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. |