We expand the size of the defense area to avoid the robot travelling inside it to prevent us from fouling. In some situations, the defense area is too big or too small depending on the speed of the robots and we either incur into the region or can't retrieve a ball because the size is too lax/strict.
Description of the task
We expand the size of the defense area to avoid the robot travelling inside it to prevent us from fouling. In some situations, the defense area is too big or too small depending on the speed of the robots and we either incur into the region or can't retrieve a ball because the size is too lax/strict.
Implement a dynamically-changing defense area obstacle. A similar feature was implemented at Robocup 2024: https://github.com/UBC-Thunderbots/Software/pull/3273
Acceptance criteria
Blocked By