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[simspark-svn] SF.net SVN: simspark:[416] trunk/rcssserver3d
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From: <he...@us...> - 2017-07-11 20:56:17
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Revision: 416
http://sourceforge.net/p/simspark/svn/416
Author: hedayat
Date: 2017-07-11 20:56:15 +0000 (Tue, 11 Jul 2017)
Log Message:
-----------
Prepare rcssserver3d 0.7.0 release
Modified Paths:
--------------
trunk/rcssserver3d/CMakeLists.txt
trunk/rcssserver3d/NEWS
trunk/rcssserver3d/RELEASE
Modified: trunk/rcssserver3d/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/CMakeLists.txt 2017-07-08 15:42:38 UTC (rev 415)
+++ trunk/rcssserver3d/CMakeLists.txt 2017-07-11 20:56:15 UTC (rev 416)
@@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 2.6)
project(rcssserver3d CXX C)
-set(PACKAGE_VERSION "0.7.0")
+set(PACKAGE_VERSION "0.7.1")
option(RVDRAW "Enable roboviz drawings" OFF)
if (RVDRAW)
Modified: trunk/rcssserver3d/NEWS
===================================================================
--- trunk/rcssserver3d/NEWS 2017-07-08 15:42:38 UTC (rev 415)
+++ trunk/rcssserver3d/NEWS 2017-07-11 20:56:15 UTC (rev 416)
@@ -1,3 +1,47 @@
+[0.7.1]
+New changes for the RoboCup 2017 competition:
+
+* Bug Fixes:
+ - Fixed bug where double touches on kicks (kickoffs, free kicks,
+ kick-ins, corner kicks) were not always being detected correctly
+ - Fixed bug where if a player is touching the ball right when the wait
+ time at the beginning of a kick play mode ends the play mode could end up
+ recording the touch and inadvertently end the kick.
+ - Fixed bug where if two players enter their own penalty area at the
+ same time, and in doing so cause the maximum allowed number of players in
+ the penalty area to be exceeded, both players will be called for illegal
+ defense even if the team is only one player over the allowed number of
+ players in the penalty area.
+ - Fixed issue where free kicks and kicks-in printed an error message
+ and didn't behave correctly if the ball has yet to be touched by an agent.
+
+* Rule Changes:
+ - The automated referee will no longer move/reposition agents on top
+ of each other or into their own penalty area if it will trigger an illegal
+ defense penalty. This is accomplished by doing a breadth first search
+ around the position that an agent is to be repositioned to until a safe
+ position is found. The number of positions that will be considered by
+ the breadth first search is bounded by the MaxNumSafeRepositionAttempts
+ value (default 100) in naosocersim.rb. Setting this value to 0 turns this
+ feature off. If ever the server isn't able to safely reposition a player
+ it will print an error message.
+ - The order in which players are evaluated for fouls and are penalized
+ is now randomized so as to not have any bias associated with players'
+ teams and uniform numbers.
+ - Averaging the velocity of an agent over the last 3 time steps
+ instead of 5 when determining charging fouls. This allows agents to
+ reduce their effective velocities faster so as to have a better chance of
+ avoiding charging fouls when colliding with an opponent.
+ - Removing code that takes into account the opponent's velocity moving
+ away from a colliding agent when determining fouls. This code was
+ decreasing the likelihood of an agent being called for a foul when running
+ down an opponent from behind.
+ - Turning off crowding rules in naosoccersim.rb
+ - Adding StartAnyFieldPosition flag (default false) to
+ naosoccersim.rb. Turning this flag on allows agents to be at, beam, or be
+ moved to any position on the field at the start of kickoffs including the
+ opponent's side of the field.
+
[0.7.0]
A new GUI application is developed to run and control simspark simulations.
Additinoally, there are a number changes to the soccer rules enforced in
Modified: trunk/rcssserver3d/RELEASE
===================================================================
--- trunk/rcssserver3d/RELEASE 2017-07-08 15:42:38 UTC (rev 415)
+++ trunk/rcssserver3d/RELEASE 2017-07-11 20:56:15 UTC (rev 416)
@@ -1,125 +1,48 @@
-RELEASE News of rcssserver3d-0.7.0
+RELEASE News of rcssserver3d-0.7.1
-A new GUI application is developed to run and control simspark simulations.
-Additinoally, there are a number changes to the soccer rules enforced in
-the simulator. More details about changes in this release follows:
+New changes for the RoboCup 2017 competition:
-* Updates to charging foul model and other fouls:
-An initial implementation of the charging foul model is documented at
-http://www.acso.uneb.br/bahiart/uploads/Main/FoulModel2016.pdf. The
-following are some updates to the charging foul model which will hopefully
-be added to the documentation of the charging foul model soon:
+* Bug Fixes:
+ - Fixed bug where double touches on kicks (kickoffs, free kicks,
+ kick-ins, corner kicks) were not always being detected correctly
+ - Fixed bug where if a player is touching the ball right when the wait
+ time at the beginning of a kick play mode ends the play mode could end up
+ recording the touch and inadvertently end the kick.
+ - Fixed bug where if two players enter their own penalty area at the
+ same time, and in doing so cause the maximum allowed number of players in
+ the penalty area to be exceeded, both players will be called for illegal
+ defense even if the team is only one player over the allowed number of
+ players in the penalty area.
+ - Fixed issue where free kicks and kicks-in printed an error message
+ and didn't behave correctly if the ball has yet to be touched by an agent.
- - Rules for charging involving agents' relative positions to the ball
- are only active for agents within 1 meter (ChargingMaxBallRulesDist) of
- the ball
- - Players are immune to committing a charging foul after touching the
- ball for 1 second (ChargingImmunityTime)
- - There is no maximum distance from the ball that a charging foul will
- be called -- charging fouls can be called at any position on or off the
- field
- - After a player is moved/beamed by the server no charging fouls in any
- collision involving that agent will be called for 1 second after the
- player is moved.
- - There is no longer a concept of ChargingMinCollisionPoint. Instead a
- threshold of velocity exerted in a collision (ChargingMinCollisionSpeed
- with a default value of 0.2) must be exceeded for a charging foul to be
- called. This value is calculated as a cross product between an agent's
- velocity vector and the normalized vector from the agent to the average of
- the opponent agent and collision point.
+* Rule Changes:
+ - The automated referee will no longer move/reposition agents on top
+ of each other or into their own penalty area if it will trigger an illegal
+ defense penalty. This is accomplished by doing a breadth first search
+ around the position that an agent is to be repositioned to until a safe
+ position is found. The number of positions that will be considered by
+ the breadth first search is bounded by the MaxNumSafeRepositionAttempts
+ value (default 100) in naosocersim.rb. Setting this value to 0 turns this
+ feature off. If ever the server isn't able to safely reposition a player
+ it will print an error message.
+ - The order in which players are evaluated for fouls and are penalized
+ is now randomized so as to not have any bias associated with players'
+ teams and uniform numbers.
+ - Averaging the velocity of an agent over the last 3 time steps
+ instead of 5 when determining charging fouls. This allows agents to
+ reduce their effective velocities faster so as to have a better chance of
+ avoiding charging fouls when colliding with an opponent.
+ - Removing code that takes into account the opponent's velocity moving
+ away from a colliding agent when determining fouls. This code was
+ decreasing the likelihood of an agent being called for a foul when running
+ down an opponent from behind.
+ - Turning off crowding rules in naosoccersim.rb
+ - Adding StartAnyFieldPosition flag (default false) to
+ naosoccersim.rb. Turning this flag on allows agents to be at, beam, or be
+ moved to any position on the field at the start of kickoffs including the
+ opponent's side of the field.
-General foul changes:
- - For visualization purposes after any foul (charging, crowding, illegal
- defense, touching, incapable) agents are lifted up in the air for
- FoulHoldTime (default 0.5 seconds) before being beamed to the sideline.
- - Touching fouls in groups of three or more are no longer called on
- goalies (a goalie's teammate will be called for a touching foul instead).
-
-
-* New kick rules:
-
-The following is a summary of the rule changes for kicking:
- - A player taking a kick can't touch the ball more than once before
- another player touches the ball -- touching the ball more than once
- results in an indirect free kick for the opponent (same as in human
- soccer). Note that a goal kick doesn't count as having been taken until
- the ball leaves the penalty area
- - You can never score an own goal directly off your own kick -- the
- result of such an own goal is a corner kick for the opponent (same as in
- human soccer).
- - Kick-ins are indirect (same as throw-ins in human soccer).
- - Goal kicks and corner kicks are direct (same as in human soccer).
- - Scoring a goal directly from an indirect kick results in a goal kick
- for the opponent (same as in human soccer).
- - Kickoffs are still indirect and the ball must be touched outside the
- center circle, or an opponent must first touch the ball, before the team
- taking a kickoff can score (in human soccer kickoffs are direct, but this
- artificial rule is needed to prevent "kickoff taking contests").
- - Players within KickRepelDist (defined in naosoccersim.rb) of the ball
- when it is placed for a kick are moved back to a position exactly
- KickRepelDist from the ball to prevent players from accidentally touching
- the ball and losing a kick if the ball is placed right underneath their
- current position on the field.
- - Two new direct kick playmodes have been added
- (direct_free_kick_[left|right]). While there is no plan to use these
- playmodes at this year's competition, shift+L and shift+R key bindings for
- them have been added to rcssmonitor3d and roboviz.
-
-
-* Keepaway mode:
-
-The keepaway playmode sets the playmode to GameOver if a player on the
-right team touches the ball or if the ball leaves a predefined keepaway
-area. During keepaway no charging fouls will be called on agents on the
-right team (the team trying to take the ball).
-
-The keepaway mode adds the following parameters to naosoccersim.rb:
-
-// if in keepaway mode
-Keepaway
-// center X value of keepaway box
-KeepawayCenterX
-// center Y value of keepaway box
-KeepawayCenterY
-// length of keepaway box
-KeepawayLength
-// width of keepaway box
-KeepawayWidth
-// reduction rate of length of keepaway box per minute
-KeepawayLengthReductionRate
-// reduction rate of width of keepaway box per minute
-KeepawayWidthReductionRate
-
-
-* Blocking of say messages with illegal characters:
-
-While most agents have been sending legal say messages, there have been a
-few instances of agents sending say messages with illegal characters. The
-server now throws out say messages containing illegal characters (space,
-parenthesis, and those outside the range [0x20-0x7E]). The server also
-prints an error message containing the illegal say message and the agent
-who said it. When running in sync mode the proxy still needs to be used
-to protect against bad say messages that break parsing (or really any
-unparseable messages sent to the server) -- this change only throws out
-say messages with illegal that were able to be parsed.
-
-
-* Plugin for drawing objects in roboviz:
-
-You can activate a new plugin (rvdraw) within rcssserver3d allowing it to
-draw objects in roboviz by using the "-DRVDRAW=ON" command line argument
-when running cmake before building rcssserver3d. The plugin likely only
-works in linux which is why it isn't enabled by default. Currently this
-plugin is set to draw debugging information for the charging foul model,
-but one might find it useful to add their own code to the server to draw
-things in roboviz.
-
-After rcssserver3d is compiled with the rvdraw plugin enabled use the
-following command line argument when running the server to have it send
-draw commands to roboviz:
-rcssserver3d --rvdraw-host <roboviz_host_machine>
-
-
You can get the package on the Simspark page on SourceForge at
http://sourceforge.net/projects/simspark/
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
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