Menu
▾
▴
[simspark-svn] SF.net SVN: simspark:[48] tags/RCSSSERVER3D_0.6.1_RELEASE
|
From: <he...@us...> - 2009-02-10 23:55:26
|
Revision: 48
http://simspark.svn.sourceforge.net/simspark/?rev=48&view=rev
Author: hedayat
Date: 2009-02-10 23:55:23 +0000 (Tue, 10 Feb 2009)
Log Message:
-----------
Rcssserver3d 0.6.1 release
Added Paths:
-----------
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/ChangeLog
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/NEWS
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/RELEASE
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/TEXT_INSTEAD_OF_A_MANUAL.txt
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/users/CMakeLists.txt
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/users/definitions.tex
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/users/gettingstarted.tex
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/users/introduction.tex
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/users/rcssmonitor3d.tex
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/users/simspark.tex
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/users/user-manual.tex
Removed Paths:
-------------
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/ChangeLog
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/NEWS
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/RELEASE
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/TEXT_INSTEAD_OF_A_MANUAL.txt
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/users/CMakeLists.txt
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/users/definitions.tex
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/users/gettingstarted.tex
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/users/introduction.tex
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/users/monitorspark.tex
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/users/simspark.tex
tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/doc/users/user-manual.tex
Deleted: tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2009-02-08 00:25:53 UTC (rev 42)
+++ tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/ChangeLog 2009-02-10 23:55:23 UTC (rev 48)
@@ -1,61 +0,0 @@
-2009-01-29 Hedayat Vatankhah <he...@gr...>
-
- * INSTALL:
- - added requirements
-
- * README:
- - updated with the recent changes
-
-2009-01-28 Hedayat Vatankhah <he...@gr...>
-
- * INSTALL:
- - added new installation instructions (cmake oriented)
-
- * data/rsg/agent/nao/nao.rsg:
- - disable VisionPerceptor
-
- * data/rsg/agent/nao/naoneckhead.rsg:
- * data/rsg/agent/nao/naoleg.rsg:
- * data/rsg/agent/nao/naoarm.rsg:
- - enabled RestrictedVisionPerceptor and ObjectState nodes
- - some whitespace fix
-
-2009-01-24 Hedayat Vatankhah <he...@gr...>
-
- * CMakeLists.txt:
- * cmake_uninstall.cmake.in:
- - added 'make uninstall' support
-
- * doc/users/CMakeLists.txt:
- * cmake/UseLATEX.cmake:
- - do not build users-manual.pdf by default. can be built using 'make pdf'
- - add an output to tell the user how it can build the manual
-
-2009-01-20 Hedayat Vatankhah <he...@gr...>
-
- * rcssmonitor3d/Makefile.am:
- - added rpath
-
- * rcssmonitor3d/rcssmonitor3d.rb:
- - changed monitorspark.rb to rcssmonitor3d.rb
-
- * rcssmonitor3d/main.cpp (MonitorSpark::InitApp):
- * simspark/main.cpp (SimSpark::InitApp):
- - adding rcss3d's installation directory to the list of resource locations.
-
- * windows/rcssserver3d_config.h:
- * configure.ac:
- - added new define: RCSS_BUNDLE_PATH to store rcss3d's data directory.
-
-2008-12-19 Hedayat Vatankhah <he...@gr...>
-
- * plugin/soccer/kickeffector/kickeffector.cpp:
- * plugin/soccer/driveeffector/driveeffector.cpp:
- * plugin/soccer/catcheffector/catcheffector.cpp:
- * plugin/soccer/visionperceptor/visionperceptor.cpp:
- * plugin/soccer/sayeffector/sayeffector.cpp:
- * plugin/soccer/pantilteffector/pantilteffector.cpp:
- * plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp:
- * plugin/soccer/agentstateperceptor/agentstateperceptor.cpp:
- - Replaced make_shared() with .lock() function call.(fixed compilation
- error with recent boost versions.)
\ No newline at end of file
Copied: tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/ChangeLog (from rev 43, trunk/rcssserver3d/ChangeLog)
===================================================================
--- tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/ChangeLog (rev 0)
+++ tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/ChangeLog 2009-02-10 23:55:23 UTC (rev 48)
@@ -0,0 +1,75 @@
+2009-02-09 Hedayat Vatankhah <he...@gr...>
+
+ * doc/users/user-manual.tex:
+ * doc/users/simspark.tex:
+ * doc/users/rcssmonitor3d.tex:
+ * doc/users/introduction.tex:
+ * doc/users/gettingstarted.tex:
+ * doc/users/definitions.tex:
+ * doc/users/CMakeLists.txt:
+ * doc/TEXT_INSTEAD_OF_A_MANUAL.txt:
+ - monitorspark -> rcssmonitor3d
+ - Say effector message lenght limit is 20 characters now
+ - Updated some info about RestrictedVisionPerceptor
+
+2009-01-29 Hedayat Vatankhah <he...@gr...>
+
+ * INSTALL:
+ - added requirements
+
+ * README:
+ - updated with the recent changes
+
+2009-01-28 Hedayat Vatankhah <he...@gr...>
+
+ * INSTALL:
+ - added new installation instructions (cmake oriented)
+
+ * data/rsg/agent/nao/nao.rsg:
+ - disable VisionPerceptor
+
+ * data/rsg/agent/nao/naoneckhead.rsg:
+ * data/rsg/agent/nao/naoleg.rsg:
+ * data/rsg/agent/nao/naoarm.rsg:
+ - enabled RestrictedVisionPerceptor and ObjectState nodes
+ - some whitespace fix
+
+2009-01-24 Hedayat Vatankhah <he...@gr...>
+
+ * CMakeLists.txt:
+ * cmake_uninstall.cmake.in:
+ - added 'make uninstall' support
+
+ * doc/users/CMakeLists.txt:
+ * cmake/UseLATEX.cmake:
+ - do not build users-manual.pdf by default. can be built using 'make pdf'
+ - add an output to tell the user how it can build the manual
+
+2009-01-20 Hedayat Vatankhah <he...@gr...>
+
+ * rcssmonitor3d/Makefile.am:
+ - added rpath
+
+ * rcssmonitor3d/rcssmonitor3d.rb:
+ - changed monitorspark.rb to rcssmonitor3d.rb
+
+ * rcssmonitor3d/main.cpp (MonitorSpark::InitApp):
+ * simspark/main.cpp (SimSpark::InitApp):
+ - adding rcss3d's installation directory to the list of resource locations.
+
+ * windows/rcssserver3d_config.h:
+ * configure.ac:
+ - added new define: RCSS_BUNDLE_PATH to store rcss3d's data directory.
+
+2008-12-19 Hedayat Vatankhah <he...@gr...>
+
+ * plugin/soccer/kickeffector/kickeffector.cpp:
+ * plugin/soccer/driveeffector/driveeffector.cpp:
+ * plugin/soccer/catcheffector/catcheffector.cpp:
+ * plugin/soccer/visionperceptor/visionperceptor.cpp:
+ * plugin/soccer/sayeffector/sayeffector.cpp:
+ * plugin/soccer/pantilteffector/pantilteffector.cpp:
+ * plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp:
+ * plugin/soccer/agentstateperceptor/agentstateperceptor.cpp:
+ - Replaced make_shared() with .lock() function call.(fixed compilation
+ error with recent boost versions.)
\ No newline at end of file
Deleted: tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/NEWS
===================================================================
--- trunk/rcssserver3d/NEWS 2009-02-08 00:25:53 UTC (rev 42)
+++ tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/NEWS 2009-02-10 23:55:23 UTC (rev 48)
@@ -1,684 +0,0 @@
-[0.6.1]
-This is the first release of the simulator after RoboCup 2008 competitions,
-and the first release of rcssserver3d package as a separate package which
-uses simspark package to implement a hunamoid soccer simulation environment.
-In this version of the simulator, restricted vision perceptor is enabled again,
-and is going to be used in 2009 competitions. You can read more about this
-perceptor in 0.5.9 NEWS section.
-Finally, we do not use autotools for our build system anymore. You should use
-CMake (version 2.6) to build the package. See INSTALL for further installation
-instructions.
-
-* Restricted Vision:
- - restricted vision perceptor is installed on Nao.
-
-* New requirements for building the pacakge:
- - You'll need CMake 2.6 to configure and build the package
- - this package depends on simspark package, so you should install it first
-
-* Some small enhancements and bug fixes
-
-[0.6]
-This release is the final version for RoboCup 2008 in Suzhou China. It
-is little different from version 0.5.9 in simulation, excepting some
-changes for the rule of RoboCup 2008, including the vision perceptor.
-And also, the eye-catching sky and goal are added. The monitor
-protocol is improved due to the team requirement.
-
-* Physics:
- - set ball angluar drag to 0.00005
-
-* Vision perceptor:
- The old vision perceptor (just the same as last year) is used for
- both Nao and soccerbot058.
-
-* Eye-Catcher:
- - the sky box is added
- - the goal with net is added
-
-* Monitor Protocol ( Thanks Carlos from Borregos3D):
- - Add 'move' command for setting the agent's position and rotation.
- The whole command may like this:
- (agent (team $teamname)(unum $id)(move $x $y $z $dir))
- where, ($x, $y, $z) is the desired position, and $dir is the
- desired face direction of the robot.
- - Fix bug in set ball command.
-
-* Rule bug fix:
- - fix bug of the goal kick position
- - fix bug of the size of penalty
-
-[0.5.9]
-This release is the candidate of RoboCup 2008. There are some
-important improvements. Firstly, the physics parameters are well
-adjusted to make the simulation more real and stabler. Secondly, the
-restrict vision perceptor is used, with which the vision range is
-limited, but more details will be seen, i.e. the head, hands and feet
-of robots can be seen. Furthermore, the soccer rule and visual
-features are improved.
-
-* Physics Parameters:
- Some physics parameters are adjusted to make the simulation more real
- and stabler.
- - Joint parameters: the max force and max speed of the joint are
- restricted, and some other parameters are modified.
- - Ball parameters: the parameters of drag are modified.
-
-* Restrict Vision:
- The restrict vision perceptor is installed both in nao and
- soccerbot058. This perceptor have some restriction compared with
- original vision perceptor. Firstly, the robots can only see object in
- the limited angle range (both horizontal and vertical angle ranges
- are [-60, 60] in degree). Secondly, the frequent is restricted, the
- robot can get one vision message every 3 cycles. Furthermore, note
- that the noise is added to the vision information.
-
- However, the information is richer: the robot's torso, head, hands
- and feet can be seen. The flags placed in the field can also be seen
- (They are no visual in the screen now, but the robot can see them).
- Four flags are placed at the field corners (the height is 0), and the
- four flags are placed at the goal posts (the corner of the goal).
-
-* Visual:
- - The Nao robot can be identified by team colors and numbers. You can
- play a match with Nao robots ;-)
- - the monitor camera can be controlled by number keys (from 1 to 7)
-
-* Soccer Rule:
- - Field Size: the field size is 12mx8m, the center circle radius is
-1.3m, the penalty size is 1.2mx4m. More information please see
-naosoccersim.rb.
- - Kick Off: the kicking off team can enter the center circle, and the
- opponents will be moved away from the center circle.
-
-[0.5.8]
- In this release, we have a simulator which is much more like the
- RoboCup Humanoid League: The smaller size, the smaller robot and
- ball. The integrated agent is added as a new feature. Furthermore,
- the external monitor works now.
-
-* New Robot Models:
- - Nao: robot from Aldebaran Robotics, see rsg/agent/nao/nao.rsg. The
- robot looks great with textures.
- - soccerbot058: robot based on soccerbotcomp with joint limits, and
- its size is scaled ( default 0.1 ), see
- rsg/agent/soccerbot058/soccerbot.rsg.
-
-* New Nao Soccer Simulation:
- The simulator start naosoccersim.rb in default now, the new field
- size is the same as RoboCup Standard Platform League, please see
- naosoccersim.rb for details. The old soccersim.rb are still there,
- you can switch between naosoccersim and soccersim in simspark.rb.
-
-* New Feature:
- - Integrated Agent: The agent can run internally now, in this case it
- is easier to debug the skill that you have designed, since it can get
- the simulation information directly. Note that the action is
- performed with a delay of one cycle (This is just like external
- agent). There is an example in plugin/soccer/agentintegration. To run
- the demo just enable two lines in the simspark.rb:
- sparkSetupTrain()
- addIntegratedAgent('SoccerbotBehavior',1)
-
-* Important Fixes:
- - the external monitor works now, you can run to monitor remotely(set
- $monitorServer in spark.rb). And also, the internal monitor can be
- disabled by setting $enableInternalMonitor to false in simspark.rb.
- - the OBJ importer is extended, we have really good 3D graphics now.
- - joint limits: the simulation runs stably with joint limits.
-
-For details have a look into the ChangeLog coming with the package.
-
-[0.5.7]
- This is the first release after the competition in Atlanta.
- The simulator now contains the auto-adjust speed mode(by default),the
- server will run slower when needed, and print warning. We also
- applied changes what be made in Atlanta, and re-enabled the
- communication between robots. Furthermore, we imported some new
- features from SimSpark Project, including rsgedit, rosimporter, and
- etc. Although they are optional, you may want to try the rsgedit,
- please install the wxWidgets[1] firstly and take a look at the 'Quick
- start to RsgEdit' in the doc directory. Finally, there is a new robot
- model which is built with composite bodies for better performance.
- The monitor logger was also bug-fixed and improved. With the help of
- the community, the documents about the server are available now, but
- they are still in progress.
-
-* Documents:
- - the user's manual in doc/users
- - the server developer's manual in doc/devel
- - there are also some useful information at SimSpark Wiki[1]
-
-* Important fixes:
- - mointor logger:
- - fixed methods to work properly.
- - solve the update problem (reported by team Apollo).
- - remove invisible nodes to save bandwidth(thanks to Carlos
- Bustamante from Borregos3D).
-
-* Features:
-- applied Atlanta 2007 server changes:
- - 'm' and 'c' for killing agents
- - two robot models with different facilities
- - using materials with textures
- - free kick distance changed to 4.5
- - one half time (8 mins)
- - agents can beam in Goal_Left or Goal_Right play modes
- - no longer possible to move agents by pressing m
-- re-enabled communication, the soccerbot056 has SayEffector and
- HearPerceptor
-- add AdjustSpeed mode (It is enabled by default). In this mode, the
- server will run slower when needed.
-- new multi-threaded implementation
-- rosimporter, model importer for RoSiML[2] modeling language
-- rsgedit, a cool simspark simulator with graphic user interface.
-- soccerbotcomp, the new robot mode which is built with composite
- bodies, it can advance the simulation speed.
-- include some useful utilities: tinyxml, wxflatnotebook and wxscintilla
-
-For details have a look into the ChangeLog coming with the package.
-
-[1] http://simspark.sourceforge.net/wiki/
-
-[2] www.wxwidgets.org
-
-[3] Laue, T., Spiess, K., Refer, T.: Simrobot - a general physical
-robot simulator and its application in robocup. In: RoboCup 2005:
-Robot Soccer World Cup IX. Lecture Notes in Artificial Intelligence,
-Springer (2006)
-
-[0.5.6]
-This is the final release for the competition in Atlanta, GA. The simulator
-now contains the new timer running in single-threaded mode by default. We also
-fixed the soccer rules plug-in (communication and offside not supported
-yet). Furthermore, we completed the game state info display in both the
-internal and external monitors, and fixed the trainer command parser to work
-with the new agents. The SoccerBot model was modified, the performance was
-slightly improved, and several bugs were fixed.
-
-* Important fixes:
-
-beameffector & singlematiniteffector:
-- fixed beaming with rotation
-
-gyrorateperceptor:
-- output is now in the local coordinate system of the robot
-
-trainercommandparser:
-- fixed several methods to work with the new agent
-
-* Features:
-
-- new GameTimePerceptor added which senses game time instead of sim time (not
- used in Atlanta)
-- GameStatePerceptor added which provides the agent with information about the
- current game state (play mode, game time, unum, and side)
-- play modes and rules re-integrated (no communication and no offside yet)
-- slight performance improvement by caching references to important classes
-- game state info display fixed in the internal and external monitors
-- key bindings for 7 different camera positions, kick off, and drop ball
-- the SoccerBot was modified to have a two-part torso to facilitate stand-up
- motions, it got colliders (and very small masses) at the hands, it uses the
- ForceResistanceReceptor instead of the TouchPerceptor
-- the hinge joint and universal joint effectors will not set any velocity if a
- joint stop is reached to prevent large forces and instabilities (not used in Atlanta)
-- the maximum joint velocity that can be requested was restricted to 9000
- deg/sec (for stability reasons)
-- Field size was reduced to 50m x 32m, penalty area reduced to 8m x 19.5m
-- Goal size was increased to 9m width and 4m height
-- The ball model was improved according to suggestions from wjq and Tobias Warden
-- The visualization of the corner flags was moved back to allow proper corner kicks
-
-
-[0.5.5]
-The simulator has been ported to MacOS, the network messages were shortened,
-we did some performance tuning, improved the log player, added a new perceptor,
-and fixed some bugs.
-
-* Important fixes:
-
-simspark:
-- fixed setup of goal flags (thanks Carlos)
-- several files were missing break statments in the physicsserver directory
- (thanks Shivaram)
-
-gyrorateperceptor:
-- "rt" keyword was added to enable correct parsing of the perceptor values
-
-* Features:
-
-- MacOS compatibility (please see README.MacOS file for comments)
-- individual ODE CollisionSpaces are used to encapsulate each agent and
- each goal now
-- the protocols for the monitor and the agents have been shortened
-- new basic importer for Wavefront OBJ files
-- textures can be enabled for the ball, the field, and the agent torso
- (player numbers :-) )
-- several computationally expensive function calls have been replaced
- with calls to more efficient versions
-- the log player now plays logfiles in forward and backward mode, and
- supports pause, and forward/backward stepping
-- a new perceptor (ForceResistancePerceptor) was implemented that gives
- feedback about position and resulting force due to a collision of the
- body the perceptor is attached to (see doc/TEXT_INSTEAD_OF_A_MANUAL.txt
- for details)
-- BeamEffector now takes 3 arguments: position (x and y) and angle in the
- x-y-plane (rotation around z-axis) at the beam position (DEG)
-
-[0.5.4]
-This release contains fixes for known problems (e.g. in the
-visionperceptor or the spark sample agent), updates of old plug-ins
-for the new simulation (beameffector, initeffector), and new features
-like a log player, and new perceptors.
-
-* Important fixes:
-
-visionperceptor:
-- patch (vision6) by Yuan to fix problems related to the local
- reference frame of the robot
-
-soccerbot:
-- anchor of the ankle joint was set higher to avoid foot penetration
- when doing large steps (thanks Guangbin Cui)
-
-beameffector:
-- all the bodies below the parent of the effector are moved now
- instead of only one (thanks Amin)
-
-initeffector:
-- move all the bodies below the parent of the effector to the initial position
-
-simspark:
-- increased goal height
-- reduced ball size and mass
-- internal rendering can be switched off without affecting timing now
-- support for ODE collision spaces was implemented by Markus
-- a 64-Bit compile issue was fixed (thanks Sander van Dijk)
-
-agentspark:
-- patch by snow to fix problems in the GetMessage function
-- sending init message in the SoccerBotBehavior
-
-* Features:
-
-- simspark now uses the new SingleMatInitEffector to initialize
- agents based on their teamname (different initial position and
- different uniform color)
-- simspark can record logfiles (thanks Hesham & Amin)
-- monitorspark can playback the recorded logfiles (thanks Hesham & Amin)
-- new gyro rate perceptor (thanks Hedayat)
-- new binary touch sensor
-
-
-[0.5.3]
-This release contains some fixes for the offside code and some
-eye candy for the lite monitor. Furthermore, it includes the new
-Fujitsu HOAP-2 inspired robot for simspark as well as the derived
-SoccerBot (work in progress), and some improvements to the physics
-code (mainly related to stability issues).
-
-* Features:
-
-- rcssmonitor3D-lite features a SkyBox (by Heni Ben Amor) and improved
- colors and lights (by Tobias Warden). Please see the comment about
- texture files in the INSTALL file.
-- simspark includes hoap2.rsg and soccerbot.rsg robot models
-- agent communication was restricted to a message length of 20 Bytes in
- rcssserver3D
-
-* Important fixes:
-
-rcssmonitor3D-lite:
-- toggling pause with p (r will be used for assigning free kicks)
-- correct aspect in 2D overview
-- Mousehandling patch (by Junqing Wang)
-
-rcssserver3D:
-- several fixes for the offside rule code
-- fixed bug that prevents arguments to be passed to SPADES (by Sander van Dijk)
-
-simspark:
-- fixed bug in the sceneffector that resulted in a crash if defines were used in RSG
- agent descriptions
-- modified several parameters of the physics system to get a more stable simulation
-- fixed the fixed joint type ;-)
-
-
-[0.5.2]
-This is mainly a bug fix release to get a stable version and change some parameters
-for the RoboCup-2006 in Bremen. Some new features, mainly in the monitor are
-introduced as well.
-
-* Features (general):
-
-- the catch margin of the catch effector has been reduced to 0.8m and the goal
- height was increased to 1.6m to reflect the stronger goalie capabilities and
- offside rule implications.
-- the monitor features a new autocam mode, "picture-in-picture" view, a
- display of the current camera mode, and the ground texture can be toggled
-- logfiles can now be stepped backwards
-- agenttest was updated with a say command and sample code
-
-* Important fixes:
-
-- the calculation of the torque vector in the kickeffector was fixed
-- the parameters for the pan/tilt effector are checked for NAN
-- the list of the monitor keybindings was updated
-- a bug in offside was fixed that could occur if a player and the ball cross the
- opponents line of defense, and this player was the last one to shot the ball
- before crossing.
-- the code has been updated for gcc 4.1
-- some bugs relating to kickoff have been fixed
-- say effector ignores some illegal characters
-
-
-[0.5.1]
-Release 0.5.1 contains mainly two fixes:
-- the Offside rules are now closer to the FIFA rules.
-- the RestrictedVisionPerceptor (RVP) was hardly useable. The RVP
- can now be controlled by using a PanTilt Effector.
-
-
-[0.5]
-This release introduces a few new features, and also some bugfixes
-(and probably some new bugs :). Important new features and fixes are
-as follows:
-
-* Features (soccer):
-
-- Goalies.
- Players with uniform number '1' can catch the ball using the (catch)
- command.
-
-- A restricted vision perceptor, so that not all other agents are
- visible at the same time. With this perceptor, the communication
- introduced in the 0.4 release becomes important.
-
-- The offside and some other rules have been cleaned up and some bugs
- have been removed. Also, files that have been missing in the
- 0.4. release are now present.
-
-- rcssmonitor3D-lite looks a little more interesting now, and
- some bugs with the random number generators have been fixed.
-
-* Features (general):
-
-- a couple of new physics functions have been added, general simulation
- settings have been fixed. This doesn't change the current soccer
- simulation, but is important for the general simulator.
-
-
-[0.4]
-This release includes some speed improvements, agent communication,
-an implementation of the offside rule, and a first, unfinished version
-of the new legged-sphere agent type amongst other things.
-Here is a summary with some more details:
-
-* Features (general):
-
-- A cache for node references has been added to the Zeitgeist
- core to speed up the simulation considerably. Thanks go to the
- Brainstormers3D team for the initial patch and to Markus Rollmann
- for the modification and integration.
-- The Spark based simulation (which will be used in the future for
- simulations using the articulated agents) has been made much more
- flexible by Markus Rollmann.
-- A sample agent and behaviors for a Spark based soccer simulation
- using either small cars or legged-sphere agents has been
- added. Currently, the legged-sphere agents are used by default.
- The behavior of the agents is very simple (in the legged-sphere case)
- and is solely meant to demonstrate how to use the new perceptors and
- effectors.
-
-* Features (soccer):
-
-- The offside rule has been implemented by Hesham Ebrahimi
-- Agent communication is now possible. It is based on the
- 2D communication model. Documentation can be found in the
- file doc/TEXT_INSTEAD_OF_A_MANUAL.txt. Thanks go again to
- Hesham Ebrahimi for the implementation and documentation
-- The lite-monitor is able to draw velocities in 2D and 3D.
- Added by Jan Murray.
-
-* Important fixes:
-
-- Fix for gcc 4.0 and above compatibility by Jan Murray
-- An issue with 64bit builds, reported by Li Yang and Patrick Riley,
- was fixed by Markus Rollmann
-- The distance error in the vision perceptor was made dependent on the
- real distance by Oliver Obst
-
-[0.x.x]
-This release has been ported to OS X. Besides the normal
-requirements, it requires an X server to be installed on the machine,
-along with a glut library for X windows.
-
-[0.3]
-This release is intended to be used as official version on RoboCup 2004.
-With respect to the soccer rules, this release mainly fixes some bugs contained
-in the 0.2.2 release. New things here are both an automatic and a manual drop
-ball feature and physical goal posts.
-With respect to the simulation system itself and usability, a few keys have
-been added to the rcssmonitor3d-lite and the system shuts down automatically
-after a match is over. Printing messages is turned off by default now (can be
-changed by adding log streams from a ruby file).
-Bugs that have been fixed included some math things (like a bug in the setup of
-axis aligned bounding boxes), bugs in the use of SPADES, and in the sample
-agent communication server.
-
-[0.2.2]
-This release adds both soccer simulation specific features (like better rules
- and an initial version of a logplayer) and general simulation features
-(almost all ODE features are supported now, and an initial version of an
-alternative simulation server as a SPADES replacement). For the 0.3 release,
-some of these new features need some polishing :-). Below a short summary of
-new features.
-
-* Features (soccer):
-
-- The rcssmonitor3D protocol has been changed to produce less redundant data.
- Specifically, field flags will only be sent once, and information like team
- names and scores will be sent only if they change.
-- rcssmonitor3D-lite can be used as a logplayer now. To do this, replace the
- CommServer plugin setup in rcssserver3D-lite.rb by the LogfileServer setup.
- Monitor logfiles get recorded by SPADES automatically, and the new monitor
- protocol can be used as Logfile format.
-- The rcssmonitor3D - library got an user-friendly interface.
-- rcssmonitor3D-lite looks better now and the display is more informative.
-- The body and effector parameters have been changed based on suggestions from
- the mailing lists.
-- A trainercommandparser has been added so that it is possible to use soccer
- monitor applications as trainer program (to repoduce specific situations etc).
-- Players are moved away from the ball in certain situations (like kick in for
- the other team or kick off, etc).
-- It is possible to do automatic kick offs now (in rcssserver3D.rb).
-- Due to various improvements and changes, the simulator is now reasonable fast
- to extend the half time length to 4 minutes; suggestions for the competition
- match lenght are welcome.
-- Players accelerate (and break) faster; something like air resistance or
- friction was added to the players and the ball so that they eventually stop
- with no acceleration.
-- The torque from the kicker was made configurable from rcssserver3D.rb
-- An experimental say-effector has been added; up to now, only monitors
- (and trainers implemented as monitors) can hear the messages.
-
-* Features (general):
-
-- Several types of ODE joints are supported now.
-- An initial version of a generic simulation server has been added. It
- reimplements some of the more general SPADES concepts (like network support
- and a run loop). It is intended to use it as an alternative to SPADES when
- reproducibility of events is not key. The advantage is that faster
- simulations (or simulations with more agents) are possible by less overhead.
-- A general description language for 3D simulations has been added. By using
- this description language, it is possible to set up different 3D simulations
- based on text configuration files. Simulations are described by sets of
- S-Expressions (any other format possible by changing plugins).
-- The ScriptServer has been changed so that ruby functions can also read back
- values from the simulator easily.
-- Body controllers have been introduced. Body controllers can be used to
- constrain/control the motion of associated bodies (things like adding drag
- forces or changing the "bouncyness" of objects can be controlled).
-- Added a tool that visualizes the internal zeitgeist class hierarchy.
-- Added a new library libspark that contains an application framework for
- applications using both liboxygen and libkerosin classes.
-- Added a new application SimSpark. SimSpark is a monolithic simulator bases
- on libspark. With this new simulator, we have been testing most of the new
- generic features (like the description language and ODE joints) we have been
- adding.
-- Got rid of the rcssbase package dependency. The "net" part of this package
- is part of rcssserver3D now and has been extended by TCP sockets. The list
- of required libraries should be reasonable small now.
-- Added simspark demo simulations.
-
-* Important fixes/Changes (both soccer specific and general):
-
-- The simulator compiles with recent versions of boost (tested with 1-31-0).
-- Goals are properly counted now.
-- Goals are only 50cm heigh now because agents cannot jump high.
-- The default torque from the kicker is low now (was way to high before).
-- Building the API documentation has been reduced to only the necessary cases.
-- Some math bugs in libsalt have been fixed.
-- The kerosin library has been overhauled (lights / meshes / etc).
-- Added support to update cached script variables after reading ruby files.
-
-[0.2.1]
-This is a bugfix release. It removes some (but not all) bugs found
-in rcssserver3D-0.2.
-
-- Configuration was made a little stricter and more complete so that
- it should be easier to install the whole thing.
-- The missing agenttest.rb file is included into the distribution
-- The Makefile.am's have been fixed for those not building the libkerosin part.
-- A fix for the recent SPADES versions has been added.
-- A major bug with the weight of objects in the simulation has been removed.
- The dynamics of the drive of the robots and of the kicker have been adapted.
- (This bug was found after a report from Nuno Lau on the sserver list).
-- The artificial slowdown of bodies has been removed.
-- The default timer of the sample agents (agenttest) is now jiffies.
-
-A few features have been added to the zeitgeist library. This is mostly stuff
-dealing with the ruby interface.
-
-
-[0.2]
-This release adds already big parts of the soccer specific parts to the
-simulator. All soccer specific things are realized as plugins to the
-simulator, they are located in the soccer bundle in plugin/soccer/.
-
-- rcssmonitor3D and soccer simulation:
- Starting with our simple monitor: here are the most visible changes.
- You can see a soccer field with two goals, a ball and agents in different
- colors dependend on the side they are playing on.
- You can use keys 'a', 's,', 'd', and 'w' to move the camera (as was as
- the mouse). The monitor can send simple commands to the simulator now.
- ('k' is of kick off, that is what you probably wanted to know).
- The soccer field is a standard FIFA size field with variable size, same with
- the ball and goals.
-- Soccer Plugins
- Here is the really big part of the changes. Agents have an (omni-)drive and
- a kicker now, they can perceive the environment with a kind of 360ओ omnicam
- and they get updates about the game state and things like the battery state.
- Using the omnidrive, agents can do 100m in something about 13s or 14s.
-
-On startup, the simulator will start two different types of agents now. Even
-though there are only a few soccer rules implemented, it should be possible
-to implement a simple soccer team. To facilitate programming a new team, we
-enhanced the sample client a bit.
-
-Finally, we added a small text (lacking a comprehensive manual),
-describing the basic features of the simulated robots in the simulation.
-
-[0.1]
-This is the initial release of rcssserver3D. To get an idea of what
-rcssserver3D provides in general, please see also the file README.
-
-- liboxygen / libkerosin
- libkerosin, the library containing the big part of the simulation
- system has been split up. We have now liboxygen containing the
- pure simulator part, and libkerosin containing the graphical output,
- user input and stuff like this. Because of issues with different
- OpenGL drivers, libkerosin is currently not used for graphical
- output. Another advantage of the split into liboxygen and libkerosin
- is that we can have a standalone simulator with no graphics.
- By default, libkerosin will not be build (if you want to build it
- anyway: libkerosin needs a few other libaries. See the
- documentation for details).
-
-- SPADES integration
- For handling agents as external processes, we integrated SPADES into
- the simulator. SPADES is a middleware system for agent-based
- distributed simulation and was introduced by Patrick Riley on the
- RoboCup 2002 symposium. Among other things, the simulator gets a
- model of simulation time and support for external monitors by using
- SPADES.
-
-- GameControlServer
- We added a GameControlServer as central instance for keeping
- information and classes relevant to agents in a simulation. An
- important part of the GameControlServer is a reference to a
- parser responsible for parsing messages from agents into an internal
- representation. Parsers can be plugged in into the
- GameControlServer, so the simulator does not depend on a fixed
- protocol. Parsers are also responsible for generating messages from
- the internal representation.
-
-- S-Expressions parser
- As a specific instance of a pluggable parser, we implemented a
- parser for parsing and generating S-Expressions (lists as used in
- functional programming languages like LISP or Scheme). We also
- discussed using XML as protocol between agents and simulator. There
- was no clear joint position for or against XML or
- S-Expressions. There is no XML parser module now because noone
- implemented it :)
-
-- CreateEffector
- We added a CreateEffector. The idea behind the CreateEffector is
- that once the agents connected to the simulator, they do not have a
- physical representation, other effectors or perceptors yet. By using
- the CreateEffector, agents can request specific effectors,
- perceptors, and bodies. Right now, the create effector requests a
- default agent with a perfect vision sensor, a simple force effector,
- an InitEffector for changing the team name, and a sphere like body.
-
-- simple external monitor
- To get an impression of what actually happens we implemented a
- simple external monitor based on simple OpenGL stuff (it does not
- use our libkerosin library). The external monitor also uses
- sexpressions as syntax. The protocol is even more preliminary
- than the agent protocol...
-
-- a simple external SPADES agent
- We also implemented a very simple agent as sample implementation for
- external agents. The sample agent does (almost) nothing.
-
-- ...
-
-[Demo]
-
-Physical Simulator as shown on RoboCup 2003 symposium
-=====================================================
-- libzeitgeist
- A class object system as core of the simulation system. A class
- object is just a factory of class instances. In addition to this
- mechanism, it also implements an object hierarchy. This hierarchy is
- essentially a virtual file system, where the 'directories' and
- 'files' are instances of C++ classes. These two concepts are quite
- intertwined with each other, as class objects can also live inside
- the object hierarchy. Objects within the hierarchy are identified
- with a unique name. Class objects can also be loaded as plugins
- (loadable modules).
-
-- libkerosin
- A physical simulator for simulation of rigid body dynamics based on
- ODE. We created a library that contains the big part of the
- simulator including visualization, physics, geometry, agents. We can
- also handle user input and playing sounds. The simulator library
- build upon the class object system mentioned above.
-
-- demo
- A demo application with some spheres as agents. Agents try to get
- some food. The agents are part of the simulator loop; a simulation
- step is over if all agents finished thinking. Because of this, agents
- have infinite thinking time (in priciple). There is no model of time.
-
Copied: tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/NEWS (from rev 43, trunk/rcssserver3d/NEWS)
===================================================================
--- tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/NEWS (rev 0)
+++ tags/RCSSSERVER3D_0.6.1_RELEASE/rcssserver3d/NEWS 2009-02-10 23:55:23 UTC (rev 48)
@@ -0,0 +1,688 @@
+[0.6.1]
+This is the first release of the simulator after RoboCup 2008 competitions,
+and the first release of rcssserver3d package as a separate package which
+uses simspark package to implement a hunamoid soccer simulation environment.
+In this version of the simulator, restricted vision perceptor is enabled again,
+and is going to be used in 2009 competitions. You can read more about this
+perceptor in 0.5.9 NEWS section.
+Finally, we do not use autotools for our build system anymore. You should use
+CMake (version 2.6) to build the package. See INSTALL for further installation
+instructions.
+
+* Restricted Vision:
+ - restricted vision perceptor is installed on Nao.
+
+* New requirements for building the pacakge:
+ - You'll need CMake 2.6 to configure and build the package
+ - this package depends on simspark package, so you should install it first
+
+* New program names:
+ - agentspark is now called rcssagent3d
+ - monitorspark is now called rcssmonitor3d
+
+* Some small enhancements and bug fixes
+
+[0.6]
+This release is the final version for RoboCup 2008 in Suzhou China. It
+is little different from version 0.5.9 in simulation, excepting some
+changes for the rule of RoboCup 2008, including the vision perceptor.
+And also, the eye-catching sky and goal are added. The monitor
+protocol is improved due to the team requirement.
+
+* Physics:
+ - set ball angluar drag to 0.00005
+
+* Vision perceptor:
+ The old vision perceptor (just the same as last year) is used for
+ both Nao and soccerbot058.
+
+* Eye-Catcher:
+ - the sky box is added
+ - the goal with net is added
+
+* Monitor Protocol ( Thanks Carlos from Borregos3D):
+ - Add 'move' command for setting the agent's position and rotation.
+ The whole command may like this:
+ (agent (team $teamname)(unum $id)(move $x $y $z $dir))
+ where, ($x, $y, $z) is the desired position, and $dir is the
+ desired face direction of the robot.
+ - Fix bug in set ball command.
+
+* Rule bug fix:
+ - fix bug of the goal kick position
+ - fix bug of the size of penalty
+
+[0.5.9]
+This release is the candidate of RoboCup 2008. There are some
+important improvements. Firstly, the physics parameters are well
+adjusted to make the simulation more real and stabler. Secondly, the
+restrict vision perceptor is used, with which the vision range is
+limited, but more details will be seen, i.e. the head, hands and feet
+of robots can be seen. Furthermore, the soccer rule and visual
+features are improved.
+
+* Physics Parameters:
+ Some physics parameters are adjusted to make the simulation more real
+ and stabler.
+ - Joint parameters: the max force and max speed of the joint are
+ restricted, and some other parameters are modified.
+ - Ball parameters: the parameters of drag are modified.
+
+* Restrict Vision:
+ The restrict vision perceptor is installed both in nao and
+ soccerbot058. This perceptor have some restriction compared with
+ original vision perceptor. Firstly, the robots can only see object in
+ the limited angle range (both horizontal and vertical angle ranges
+ are [-60, 60] in degree). Secondly, the frequent is restricted, the
+ robot can get one vision message every 3 cycles. Furthermore, note
+ that the noise is added to the vision information.
+
+ However, the information is richer: the robot's torso, head, hands
+ and feet can be seen. The flags placed in the field can also be seen
+ (They are no visual in the screen now, but the robot can see them).
+ Four flags are placed at the field corners (the height is 0), and the
+ four flags are placed at the goal posts (the corner of the goal).
+
+* Visual:
+ - The Nao robot can be identified by team colors and numbers. You can
+ play a match with Nao robots ;-)
+ - the monitor camera can be controlled by number keys (from 1 to 7)
+
+* Soccer Rule:
+ - Field Size: the field size is 12mx8m, the center circle radius is
+1.3m, the penalty size is 1.2mx4m. More information please see
+naosoccersim.rb.
+ - Kick Off: the kicking off team can enter the center circle, and the
+ opponents will be moved away from the center circle.
+
+[0.5.8]
+ In this release, we have a simulator which is much more like the
+ RoboCup Humanoid League: The smaller size, the smaller robot and
+ ball. The integrated agent is added as a new feature. Furthermore,
+ the external monitor works now.
+
+* New Robot Models:
+ - Nao: robot from Aldebaran Robotics, see rsg/agent/nao/nao.rsg. The
+ robot looks great with textures.
+ - soccerbot058: robot based on soccerbotcomp with joint limits, and
+ its size is scaled ( default 0.1 ), see
+ rsg/agent/soccerbot058/soccerbot.rsg.
+
+* New Nao Soccer Simulation:
+ The simulator start naosoccersim.rb in default now, the new field
+ size is the same as RoboCup Standard Platform League, please see
+ naosoccersim.rb for details. The old soccersim.rb are still there,
+ you can switch between naosoccersim and soccersim in simspark.rb.
+
+* New Feature:
+ - Integrated Agent: The agent can run internally now, in this case it
+ is easier to debug the skill that you have designed, since it can get
+ the simulation information directly. Note that the action is
+ performed with a delay of one cycle (This is just like external
+ agent). There is an example in plugin/soccer/agentintegration. To run
+ the demo just enable two lines in the simspark.rb:
+ sparkSetupTrain()
+ addIntegratedAgent('SoccerbotBehavior',1)
+
+* Important Fixes:
+ - the external monitor works now, you can run to monitor remotely(set
+ $monitorServer in spark.rb). And also, the internal monitor can be
+ disabled by setting $enableInternalMonitor to false in simspark.rb.
+ - the OBJ importer is extended, we have really good 3D graphics now.
+ - joint limits: the simulation runs stably with joint limits.
+
+For details have a look into the ChangeLog coming with the package.
+
+[0.5.7]
+ This is the first release after the competition in Atlanta.
+ The simulator now contains the auto-adjust speed mode(by default),the
+ server will run slower when needed, and print warning. We also
+ applied changes what be made in Atlanta, and re-enabled the
+ communication between robots. Furthermore, we imported some new
+ features from SimSpark Project, including rsgedit, rosimporter, and
+ etc. Although they are optional, you may want to try the rsgedit,
+ please install the wxWidgets[1] firstly and take a look at the 'Quick
+ start to RsgEdit' in the doc directory. Finally, there is a new robot
+ model which is built with composite bodies for better performance.
+ The monitor logger was also bug-fixed and improved. With the help of
+ the community, the documents about the server are available now, but
+ they are still in progress.
+
+* Documents:
+ - the user's manual in doc/users
+ - the server developer's manual in doc/devel
+ - there are also some useful information at SimSpark Wiki[1]
+
+* Important fixes:
+ - mointor logger:
+ - fixed methods to work properly.
+ - solve the update problem (reported by team Apollo).
+ - remove invisible nodes to save bandwidth(thanks to Carlos
+ Bustamante from Borregos3D).
+
+* Features:
+- applied Atlanta 2007 server changes:
+ - 'm' and 'c' for killing agents
+ - two robot models with different facilities
+ - using materials with textures
+ - free kick distance changed to 4.5
+ - one half time (8 mins)
+ - agents can beam in Goal_Left or Goal_Right play modes
+ - no longer possible to move agents by pressing m
+- re-enabled communication, the soccerbot056 has SayEffector and
+ HearPerceptor
+- add AdjustSpeed mode (It is enabled by default). In this mode, the
+ server will run slower when needed.
+- new multi-threaded implementation
+- rosimporter, model importer for RoSiML[2] modeling language
+- rsgedit, a cool simspark simulator with graphic user interface.
+- soccerbotcomp, the new robot mode which is built with composite
+ bodies, it can advance the simulation speed.
+- include some useful utilities: tinyxml, wxflatnotebook and wxscintilla
+
+For details have a look into the ChangeLog coming with the package.
+
+[1] http://simspark.sourceforge.net/wiki/
+
+[2] www.wxwidgets.org
+
+[3] Laue, T., Spiess, K., Refer, T.: Simrobot - a general physical
+robot simulator and its application in robocup. In: RoboCup 2005:
+Robot Soccer World Cup IX. Lecture Notes in Artificial Intelligence,
+Springer (2006)
+
+[0.5.6]
+This is the final release for the competition in Atlanta, GA. The simulator
+now contains the new timer running in single-threaded mode by default. We also
+fixed the soccer rules plug-in (communication and offside not supported
+yet). Furthermore, we completed the game state info display in both the
+internal and external monitors, and fixed the trainer command parser to work
+with the new agents. The SoccerBot model was modified, the performance was
+slightly improved, and several bugs were fixed.
+
+* Important fixes:
+
+beameffector & singlematiniteffector:
+- fixed beaming with rotation
+
+gyrorateperceptor:
+- output is now in the local coordinate system of the robot
+
+trainercommandparser:
+- fixed several methods to work with the new agent
+
+* Features:
+
+- new GameTimePerceptor added which senses game time instead of sim time (not
+ used in Atlanta)
+- GameStatePerceptor added which provides the agent with information about the
+ current game state (play mode, game time, unum, and side)
+- play modes and rules re-integrated (no communication and no offside yet)
+- slight performance improvement by caching references to important classes
+- game state info display fixed in the internal and external monitors
+- key bindings for 7 different camera positions, kick off, and drop ball
+- the SoccerBot was modified to have a two-part torso to facilitate stand-up
+ motions, it got colliders (and very small masses) at the hands, it uses the
+ ForceResistanceReceptor instead of the TouchPerceptor
+- the hinge joint and universal joint effectors will not set any velocity if a
+ joint stop is reached to prevent large forces and instabilities (not used in Atlanta)
+- the maximum joint velocity that can be requested was restricted to 9000
+ deg/sec (for stability reasons)
+- Field size was reduced to 50m x 32m, penalty area reduced to 8m x 19.5m
+- Goal size was increased to 9m width and 4m height
+- The ball model was improved according to suggestions from wjq and Tobias Warden
+- The visualization of the corner flags was moved back to allow proper corner kicks
+
+
+[0.5.5]
+The simulator has been ported to MacOS, the network messages were shortened,
+we did some performance tuning, improved the log player, added a new perceptor,
+and fixed some bugs.
+
+* Important fixes:
+
+simspark:
+- fixed setup of goal flags (thanks Carlos)
+- several files were missing break statments in the physicsserver directory
+ (thanks Shivaram)
+
+gyrorateperceptor:
+- "rt" keyword was added to enable correct parsing of the perceptor values
+
+* Features:
+
+- MacOS compatibility (please see README.MacOS file for comments)
+- individual ODE CollisionSpaces are used to encapsulate each agent and
+ each goal now
+- the protocols for the monitor and the agents have been shortened
+- new basic importer for Wavefront OBJ files
+- textures can be enabled for the ball, the field, and the agent torso
+ (player numbers :-) )
+- several computationally expensive function calls have been replaced
+ with calls to more efficient versions
+- the log player now plays logfiles in forward and backward mode, and
+ supports pause, and forward/backward stepping
+- a new perceptor (ForceResistancePerceptor) was implemented that gives
+ feedback about position and resulting force due to a collision of the
+ body the perceptor is attached to (see doc/TEXT_INSTEAD_OF_A_MANUAL.txt
+ for details)
+- BeamEffector now takes 3 arguments: position (x and y) and angle in the
+ x-y-plane (rotation around z-axis) at the beam position (DEG)
+
+[0.5.4]
+This release contains fixes for known problems (e.g. in the
+visionperceptor or the spark sample agent), updates of old plug-ins
+for the new simulation (beameffector, initeffector), and new features
+like a log player, and new perceptors.
+
+* Important fixes:
+
+visionperceptor:
+- patch (vision6) by Yuan to fix problems related to the local
+ reference frame of the robot
+
+soccerbot:
+- anchor of the ankle joint was set higher to avoid foot penetration
+ when doing large steps (thanks Guangbin Cui)
+
+beameffector:
+- all the bodies below the parent of the effector are moved now
+ instead of only one (thanks Amin)
+
+initeffector:
+- move all the bodies below the parent of the effector to the initial position
+
+simspark:
+- increased goal height
+- reduced ball size and mass
+- internal rendering can be switched off without affecting timing now
+- support for ODE collision spaces was implemented by Markus
+- a 64-Bit compile issue was fixed (thanks Sander van Dijk)
+
+agentspark:
+- patch by snow to fix problems in the GetMessage function
+- sending init message in the SoccerBotBehavior
+
+* Features:
+
+- simspark now uses the new SingleMatInitEffector to initialize
+ agents based on their teamname (different initial position and
+ different uniform color)
+- simspark can record logfiles (thanks Hesham & Amin)
+- monitorspark can playback the recorded logfiles (thanks Hesham & Amin)
+- new gyro rate perceptor (thanks Hedayat)
+- new binary touch sensor
+
+
+[0.5.3]
+This release contains some fixes for the offside code and some
+eye candy for the lite monitor. Furthermore, it includes the new
+Fujitsu HOAP-2 inspired robot for simspark as well as the derived
+SoccerBot (work in progress), and some improvements to the physics
+code (mainly related to stability issues).
+
+* Features:
+
+- rcssmonitor3D-lite features a SkyBox (by Heni Ben Amor) and improved
+ colors and lights (by Tobias Warden). Please see the comment about
+ texture files in the INSTALL file.
+- simspark includes hoap2.rsg and soccerbot.rsg robot models
+- agent communication was restricted to a message length of 20 Bytes in
+ rcssserver3D
+
+* Important fixes:
+
+rcssmonitor3D-lite:
+- toggling pause with p (r will be used for assigning free kicks)
+- correct aspect in 2D overview
+- Mousehandling patch (by Junqing Wang)
+
+rcssserver3D:
+- several fixes for the offside rule code
+- fixed bug that prevents arguments to be passed to SPADES (by Sander van Dijk)
+
+simspark:
+- fixed bug in the sceneffector that resulted in a crash if defines were used in RSG
+ agent descriptions
+- modified several parameters of the physics system to get a more stable simulation
+- fixed the fixed joint type ;-)
+
+
+[0.5.2]
+This is mainly a bug fix release to get a stable version and change some parameters
+for the RoboCup-2006 in Bremen. Some new features, mainly in the monitor are
+introduced as well.
+
+* Features (general):
+
+- the catch margin of the catch effector has been reduced to 0.8m and the goal
+ height was increased to 1.6m to reflect the stronger goalie capabilities and
+ offside rule implications.
+- the monitor features a new autocam mode, "picture-in-picture" view, a
+ display of the current camera mode, and the ground texture can be toggled
+- logfiles can now be stepped backwards
+- agenttest was updated with a say command and sample code
+
+* Important fixes:
+
+- the calculation of the torque vector in the kickeffector was fixed
+- the parameters for the pan/tilt effector are checked for NAN
+- the list of the monitor keybindings was updated
+- a bug in offside was fixed that could occur if a player and the ball cross the
+ opponents line of defense, and this player was the last one to shot the ball
+ before crossing.
+- the code has been updated for gcc 4.1
+- some bugs relating to kickoff have been fixed
+- say effector ignores some illegal characters
+
+
+[0.5.1]
+Release 0.5.1 contains mainly two fixes:
+- the Offside rules are now closer to the FIFA rules.
+- the RestrictedVisionPerceptor (RVP) was hardly useable. The RVP
+ can now be controlled by using a PanTilt Effector.
+
+
+[0.5]
+This release introduces a few new features, and also some bugfixes
+(and probably some new bugs :). Important new features and fixes are
+as follows:
+
+* Features (soccer):
+
+- Goalies.
+ Players with uniform number '1' can catch the ball using the (catch)
+ command.
+
+- A restricted vision perceptor, so that not all other agents are
+ visible at the same time. With this perceptor, the communication
+ introduced in the 0.4 release becomes important.
+
+- The offside and some other rules have been cleaned up and some bugs
+ have been removed. Also, files that have been missing in the
+ 0.4. release are now present.
+
+- rcssmonitor3D-lite looks a little more interesting now, and
+ some bugs with the random number generators have been fixed.
+
+* Features (general):
+
+- a couple of new physics functions have been added, general simulation
+ settings have been fixed. This doesn't change the current soccer
+ simulation, but is important for the general simulator.
+
+
+[0.4]
+This release includes some speed improvements, agent communication,
+an implementation of the offside rule, and a first, unfinished version
+of the new legged-sphere agent type amongst other things.
+Here is a summary with some more details:
+
+* Features (general):
+
+- A cache for node references has been added to the Zeitgeist
+ core to speed up the simulation considerably. Thanks go to the
+ Brainstormers3D team for the initial patch and to Markus Rollmann
+ for the modification and integration.
+- The Spark based simulation (which will be used in the future for
+ simulations using the articulated agents) has been made much more
+ flexible by Markus Rollmann.
+- A sample agent and behaviors for a Spark based soccer simulation
+ using either small cars or legged-sphere agents has been
+ added. Currently, the legged-sphere agents are used by default.
+ The behavior of the agents is very simple (in the legged-sphere case)
+ and is solely meant to demonstrate how to use the new perceptors and
+ effectors.
+
+* Features (soccer):
+
+- The offside rule has been implemented by Hesham Ebrahimi
+- Agent communication is now possible. It is based on the
+ 2D communication model. Documentation can be found in the
+ file doc/TEXT_INSTEAD_OF_A_MANUAL.txt. Thanks go again to
+ Hesham Ebrahimi for the implementation and documentation
+- The lite-monitor is able to draw velocities in 2D and 3D.
+ Added by Jan Murray.
+
+* Important fixes:
+
+- Fix for gcc 4.0 and above compatibility by Jan Murray
+- An issue with 64bit builds, reported by Li Yang and Patrick Riley,
+ was fixed by Markus Rollmann
+- The distance error in the vision perceptor was made dependent on the
+ real distance by Oliver Obst
+
+[0.x.x]
+This release has been ported to OS X. Besides the normal
+requirements, it requires an X server to be installed on the machine,
+along with a glut library for X windows.
+
+[0.3]
+This release is intended to be used as official version on RoboCup 2004.
+With respect to the soccer rules, this release mainly fixes some bugs contained
+in the 0.2.2 release. New things here are both an automatic and a manual drop
+ball feature and physical goal posts.
+With respect to the simulation system itself and usability, a few keys have
+been added to the rcssmonitor3d-lite and the system shuts down automatically
+after a match is over. Printing messages is turned off by default now (can be
+changed by adding log streams from a ruby file).
+Bugs that have been fixed included some math things (like a bug in the setup of
+axis aligned bounding boxes), bugs in the use of SPADES, and in the sample
+agent communication server.
+
+[0.2.2]
+This release adds both soccer simulation specific features (like better rules
+ and an initial version of a logplayer) and general simulation features
+(almost all ODE features are supported now, and an initial version of an
+alternative simulation server as a SPADES replacement). For the 0.3 release,
+some of these new features need some polishing :-). Below a short summary of
+new features.
+
+* Features (soccer):
+
+- The rcssmonitor3D protocol has been changed to produce less redundant data.
+ Specifically, field flags will only be sent once, and information like team
+ names and scores will be sent only if they change.
+- rcssmonitor3D-lite can be used as a logplayer now. To do this, replace the
+ CommServer plugin setup in rcssserver3D-lite.rb by the LogfileServer setup.
+ Monitor logfiles get recorded by SPADES automatically, and the new monitor
+ protocol can be used as Logfile format.
+- The rcssmonitor3D - library got an user-friendly interface.
+- rcssmonitor3D-lite looks better now and the display is more informative.
+- The body and effector parameters have been changed based on suggestions from
+ the mailing lists.
+- A trainercommandparser has been added so that it is possible to use soccer
+ monitor applications as trainer program (to repoduce specific situations etc).
+- Players are moved away from the ball in certain situations (like kick in for
+ the other team or kick off, etc).
+- It is possible to do automatic kick offs now (in rcssserver3D.rb).
+- Due to various improvements and changes, the simulator is now reasonable fast
+ to extend the half time length to 4 minutes; suggestions for the competition
+ match lenght are welcome.
+- Players accelerate (and break) faster; something like air resistance or
+ friction w...
[truncated message content] |
