obs.get("time_remaining_s", 0.0))
if self.t0_rem is None:
self.t0_rem = rem
self.t = self.t0_rem - rem
# -- events ---------------------------------------------------------
goal_line = None
if self.score_prev is not None and score:
if score.get("you", 0) > self.score_prev.get("you", 0):
goal_line = "goal_for"
elif score.get("them", 0) > self.score_prev.get("them", 0):
goal_line = "goal_against"
if score:
self.score_prev = dict(score)
mate_msg = obs.get("teammate_says") or ""
low_msg = mate_msg.lower()
if "down" in low_msg or "legs gone" in low_msg:
self.mate_down_until = self.t + FALL_OUT_S
if mate_msg and mate_msg != self.last_mate_msg:
self.last_mate_msg = mate_msg
fx = _parse_fix(mate_msg, asign)
if fx is not None:
self.fix_xy, self.fix_vel = fx
self.fix_t = self.t
# the intent tail is a binding role CLAIM (v4): honour it
self.mate_claim = _parse_claim(mate_msg)
self.mate_claim_t = self.t
mates = det.get("teammates") or []
if mates:
self.mate_xy = tuple(mates[0]["field_xy"])
self.mate_seen_t = self.t
# -- fallen ---------------------------------------------------------
if obs["self"].get("fallen"):
reply = {"skill": "hold"}
if not self.self_down_said:
self.self_down_said = True
self.say_ok_t = -1e9
self._say(reply, "down")
return reply
self.self_down_said = False
# -- ball memory (ours, longer than the SDK's 6 s) -------------------
bxy = tuple(ball["field_xy"]) if ball else None
bspeed = float(ball.get("speed_mps", 0.0)) if ball else 0.0
if ball is not None and float(ball.get("age_s", 9.0)) < 2.0:
self.ball_mem, self.ball_mem_t = bxy, self.t
# -- sight discipline. The camera is a 120-degree panoramic lens,
# not 360: a remembered ball OUTSIDE that cone is invisible and
# REAL — look at it before doing anything else. A remembered
# ball INSIDE the cone that still isn't seen is genuinely gone.
# (Both players once spun in blind sweeps with the ball 0.7 m
# behind them; a goal followed. Bearing is in the detection.)
if ball is not None and not ball.get("seen_now"):
brg = abs(float(ball.get("bearing_deg", 0.0)))
age_ = float(ball.get("age_s", 0.0))
if brg > 55.0 and age_ > 1.0:
reply = {"skill": "turn_to",
"target": [round(bxy[0], 2), round(bxy[1], 2)]}
return self._say(reply, goal_line) if goal_line else reply
if brg <= 55.0 and age_ > 1.5 and _d(me, bxy) < 2.5:
ball, bxy = None, None
# -- restart detection ----------------------------------------------
if (bxy is not None and _d(bxy, (0.0, 0.0)) < 0.4 and bspeed < 0.2
and 2.0 < abs(me[0]) < 3.0 and 0.7 < abs(me[1]) < 1.7):
if self.t > self.kickoff_until:
self.kickoff_said = False
self.kickoff_until = self.t + 4.0
kickoff_play = (self.t < self.kickoff_until and bxy is not None
and _d(bxy, (0.0, 0.0)) < 1.2)
if kickoff_play:
split = 0.5 if self.number == 1 else -0.5
reply = {"skill": "kick_toward", "target": [gx, split]}
if goal_line:
return self._say(reply, goal_line)
if not self.kickoff_said:
self.kickoff_said = True
return self._say(reply, "kickoff")
return reply
# -- ball unknown: use the TEAM's knowledge, not just mine. The
# teammate's radioed fix is often fresher than my own memory —
# round-1-to-5 telemetry showed players spinning blind for 6-12 s
# while the other player was WATCHING the ball roll in.
if ball is None:
# trust a fix for a full radio cycle (cadence is 10.2 s — a 5 s
# window left the blind player fixless half of every cycle),
# and roll it forward with its spoken motion
fix_age = self.t - self.fix_t
fix_ok = fix_age < 11.0 and self.fix_xy
# I am standing where the fix says and see nothing: the fix is
# stale — drop it rather than orbit a ghost (m22 @243: both
# players hunted the same dead coordinates while the real ball
# was scored at the other end)
if fix_ok and _d(me, self.fix_xy) < 1.2:
self.fix_t = -1e9
fix_ok = False
mem_ok = (self.t - self.ball_mem_t) < 15.0 and self.ball_mem
if fix_ok and (not mem_ok or self.fix_t >= self.ball_mem_t):
fx_, fy_ = _roll(self.fix_xy, self.fix_vel,
min(fix_age, 4.0))
fx_ = _clip(fx_, -PITCH_X + 0.4, PITCH_X - 0.4)
fy_ = _clip(fy_, -PITCH_Y + 0.4, PITCH_Y - 0.4)
# if the sender's intent tail says HE has the line/post,
# don't double onto it — go to the ball he is calling
low_fix = self.last_mate_msg.lower()
line_covered = ("cut the line" in low_fix
or "post" in low_fix)
if (self.fix_vel[0] * (-asign) > 0.25
and not line_covered):
# mate says it's rolling at OUR net: line first, look later
line_pt = (ogx + asign * 0.5,
_clip(fy_, -(GOAL_HALF_W - 0.1),
GOAL_HALF_W - 0.1))
if _d(me, line_pt) < 0.4:
reply = {"skill": "turn_to",
"target": [round(fx_, 2), round(fy_, 2)]}
else:
reply = self._walk(me, line_pt)
elif _d(me, (fx_, fy_)) > 1.4:
reply = self._walk(me, (fx_, fy_))
else:
reply = {"skill": "turn_to",
"target": [round(fx_, 2), round(fy_, 2)]}
return self._say(reply, goal_line) if goal_line else reply
if mem_ok:
mx, my_ = self.ball_mem
deep = asign * mx < -(PITCH_X - 3.0)
if deep and not self.attack_biased:
post = (ogx + asign * 0.55,
_clip(my_, -(GOAL_HALF_W - 0.15),
GOAL_HALF_W - 0.15))
if _d(me, post) > 0.5:
reply = self._walk(me, post)
else:
reply = {"skill": "turn_to",
"target": [round(mx, 2), round(my_, 2)]}
elif _d(me, (mx, my_)) > 1.4:
reply = self._walk(me, (mx, my_))
else:
reply = {"skill": "turn_to"}
else:
spot = ((0.0, 0.0) if self.attack_biased
else (ogx + asign * 1.35, 0.0))
reply = (self._walk(me, spot) if _d(me, spot) >
...[showing 0-24000 of 42267 chars. Read on with {"tool": "read", "path": "club/team.py", "offset": 24000}]
(0.0s)Thought for 208 words
With my budget getting tight, I'm focusing on the key stats: 26 falls total for us versus Muse with a 7-7 draw, clustering around kickoff times and again heavily between 92-180 seconds in the first half and 497-529 in the second. Each fall costs about 8 seconds, so 26 falls adds up to roughly 208 seconds of downtime, which seems significant enough to dig into further.
The likely culprit is sprint-speed kick_toward calls, possibly triggered during the kickoff wedge formation, but I haven't seen the full code yet since my earlier read of team.py was truncated. I'm weighing whether to spend more money reading the rest of the file to find the speed parameters controlling approach and kick actions, since that seems like the cheapest lever to reduce falls — though the fact that falls also cluster mid-match around duels with Muse suggests the issue isn't purely kickoff-related.
Given tight budget, I'll skip trying to find alternative search methods (there's no grep tool anyway) and just read the remaining offset of team.py to find the speed knobs, then apply a cautious fix like capping sprint speed near the ball or during the first few seconds, lint it, and run a short practice to verify no falls at kickoff.
The draw itself is fine, but 26 falls (Tortoise 16, Hare 10) is ~200 s of downtime given away to a team that thinks in 1.5 s per decision — that's the match we should have won. Three falls in the first 18 s match the kickoff-wedge cluster I flagged last session. I need to see the rest of team.py to find the speed knobs before I change anything.
Readclub/team.py
The league answered18,354 characters
[read club/team.py@24000] 1.0
else {"skill": "turn_to"})
return self._say(reply, goal_line) if goal_line else reply
age = float(ball.get("age_s", 0.0))
if age > 3.0:
bspeed = 0.0
vel = ball.get("velocity_mps") or [0.0, 0.0]
if age > 3.0:
vel = [0.0, 0.0]
bx, by = bxy
# -- shared state ---------------------------------------------------
opps = det.get("opponents") or []
mate_down = self.t < self.mate_down_until
mate_known = (self.t - self.mate_seen_t) < 6.0 and self.mate_xy
# v4: BOTH time-to-ball estimates go through the SAME capped formula.
# The old asymmetry (mine via _meet with its 6 s cap and reaction
# penalty, the mate's via raw distance) made both players reach the
# same wrong belief at once — both "nearest" at long range (m22
# @16.5: both dug the wall ball, nobody on the post) and both
# "second" close in (m22 @412.1: both plugged the same post while
# the ball was walked past them).
my_t = _meet(me, bxy, vel)[0]
if mate_down:
mate_t = 1e9
elif mate_known:
mate_t = _meet(self.mate_xy, bxy, vel)[0]
else:
mate_t = my_t + (0.001 if not self.attack_biased else -0.001)
# a radio claim is BINDING — but only while the WORLD still matches
# it: the claim rode in with a ball fix, so it is valid only while
# the ball remains near where the claimer said it was. Wall-time
# freshness alone froze us against swarms (three straight practice
# losses, territory ~100-20 against): the ball's situation turns
# over every 2-3 s there, and honouring a 6 s-old "mine" meant
# backing off loose balls nobody owned any more.
claim_fresh = ((self.t - self.mate_claim_t) < 5.0
and self.fix_xy is not None
and _d(bxy, self.fix_xy) < 2.5)
bias = -0.45 if self.role == "attack" else 0.45
if claim_fresh and self.mate_claim == "ball" and _d(me, bxy) > 1.2:
attack = False
elif claim_fresh and self.mate_claim in ("cover", "line", "post"):
attack = True
elif abs(my_t - mate_t) < 0.25:
attack = self.attack_biased
else:
attack = (my_t + bias) < mate_t
role_was = self.role
self.role = "attack" if attack else "cover"
i_am_near = my_t <= mate_t
if claim_fresh and self.mate_claim == "ball" and _d(me, bxy) > 1.2:
i_am_near = False # he took the ball: I take the post
elif claim_fresh and self.mate_claim == "post":
i_am_near = True # he took the post: I dig
our_mouth = (asign * bx < -(PITCH_X - 1.6)
and abs(by) <= GOAL_HALF_W + 0.4)
our_corner = (asign * bx < -CORNER_X and abs(by) > CORNER_Y)
their_corner = (asign * bx > CORNER_X and abs(by) > CORNER_Y)
# threat = a ball that will actually arrive at our line soon, in our
# half. Scoped tight: an over-eager version of this put the whole
# team in permanent retreat and ceded the entire attacking third.
driven = any(_d(o["field_xy"], bxy) < 1.0 for o in opps)
threat = None
if bspeed > 0.45 and asign * bx < 0.0:
threat = _cross_our_line(bxy, vel, ogx, asign, driven=driven)
# horizon 6.5 s: a drive from midfield takes ~5-6 s to arrive,
# and the old 5.0 s gate threw away exactly that case (traced to
# concessions in m07 and m12)
if threat is not None and threat[0] > 6.5:
threat = None
say_key = None
# ==== OUR MOUTH: clear along the end wall / plug the near post =====
if our_mouth:
if i_am_near and not (mate_down and _d(me, bxy) > 1.6):
wing = 1.0 if by >= 0 else -1.0
reply = {"skill": "kick_toward",
"target": [0.0, wing * (PITCH_Y - 0.6)]}
else:
post_y = (GOAL_HALF_W - 0.12) * (1.0 if by >= 0 else -1.0)
post = (ogx + asign * 0.5, post_y)
if _d(me, post) < 0.45:
reply = {"skill": "turn_to",
"target": [round(bx, 2), round(by, 2)]}
else:
reply = self._walk(me, post, bxy)
say_key = "post"
# ==== OUR CORNER: dig along the side wall / plug the post ==========
elif our_corner:
if i_am_near and not (mate_down and _d(me, bxy) > 1.6):
wing = 1.0 if by >= 0 else -1.0
reply = {"skill": "kick_toward",
"target": [0.0, wing * (PITCH_Y - 0.6)]}
else:
post_y = (GOAL_HALF_W - 0.10) * (1.0 if by >= 0 else -1.0)
post = (ogx + asign * 0.5, post_y)
if _d(me, post) < 0.45:
reply = {"skill": "turn_to",
"target": [round(bx, 2), round(by, 2)]}
else:
reply = self._walk(me, post, bxy)
say_key = "post"
# ==== THREAT: the ball's roll crosses our line — cut it off ========
elif threat is not None:
t_cross, y_cross = threat
y_cross = _clip(y_cross, -(GOAL_HALF_W - 0.10), GOAL_HALF_W - 0.10)
line_pt = (ogx + asign * 0.5, y_cross)
# full stride on the line race (walk_to bursts ~0.85-1.0 aligned).
# Give up the line only when GROSSLY hopeless (>4.5 s late —
# drives stall between shoves, so moderately late still blocks
# the second phase). The old 2.5 s clause produced
# chase-from-behind concessions (m07 110.3/121.2, m12 525.3);
# NO clause at all produced passive pinning (round-6 practice,
# territory 102-22 against). 4.5 s is the measured middle.
my_line = _d(me, line_pt) / 0.85
mate_line = (_d(self.mate_xy, line_pt) / 0.85
if mate_known and not mate_down else 1e9)
t_meet, meet_pt = _meet(me, bxy, vel)
# claim hysteresis: whoever ANNOUNCED the line keeps it for a
# few seconds — two players flip-flopping the line job between
# slots is how nobody ends up on it
i_claimed_line = (self.my_claim == "line"
and (self.t - self.my_claim_t) < 4.0)
mate_claimed_line = (claim_fresh and self.mate_claim == "line")
if ((my_line <= mate_line or i_claimed_line)
and not mate_claimed_line and my_line < t_cross + 4.5):
if t_cross < 3.0:
# imminent: body ON the crossing point
if _d(me, line_pt) < 0.4:
reply = {"skill": "turn_to",
"target": [round(bx, 2), round(by, 2)]}
else:
reply = self._walk(me, line_pt, bxy)
else:
# far threat: JOCKEY goal-side on the lane, not a statue
# on the line — close enough (2.2 m) to convert into the
# wedge the moment the drive stalls. Statue-mode on far
# threats pinned us 91-15 on territory in practice.
og = (ogx, 0.0)
lx, ly = og[0] - bx, og[1] - by
n = math.hypot(lx, ly) or 1.0
jx = _clip(bx + lx / n * 2.2, -PITCH_X + 0.6,
PITCH_X - 0.6)
jy = _clip(by + ly / n * 2.2, -PITCH_Y + 0.6,
PITCH_Y - 0.6)
if _d(me, (jx, jy)) < 0.4:
reply = {"skill": "turn_to",
"target": [round(bx, 2), round(by, 2)]}
else:
reply = self._walk(me, (jx, jy), bxy)
say_key = "line"
elif t_meet < t_cross:
reply = {"skill": "go_to_ball",
"lead_s": round(_clip(t_meet, 0.0, 2.0), 2)}
else:
reply = {"skill": "go_to_ball"}
elif attack:
reply = self._on_ball(me, bxy, bspeed, vel, ball, opps, gx, asign)
else:
reply, say_key = self._off_ball(me, bxy, bspeed, vel, opps, ogx,
gx, asign, score, rem, mate_down,
my_t, mate_t, their_corner)
# -- separation: never shoulder my own teammate — but NEVER evict a
# defender from a line/post job (plug and line-racer stand close
# by design; shoving one aside opens the exact gap they plug)
if (not attack and say_key not in ("line", "post")
and mates and _d(me, self.mate_xy) < 1.1
and _d(me, bxy) > 1.5):
ax_, ay_ = me[0] - self.mate_xy[0], me[1] - self.mate_xy[1]
n = math.hypot(ax_, ay_) or 1.0
reply = self._walk(me, (_clip(me[0] + ax_ / n * 1.2,
-PITCH_X + 0.5, PITCH_X - 0.5),
_clip(me[1] + ay_ / n * 1.2,
-PITCH_Y + 0.5, PITCH_Y - 0.5)))
# -- blocked far from the ball: sidestep out of the shove -----------
if obs["self"].get("blocked") and _d(me, bxy) > 1.15:
ux, uy = bx - me[0], by - me[1]
n = math.hypot(ux, uy) or 1.0
side = 1.0 if me[1] > 0 else -1.0
reply = self._walk(me, (_clip(me[0] - uy / n * 0.9 * side,
-PITCH_X + 0.5, PITCH_X - 0.5),
_clip(me[1] + ux / n * 0.9 * side,
-PITCH_Y + 0.5, PITCH_Y - 0.5)))
tgt = reply.get("target")
if isinstance(tgt, list):
reply["target"] = [round(float(tgt[0]), 2), round(float(tgt[1]), 2)]
# -- radio: event lines keep their fable voice; EVERY other slot the
# cooldown allows carries an honest ball fix + my intent. The
# receiver decodes it — the radio is the team's shared eyes.
if goal_line:
return self._say(reply, goal_line)
if mate_down and "down" not in self.last_line:
return self._say(reply, "solo")
# broadcast on a slightly stale ball too (age < 2.5): a strict
# seen_now gate once turned a slipped cooldown slot into a 12 s
# radio silence while the ball crossed the pitch (m22 @140)
if ball is not None and float(ball.get("age_s", 9.0)) < 2.5:
intent = say_key or ("take" if attack else "cover")
return self._say_fix(reply, intent, bxy, vel, asign)
return reply
# -------------------------------------------------- on the ball (duel)
def _on_ball(self, me, bxy, bspeed, vel, ball, opps, gx, asign):
bx, by = bxy
goal = (gx, 0.0)
d_goal = _d(bxy, goal)
# their mouth band: ram it straight through
if asign * bx > PITCH_X - 1.6 and abs(by) <= GOAL_HALF_W + 0.3:
return {"skill": "kick_toward",
"target": [gx, _clip(by, -1.1, 1.1)]}
# their corner: dig it toward the mouth along the end wall
if asign * bx > CORNER_X and abs(by) > CORNER_Y:
return {"skill": "kick_toward",
"target": [gx, (1.0 if by >= 0 else -1.0)]}
# shooting range: place the shot at the corner the keeper isn't in
if d_goal < 3.4:
aim_y = _clip(by * 0.3, -0.9, 0.9)
keeper, best = None, 2.6
for o in opps:
dk = _d(o["field_xy"], goal)
if dk < best:
best, keeper = dk, o
if keeper is not None:
# 0.6 margin: the ball is 0.35 m — tighter aims clip the post
aim_y = (GOAL_HALF_W - 0.6) * (-1.0 if keeper["field_xy"][1] >= 0
else 1.0)
return {"skill": "kick_toward", "target": [gx, aim_y]}
# blocked lane in the middle third: knock it into the open channel
if -2.3 < asign * bx < 3.6 and bspeed < 0.6:
blockers, traffic = 0, {1.0: 0, -1.0: 0}
for o in opps:
ox, oy = o["field_xy"]
if asign * (ox - bx) > 0.3 and asign * ox < asign * gx:
if abs(oy - by) < 1.2:
blockers += 1
traffic[1.0 if oy >= 0 else -1.0] += 1
if blockers >= 1:
side = 1.0 if traffic[1.0] <= traffic[-1.0] else -1.0
return {"skill": "kick_toward",
"target": [_clip(bx + asign * 3.5, -5.9, 5.9),
side * 2.7]}
# open field: intercept at the measured meet time, executed through
# the CLOSED-LOOP skill (go_to_ball re-solves its lead every control
# step; an open-loop walk_to a predicted point stops dead and loses
# the ball — measured: it ceded the whole attacking third). Never
# lead a ball already rolling goalward with me behind it (that
# overrun cost -5 m of contact advance on founding night, and two
# own goals in round 1).
t_meet, meet_pt = _meet(me, bxy, vel)
lead = 0.0
if bspeed > 0.35 and _d(me, bxy) > 2.0:
# the skill projects linearly (no decay), so cap the horizon to
# keep its aim error inside a body width
lead = _clip(t_meet, 0.3, 1.6)
ux, uy = me[0] - bx, me[1] - by
n = math.hypot(ux, uy) or 1.0
if (vel[0] * ux + vel[1] * uy) / n > 0.15:
lead = min(lead, 0.4)
if vel[0] * asign > 0.2:
lead = 0.0
if lead > 0.0:
return {"skill": "go_to_ball", "lead_s": round(lead, 2)}
return {"skill": "go_to_ball"}
# ----------------------------------------------- off the ball (free)
def _off_ball(self, me, bxy, bspeed, vel, opps, ogx, gx, asign, score,
rem, mate_down, my_t, mate_t, their_corner):
bx, by = bxy
# their corner with the ball slow: the ram is arming. Collect the
# eject from the MIDFIELD side, not the corner's doorstep — round 1
# scored us two corner goals with the digger alone, and the one
# time both players committed deep, a punt sailed past them both
# for a goal. Depth discipline pays better than doorstep poaching.
if their_corner and bspeed < 0.5:
spot = (asign * 2.3, (1.0 if by >= 0 else -1.0) * 1.3)
if _d(me, spot) < 0.5:
return ({"skill": "turn_to",
"target": [round(bx, 2), round(by, 2)]}, "ram")
return (self._walk(me, spot, bxy), "ram")
# clear and present danger: engage and clear (skills aim goalward).
# In OUR half a contested ball is a WEDGE call — founding-night
# doctrine that drifted out of the code: one dueler + one backstop
# loses the shove war to any two-body press (re-measured round 6:
# the anchor once hovered 5 cm outside the old 2.3 m radius and
# walked away while his mate fought 1v2).
near_our_goal = asign * bx < -(PITCH_X - 2.6)
contested = any(_d(o["field_xy"], bxy) < 1.0 for o in opps)
reach = 3.2 if (contested and asign * bx < 0.5) else 2.3
if _d(me, bxy) < reach or (near_our_goal and (mate_down
or mate_t > my_t + 1.2)):
split = 0.8 if self.number == 1 else -0.8
if contested:
return ({"skill": "kick_toward", "target": [gx, split]},
"wedge")
return ({"skill": "go_to_ball"}, None)
# we lost round 1 from 6-5 up with 43 s left: any lead in the final
# stretch pulls the anchor onto the keeper's arc
lead_n = (score.get("you", 0) - score.get("them", 0)) if score else 0
cautious = (lead_n >= 2 and rem < 120.0) or (lead_n >= 1 and rem < 70.0)
# free ball in their half: OUTLET ahead of the play, depth-capped
if asign * bx > 0.5 and not cautious:
out_x = _clip(bx + asign * 2.3, -PITCH_X + 0.8, PITCH_X - 0.8)
if asign * out_x > 2.0:
out_x = asign * 2.0
return (self._walk(me, (out_x, _clip(by * 0.4, -2.2, 2.2)), bxy),
None)
# free ball in our half: BACKSTOP on the ball-to-goal line, shifted
# a stride toward mid-pitch, out of the attacker's lane
if not cautious:
og = (ogx, 0.0)
lx, ly = og[0] - bx, og[1] - by
n = math.hypot(lx, ly) or 1.0
px_, py_ = -ly / n, lx / n
if abs(by + py_ * 0.9) > abs(by - py_ * 0.9):
px_, py_ = -px_, -py_
tgt = (_clip(bx + lx / n * 2.3 + px_ * 0.9,
-PITCH_X + 0.7, PITCH_X - 0.7),
_clip(by + ly / n * 2.3 + py_ * 0.9,
-PITCH_Y + 0.7, PITCH_Y - 0.7))
return (self._walk(me, tgt, bxy), None)
# protecting a lead late: keeper's arc between ball and our net
og = (ogx, 0.0)
ux, uy = bx - og[0], by - og[1]
n = math.hypot(ux, uy) or 1.0
hx = _clip(og[0] + ux / n * 1.35, -PITCH_X + 0.6, PITCH_X - 0.6)
hy = _clip(og[1] + uy / n * 1.35, -(GOAL_HALF_W - 0.15),
GOAL_HALF_W - 0.15)
if _d(me, (hx, hy)) < 0.35:
return ({"skill": "turn_to", "target": [round(bx, 2),
round(by, 2)]}, None)
return (self._walk(me, (hx, hy), bxy), None)
def build_team(ctx):
"""The engine's only entry point. ctx brings team.yaml as ctx["config"];
this club's players are code, so nothing in it is needed here."""
return {"players": [FablePlayer(1), FablePlayer(2)], "manager": None}
...[showing 24000-42267 of 42267 chars — end of file]
(0.0s)The league answered297 characters
model error (1/3): APITimeoutError: Request timed out or interrupted. This could be due to a network timeout, dropped connection, or request cancellation. See https://docs.anthropic.com/en/api/errors#long-requests for more details. [not retried: the generation may have completed and been billed]
The league answered15 characters
backing off 20s
Thought for 105 words
With budget running low, I'm zeroing in on the kickoff wedge as the likely cause of the falls, since the timing matches a cluster from the previous match. I'll check the kickoff section in team.py rather than reading everything, and note falls are also clustered in mid-first-half and later stretches, some involving opponents.
I'll just work with what I can actually see rather than second-guessing the display. Let me read offset 12000 to find the mid-file kickoff wedge code, since that's the most likely spot given what I've already covered — then make a targeted fix, lint it, and stop there given the remaining budget.
Budget is tight ($0.90 left) so I'll be surgical. The story of the 7-7 draw: 26 falls for us vs a team that thinks in 1.5 s — that's the win we gave away, and three falls land in the first 18 s exactly like the Gemini friendly (4.3/8.8/18.5 vs 4.3/7.9/18.0). Deterministic repeat = kickoff-wedge trip. I need to see the kickoff code, which is in the slice I haven't seen yet.
Readclub/team.py
The league answered24,145 characters
[read club/team.py@12000] self.number = number
self.name = "Tortoise" if number == 1 else "Hare"
self.attack_biased = (number == 2) # Hare wins the tie-breaks
self.episode_usage = {} # zero tokens, zero dollars
self.begin_episode()
# ------------------------------------------------------------ lifecycle
def begin_episode(self, log_dir=None):
self.t0_rem = None
self.t = 0.0
self.role = "attack" if self.attack_biased else "cover"
self.mate_xy = None
self.mate_seen_t = -1e9
self.mate_down_until = -1e9
self.self_down_said = False
self.kickoff_until = -1e9
self.kickoff_said = False
self.say_ok_t = -1e9
self.last_line = ""
self.score_prev = None
self.ball_mem = None # (xy, t) our OWN long memory, ~15 s
self.ball_mem_t = -1e9
self.fix_xy = None # teammate's radioed ball fix
self.fix_vel = (0.0, 0.0)
self.fix_t = -1e9
self.last_mate_msg = ""
self.mate_claim = None # the job the mate's last call claimed
self.mate_claim_t = -1e9
self.my_claim = None # the job my own last call claimed
self.my_claim_t = -1e9
# ---------------------------------------------------------------- radio
def _say(self, reply, key):
line = LINES[self.name].get(key, "")
if not line or line == self.last_line or self.t < self.say_ok_t:
return reply
reply["say"] = line
self.say_ok_t = self.t + SAY_GAP_S
self.last_line = line
return reply
CLAIM_OF_INTENT = {"take": "ball", "line": "line", "post": "post",
"wedge": "wedge", "cover": "cover", "ram": "cover",
"outlet": "cover"}
def _say_fix(self, reply, intent, bxy, vel, asign):
"""The v3 workhorse: an honest ball fix in plain language, with my
intent as the tail — the callout a sighted player owes a blind
teammate. In v4 the tail is also a binding role claim, so record
what I just committed to."""
if self.t < self.say_ok_t:
return reply
tail = INTENTS[self.name].get(intent) or INTENTS[self.name]["cover"]
line = (f"Ball at {bxy[0]:+.1f}, {bxy[1]:+.1f}, "
f"{_motion_phrase(vel, asign)} — {tail}.")[:120]
if line == self.last_line:
return reply
reply["say"] = line
self.say_ok_t = self.t + SAY_GAP_S
self.last_line = line
self.my_claim = self.CLAIM_OF_INTENT.get(intent)
self.my_claim_t = self.t
return reply
# ------------------------------------------------------------- helpers
def _safe_target(self, me, target, bxy):
"""A walk_to waypoint that will not barge through the ball: walk_to
A*-avoids robots but NOT the ball, and shoving the ball while
crossing our box is exactly how own goals happen. If the straight
leg passes within 0.65 m of the ball, detour perpendicular."""
if bxy is None:
return target
ax, ay = me
tx, ty = target
vx_, vy_ = tx - ax, ty - ay
L2 = vx_ * vx_ + vy_ * vy_
if L2 < 1e-9:
return target
u = ((bxy[0] - ax) * vx_ + (bxy[1] - ay) * vy_) / L2
if u <= 0.0 or u >= 1.0:
return target
px_, py_ = ax + u * vx_, ay + u * vy_
if _d((px_, py_), bxy) >= 0.65:
return target
L = math.sqrt(L2)
nx, ny = -vy_ / L, vx_ / L # unit normal
side = 1.0 if (bxy[0] - px_) * nx + (bxy[1] - py_) * ny < 0 else -1.0
wx = _clip(px_ + nx * side * 1.0, -PITCH_X + 0.4, PITCH_X - 0.4)
wy = _clip(py_ + ny * side * 1.0, -PITCH_Y + 0.4, PITCH_Y - 0.4)
return (wx, wy)
def _walk(self, me, target, bxy=None):
tx, ty = self._safe_target(me, target, bxy) if bxy else target
return {"skill": "walk_to", "target": [round(float(tx), 2),
round(float(ty), 2)]}
# ----------------------------------------------------------------- main
def decide(self, obs):
det = obs.get("detections") or {}
ball = det.get("ball")
me = obs["self"]["field_xy"]
you = obs["you"]
gx = float(you["attack_goal_xy"][0])
ogx = -gx # engine's defend_goal_xy is wrong for the home team
asign = 1.0 if gx > 0 else -1.0
score = obs.get("score") or {}
rem = float(obs.get("time_remaining_s", 0.0))
if self.t0_rem is None:
self.t0_rem = rem
self.t = self.t0_rem - rem
# -- events ---------------------------------------------------------
goal_line = None
if self.score_prev is not None and score:
if score.get("you", 0) > self.score_prev.get("you", 0):
goal_line = "goal_for"
elif score.get("them", 0) > self.score_prev.get("them", 0):
goal_line = "goal_against"
if score:
self.score_prev = dict(score)
mate_msg = obs.get("teammate_says") or ""
low_msg = mate_msg.lower()
if "down" in low_msg or "legs gone" in low_msg:
self.mate_down_until = self.t + FALL_OUT_S
if mate_msg and mate_msg != self.last_mate_msg:
self.last_mate_msg = mate_msg
fx = _parse_fix(mate_msg, asign)
if fx is not None:
self.fix_xy, self.fix_vel = fx
self.fix_t = self.t
# the intent tail is a binding role CLAIM (v4): honour it
self.mate_claim = _parse_claim(mate_msg)
self.mate_claim_t = self.t
mates = det.get("teammates") or []
if mates:
self.mate_xy = tuple(mates[0]["field_xy"])
self.mate_seen_t = self.t
# -- fallen ---------------------------------------------------------
if obs["self"].get("fallen"):
reply = {"skill": "hold"}
if not self.self_down_said:
self.self_down_said = True
self.say_ok_t = -1e9
self._say(reply, "down")
return reply
self.self_down_said = False
# -- ball memory (ours, longer than the SDK's 6 s) -------------------
bxy = tuple(ball["field_xy"]) if ball else None
bspeed = float(ball.get("speed_mps", 0.0)) if ball else 0.0
if ball is not None and float(ball.get("age_s", 9.0)) < 2.0:
self.ball_mem, self.ball_mem_t = bxy, self.t
# -- sight discipline. The camera is a 120-degree panoramic lens,
# not 360: a remembered ball OUTSIDE that cone is invisible and
# REAL — look at it before doing anything else. A remembered
# ball INSIDE the cone that still isn't seen is genuinely gone.
# (Both players once spun in blind sweeps with the ball 0.7 m
# behind them; a goal followed. Bearing is in the detection.)
if ball is not None and not ball.get("seen_now"):
brg = abs(float(ball.get("bearing_deg", 0.0)))
age_ = float(ball.get("age_s", 0.0))
if brg > 55.0 and age_ > 1.0:
reply = {"skill": "turn_to",
"target": [round(bxy[0], 2), round(bxy[1], 2)]}
return self._say(reply, goal_line) if goal_line else reply
if brg <= 55.0 and age_ > 1.5 and _d(me, bxy) < 2.5:
ball, bxy = None, None
# -- restart detection ----------------------------------------------
if (bxy is not None and _d(bxy, (0.0, 0.0)) < 0.4 and bspeed < 0.2
and 2.0 < abs(me[0]) < 3.0 and 0.7 < abs(me[1]) < 1.7):
if self.t > self.kickoff_until:
self.kickoff_said = False
self.kickoff_until = self.t + 4.0
kickoff_play = (self.t < self.kickoff_until and bxy is not None
and _d(bxy, (0.0, 0.0)) < 1.2)
if kickoff_play:
split = 0.5 if self.number == 1 else -0.5
reply = {"skill": "kick_toward", "target": [gx, split]}
if goal_line:
return self._say(reply, goal_line)
if not self.kickoff_said:
self.kickoff_said = True
return self._say(reply, "kickoff")
return reply
# -- ball unknown: use the TEAM's knowledge, not just mine. The
# teammate's radioed fix is often fresher than my own memory —
# round-1-to-5 telemetry showed players spinning blind for 6-12 s
# while the other player was WATCHING the ball roll in.
if ball is None:
# trust a fix for a full radio cycle (cadence is 10.2 s — a 5 s
# window left the blind player fixless half of every cycle),
# and roll it forward with its spoken motion
fix_age = self.t - self.fix_t
fix_ok = fix_age < 11.0 and self.fix_xy
# I am standing where the fix says and see nothing: the fix is
# stale — drop it rather than orbit a ghost (m22 @243: both
# players hunted the same dead coordinates while the real ball
# was scored at the other end)
if fix_ok and _d(me, self.fix_xy) < 1.2:
self.fix_t = -1e9
fix_ok = False
mem_ok = (self.t - self.ball_mem_t) < 15.0 and self.ball_mem
if fix_ok and (not mem_ok or self.fix_t >= self.ball_mem_t):
fx_, fy_ = _roll(self.fix_xy, self.fix_vel,
min(fix_age, 4.0))
fx_ = _clip(fx_, -PITCH_X + 0.4, PITCH_X - 0.4)
fy_ = _clip(fy_, -PITCH_Y + 0.4, PITCH_Y - 0.4)
# if the sender's intent tail says HE has the line/post,
# don't double onto it — go to the ball he is calling
low_fix = self.last_mate_msg.lower()
line_covered = ("cut the line" in low_fix
or "post" in low_fix)
if (self.fix_vel[0] * (-asign) > 0.25
and not line_covered):
# mate says it's rolling at OUR net: line first, look later
line_pt = (ogx + asign * 0.5,
_clip(fy_, -(GOAL_HALF_W - 0.1),
GOAL_HALF_W - 0.1))
if _d(me, line_pt) < 0.4:
reply = {"skill": "turn_to",
"target": [round(fx_, 2), round(fy_, 2)]}
else:
reply = self._walk(me, line_pt)
elif _d(me, (fx_, fy_)) > 1.4:
reply = self._walk(me, (fx_, fy_))
else:
reply = {"skill": "turn_to",
"target": [round(fx_, 2), round(fy_, 2)]}
return self._say(reply, goal_line) if goal_line else reply
if mem_ok:
mx, my_ = self.ball_mem
deep = asign * mx < -(PITCH_X - 3.0)
if deep and not self.attack_biased:
post = (ogx + asign * 0.55,
_clip(my_, -(GOAL_HALF_W - 0.15),
GOAL_HALF_W - 0.15))
if _d(me, post) > 0.5:
reply = self._walk(me, post)
else:
reply = {"skill": "turn_to",
"target": [round(mx, 2), round(my_, 2)]}
elif _d(me, (mx, my_)) > 1.4:
reply = self._walk(me, (mx, my_))
else:
reply = {"skill": "turn_to"}
else:
spot = ((0.0, 0.0) if self.attack_biased
else (ogx + asign * 1.35, 0.0))
reply = (self._walk(me, spot) if _d(me, spot) > 1.0
else {"skill": "turn_to"})
return self._say(reply, goal_line) if goal_line else reply
age = float(ball.get("age_s", 0.0))
if age > 3.0:
bspeed = 0.0
vel = ball.get("velocity_mps") or [0.0, 0.0]
if age > 3.0:
vel = [0.0, 0.0]
bx, by = bxy
# -- shared state ---------------------------------------------------
opps = det.get("opponents") or []
mate_down = self.t < self.mate_down_until
mate_known = (self.t - self.mate_seen_t) < 6.0 and self.mate_xy
# v4: BOTH time-to-ball estimates go through the SAME capped formula.
# The old asymmetry (mine via _meet with its 6 s cap and reaction
# penalty, the mate's via raw distance) made both players reach the
# same wrong belief at once — both "nearest" at long range (m22
# @16.5: both dug the wall ball, nobody on the post) and both
# "second" close in (m22 @412.1: both plugged the same post while
# the ball was walked past them).
my_t = _meet(me, bxy, vel)[0]
if mate_down:
mate_t = 1e9
elif mate_known:
mate_t = _meet(self.mate_xy, bxy, vel)[0]
else:
mate_t = my_t + (0.001 if not self.attack_biased else -0.001)
# a radio claim is BINDING — but only while the WORLD still matches
# it: the claim rode in with a ball fix, so it is valid only while
# the ball remains near where the claimer said it was. Wall-time
# freshness alone froze us against swarms (three straight practice
# losses, territory ~100-20 against): the ball's situation turns
# over every 2-3 s there, and honouring a 6 s-old "mine" meant
# backing off loose balls nobody owned any more.
claim_fresh = ((self.t - self.mate_claim_t) < 5.0
and self.fix_xy is not None
and _d(bxy, self.fix_xy) < 2.5)
bias = -0.45 if self.role == "attack" else 0.45
if claim_fresh and self.mate_claim == "ball" and _d(me, bxy) > 1.2:
attack = False
elif claim_fresh and self.mate_claim in ("cover", "line", "post"):
attack = True
elif abs(my_t - mate_t) < 0.25:
attack = self.attack_biased
else:
attack = (my_t + bias) < mate_t
role_was = self.role
self.role = "attack" if attack else "cover"
i_am_near = my_t <= mate_t
if claim_fresh and self.mate_claim == "ball" and _d(me, bxy) > 1.2:
i_am_near = False # he took the ball: I take the post
elif claim_fresh and self.mate_claim == "post":
i_am_near = True # he took the post: I dig
our_mouth = (asign * bx < -(PITCH_X - 1.6)
and abs(by) <= GOAL_HALF_W + 0.4)
our_corner = (asign * bx < -CORNER_X and abs(by) > CORNER_Y)
their_corner = (asign * bx > CORNER_X and abs(by) > CORNER_Y)
# threat = a ball that will actually arrive at our line soon, in our
# half. Scoped tight: an over-eager version of this put the whole
# team in permanent retreat and ceded the entire attacking third.
driven = any(_d(o["field_xy"], bxy) < 1.0 for o in opps)
threat = None
if bspeed > 0.45 and asign * bx < 0.0:
threat = _cross_our_line(bxy, vel, ogx, asign, driven=driven)
# horizon 6.5 s: a drive from midfield takes ~5-6 s to arrive,
# and the old 5.0 s gate threw away exactly that case (traced to
# concessions in m07 and m12)
if threat is not None and threat[0] > 6.5:
threat = None
say_key = None
# ==== OUR MOUTH: clear along the end wall / plug the near post =====
if our_mouth:
if i_am_near and not (mate_down and _d(me, bxy) > 1.6):
wing = 1.0 if by >= 0 else -1.0
reply = {"skill": "kick_toward",
"target": [0.0, wing * (PITCH_Y - 0.6)]}
else:
post_y = (GOAL_HALF_W - 0.12) * (1.0 if by >= 0 else -1.0)
post = (ogx + asign * 0.5, post_y)
if _d(me, post) < 0.45:
reply = {"skill": "turn_to",
"target": [round(bx, 2), round(by, 2)]}
else:
reply = self._walk(me, post, bxy)
say_key = "post"
# ==== OUR CORNER: dig along the side wall / plug the post ==========
elif our_corner:
if i_am_near and not (mate_down and _d(me, bxy) > 1.6):
wing = 1.0 if by >= 0 else -1.0
reply = {"skill": "kick_toward",
"target": [0.0, wing * (PITCH_Y - 0.6)]}
else:
post_y = (GOAL_HALF_W - 0.10) * (1.0 if by >= 0 else -1.0)
post = (ogx + asign * 0.5, post_y)
if _d(me, post) < 0.45:
reply = {"skill": "turn_to",
"target": [round(bx, 2), round(by, 2)]}
else:
reply = self._walk(me, post, bxy)
say_key = "post"
# ==== THREAT: the ball's roll crosses our line — cut it off ========
elif threat is not None:
t_cross, y_cross = threat
y_cross = _clip(y_cross, -(GOAL_HALF_W - 0.10), GOAL_HALF_W - 0.10)
line_pt = (ogx + asign * 0.5, y_cross)
# full stride on the line race (walk_to bursts ~0.85-1.0 aligned).
# Give up the line only when GROSSLY hopeless (>4.5 s late —
# drives stall between shoves, so moderately late still blocks
# the second phase). The old 2.5 s clause produced
# chase-from-behind concessions (m07 110.3/121.2, m12 525.3);
# NO clause at all produced passive pinning (round-6 practice,
# territory 102-22 against). 4.5 s is the measured middle.
my_line = _d(me, line_pt) / 0.85
mate_line = (_d(self.mate_xy, line_pt) / 0.85
if mate_known and not mate_down else 1e9)
t_meet, meet_pt = _meet(me, bxy, vel)
# claim hysteresis: whoever ANNOUNCED the line keeps it for a
# few seconds — two players flip-flopping the line job between
# slots is how nobody ends up on it
i_claimed_line = (self.my_claim == "line"
and (self.t - self.my_claim_t) < 4.0)
mate_claimed_line = (claim_fresh and self.mate_claim == "line")
if ((my_line <= mate_line or i_claimed_line)
and not mate_claimed_line and my_line < t_cross + 4.5):
if t_cross < 3.0:
# imminent: body ON the crossing point
if _d(me, line_pt) < 0.4:
reply = {"skill": "turn_to",
"target": [round(bx, 2), round(by, 2)]}
else:
reply = self._walk(me, line_pt, bxy)
else:
# far threat: JOCKEY goal-side on the lane, not a statue
# on the line — close enough (2.2 m) to convert into the
# wedge the moment the drive stalls. Statue-mode on far
# threats pinned us 91-15 on territory in practice.
og = (ogx, 0.0)
lx, ly = og[0] - bx, og[1] - by
n = math.hypot(lx, ly) or 1.0
jx = _clip(bx + lx / n * 2.2, -PITCH_X + 0.6,
PITCH_X - 0.6)
jy = _clip(by + ly / n * 2.2, -PITCH_Y + 0.6,
PITCH_Y - 0.6)
if _d(me, (jx, jy)) < 0.4:
reply = {"skill": "turn_to",
"target": [round(bx, 2), round(by, 2)]}
else:
reply = self._walk(me, (jx, jy), bxy)
say_key = "line"
elif t_meet < t_cross:
reply = {"skill": "go_to_ball",
"lead_s": round(_clip(t_meet, 0.0, 2.0), 2)}
else:
reply = {"skill": "go_to_ball"}
elif attack:
reply = self._on_ball(me, bxy, bspeed, vel, ball, opps, gx, asign)
else:
reply, say_key = self._off_ball(me, bxy, bspeed, vel, opps, ogx,
gx, asign, score, rem, mate_down,
my_t, mate_t, their_corner)
# -- separation: never shoulder my own teammate — but NEVER evict a
# defender from a line/post job (plug and line-racer stand close
# by design; shoving one aside opens the exact gap they plug)
if (not attack and say_key not in ("line", "post")
and mates and _d(me, self.mate_xy) < 1.1
and _d(me, bxy) > 1.5):
ax_, ay_ = me[0] - self.mate_xy[0], me[1] - self.mate_xy[1]
n = math.hypot(ax_, ay_) or 1.0
reply = self._walk(me, (_clip(me[0] + ax_ / n * 1.2,
-PITCH_X + 0.5, PITCH_X - 0.5),
_clip(me[1] + ay_ / n * 1.2,
-PITCH_Y + 0.5, PITCH_Y - 0.5)))
# -- blocked far from the ball: sidestep out of the shove -----------
if obs["self"].get("blocked") and _d(me, bxy) > 1.15:
ux, uy = bx - me[0], by - me[1]
n = math.hypot(ux, uy) or 1.0
side = 1.0 if me[1] > 0 else -1.0
reply = self._walk(me, (_clip(me[0] - uy / n * 0.9 * side,
-PITCH_X + 0.5, PITCH_X - 0.5),
_clip(me[1] + ux / n * 0.9 * side,
-PITCH_Y + 0.5, PITCH_Y - 0.5)))
tgt = reply.get("target")
if isinstance(tgt, list):
reply["target"] = [round(float(tgt[0]), 2), round(float(tgt[1]), 2)]
# -- radio: event lines keep their fable voice; EVERY other slot the
# cooldown allows carries an honest ball fix + my intent. The
# receiver decodes it — the radio is the team's shared eyes.
if goal_line:
return self._say(reply, goal_line)
if mate_down and "down" not in self.last_line:
return self._say(reply, "solo")
# broadcast on a slightly stale ball too (age < 2.5): a strict
# seen_now gate once turned a slipped cooldown slot into a 12 s
# radio silence while the ball crossed the pitch (m22 @140)
if ball is not None and float(ball.get("age_s", 9.0)) < 2.5:
intent = say_key or ("take" if attack else "cover")
return self._say_fix(reply, intent, bxy, vel, asign)
return reply
# -------------------------------------------------- on the ball (duel)
def _on_ball(self, me, bxy, bspeed, vel, ball, opps, gx, asign):
bx, by = bxy
goal = (gx, 0.0)
d_goal = _d(bxy, goal)
# their mouth band: ram it straight through
if asign * bx > PITCH_X - 1.6 and abs(by) <= GOAL_HALF_W + 0.3:
return {"skill": "kick_toward",
"target": [gx, _clip(by, -1.1, 1.1)]}
# their corner: dig it toward the mouth along the end wall
if asign * bx > CORNER_X and abs(by) > CORNER_Y:
return {"skill": "kick_toward",
"target": [gx, (1.0 if by >= 0 else -1.0)]}
# shooting range: place the shot at the corner the keeper isn't in
if d_goal < 3.4:
aim_y = _clip(by * 0.3, -0.9, 0.9)
keeper, best = None, 2.6
for o in opps:
dk = _d(o["field_xy"], goal)
if dk < best:
best, kee
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BUDGET EXHAUSTED — session over
Session over. Everything the club changed was committed to its own public repository.