Multiple robots assigned to capture the ball at the same time

[liquidmetal9015]

Description

Submissive defender will enter the clearing state, while at the same time an midfielder will attempt to pivot kick the ball either for a coordinated pass or a shot on goal.

This issue was brought up in the September 15th Virtual Test and the subsequent issue creation meeting.

This has been tested in adaptive formation, but should work in any play that uses submissive defender. There was a bandied fix for this at some point in the past, possibly just for basic122.

The method used to solve this has been up for discussion but it comes down to there being no communication between behaviors at the same level of the tree. Having a skill "tag" or property system that indicated ball interaction was floated but devising a new feature to overcome this limitation may be part of the solution to this issue.

The issue can be seen below where robots 3 and 5 are both running capture at the same time.

Steps to reproduce

1. Place ball near our goal
2. Watch multiple robots try to capture at the same time, it will only really be evident if the robots are having trouble and/or are equidistant.

Result: Robots run into each other trying to capture the ball. Two robots will have capture as their current skill in the tree.

• [ ] This bug has been reproduced by someone else

Additional Information

DefensiveForward has also been spotted colliding with submissive defender

[liquidmetal9015]

This issue does kind of need a bump as it continues to come up in testing, such as the November 10th testing session where default defense and defensive forward are both going for the ball at the same time.

For the right team right team in the below image.