RoboCup Soccer Server V7.06 user manual
Contents
1. core dumpi e socketed 1 e H0000 mt II 3 000 000 e 1000 e III DL client 000 server D 0 0 0 0 CoCo OoOO coach Soccermonitor and soccerserver are connected via UDP IP on port 6000 default 6000 Note that the init and reconnect commands should be send to the player s UDP port default 6000 of the Soccer Server machine client6000 If the server is invoked with one of the trainer modes it prepares a UDP socket to which the trainer client can connect The default port number is 6001 6001 The default port number for online coaches is 6002 6002 00000 manual7 071ater 7 The coach 7100 OU cheath O 0 O coach OO 0 online coach D trainer 00 0 0 trainer 0O D D D 72 00 UU UD L play mode OOUUOUUUUUUO clint2. 0 OU e JUJDIUDDBDUDDUDUDUDUDUDUDUDUDUDBDUDBDUDUDUDUUUDUuUDU e OOOO 73 Ooo Seo Ooo Ooo oag E Ooo 7 3 Trainer 7 3 4 00000 server ED 00000000 server UO soccerserer 0 0 0 0 47 0000000 soccerserer 1 OU Soccerserver coach D U LU LU L lU b coach L1 0 0 offline caoch online coach O O O U server D L D HH D LL D D D D B D D server conf O D D 00 server II D D UO D DU C C D
3. 000 U hear Time Sender Message Sender Self U LH U LH U 0000000 Online coach 11 online coach Oe EPHE HL Direction 0 HL DU HD UD D BD sender 0000 sense_body Time view mode high low OOUOU0UUUUO narrow normal wide 1 stamina Stamina Effort speed Speed Angle head angle Angle kick Count dash Count turn Count say Count turn neck Count catch Count move Count change view Count 8 sampleclient simpleclient OOUUOUU0U OOUU00 OOUOU0OUUY 0 J acrobat 0 620 O 0 0 clients client D D B B B D D 6 2 1 Sample Client server D D D server sampleclient L1 ED D LJ ampleclient 00000 client 00000000 ver 00 0 server 1 H B B B B B D B B B 7 U ED U DDagBdDd 0000000 0 O sampleclient sampleclient O 0000 LU D UD 000 1700 000 client OQ HD DO UD server DU O D 000 OU 000 OU 000 05 sampleclient sampleclient
4. 22 10 1 DO DL OL B DE C LI 4 7 1 Play Modes and referee message 1 L1 EH D D LU D server referee String 000000000000000000 412000000 OO 4 130 Play Mode i subsequent play mode comment hefore_kick_off kickoff Side at the beginning of a half play on during normal play over kick off Side announce start of play after pressing the Kick Off button kick in Side frae kick Side corner kick Side goal kick Side play on play mode changes once the ball leaves the penalty area goal Side currentlv unused but ace Tab 4 13 drop ball play on offside Side free kick Side for the opposite side where Side is either the character 1 or r OS means opponents side f is the time in mimber of cycles until the subsequent play mode will he announced Table 4 12 Play Modes Meaasage t o aubesquent play mode comment goal sales kick off DSi de announce the ath goal Tor team Fond dde kick USide anmeounce a foul pa lie abel hall Sad free kick Us ds time up without atean time over sent if there
5. OU OU OU OO client OU ear on 00000 hear TIME referee MESSAGE 00000 play on Q free kick le DD 0 000000000 4700 IE p TEAMNAME NUM MESSAGE 000000000000 000000 4310 OO client server 0 0 20010 000000000 00 OOUUUUO 00000 7 4 000 000 00 play lt __ 000 On L3 r3 L3 r3 L3 r3 Hm Op On L3 pm L3 pm L3 mn L3 pm L3 pm L3 pm L3 pm 0 0 advice define i 30 ra 0 0 L1 E Ez l O L3 EZ L1 Ez EJ L1 O L3 2013000000 000000 play on UBBBBUBDHIDU OOUUU0U 0 OUOUOUUOD 2048
6. ok change player type TEAM UNUM warning cannot_sub_while_playon 0000000 play on warning no subs left subs 00 warning max of that type on field subs max 1 D LI LI LI warning cannot change goalie 0 00 1 change_player_type UNUM TYPE server change_player_type UNUM 7 4 3 00000 0000000600 0 EE Ee l 0 00000 DUDUDUUDUDDUUDUBDUDUDUDUUDUUUDUDUuDDUUDUDUUDUDUUD moveD BH E D E IU U H ugmgagagamlimluuxibtll soccerserver E D 0 ok look TIME OBJ OBJDESC OBJ OBJDESC 430 0 00 OBIDESC 0 0 000 0 X Y 00000 X Y DELTAx DELTAy 00000 X Y DELTAx DELTAy BODYANGLE NECKANGLE eye OU
7. soccerserver 0 0 00 00 ok check ball TIME BALLPOSITION 0 0 BALLPOSITION I HL Hl B B UH e start 00000 server 0000000000000 Kick off 00000 monitor 0 O kick off OU trainer 00000000000 trainer D D UO D B UU D D 7 D D server OU 0000000 Kic off 1 soccerserver O O U ok start recover 000 soccerserver D 0000 ok recover ear tainerQ O 0 D D 0 IMODE J D on U 00 ear on server 0 trainer 0000000 730000008 ear off T server 000 trainer 000000 O soccerserver 0 0000 ok ear on ok ear off error illegal mode MODE on UU off error illegal command form MODE 0 0 D D 7 4 2 0 trainer O O D EL online coach E 000000 e init version VERSION trainer e init TEAMNAME version VERSION online coach OOUOOUOOO server D D DO D DL D D D D trainer coach 0 0 00 0 online coach O TEAMNAME TU 00000 server coach OU trainer f LLLLD DOO DOE U D BE 7 DEDI trainer O D 00000 server D D DU D
8. D LU L LI sense body server O sense body O O0 U LH D D U U HI D D 6 000 0 D 0 server 0000 server 0 O0 D J I J D D UU sense 0 O 0 score O servet O0 D DO H D B UO Seved DH U HD BO 0 U score Time OurScore OpponentScore e ill change view Width Quality OOOO UL narrow normal wide Quality high O low umguagagumumuauguguuuduguuuasiuuuuuuuiuuuiiiutbuliiiuttlu uuuuuuHuuliuisui utlutut utllluswality high low D UB D HH UI LU umagaumuuiuuuuuuiuuiiutbtiutiultt 6 1 3 1000 DUUDDDDUDUDDDDDUBDUDUDUUUUDUDUDUDUDDUHBUHU SEE BER BET EE BEBE DDD server D 0000000000 0 servveQ 00000000 0000000 0000 ODO0O0O0 OOCOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOND see Time ObjInfo ObjInfo ObjInfo 000000 ObjName Distance Direction DistChange DirChange BodyFacingDir HeadFacingDir 0 ObjName Direction 00000 ObjName 000000 TeamName Unum b f FlagInfo g Side pU UU U U bI I sidef 10 0000000 r00 0 0
9. 4 9 Soccerserver 4 9 1server O O D server conf HOOO0000 00005600 57 580 0 50 The Soccer Monitor EU O00 OG version 10 version 2 vVIOUOUU0 1 showinfo_t information needed to draw the scene 2 msginfo t contains the messages from the players and the referee shown in the bottom windows 3 drawinfo_t information for monitor to draw circles lines or points not used by the server van g uuu 1 showinfo t2 information needed to draw the scene 2 msginfo t contains the messages from the players and the referee shown in the bottom windows 3 player type t information describes different player s ability 4 server params t parameters and configurations of soccerserver 5 player params t parameters of player 5 3 2 Monitor Server O served ood dispinit dispinit version 2 OO kickoff D D L1 LI C dispstart O server O O 0 x0 yO side OOOO dispfoul x y side 000 dispdiscard side unum OO 0 0 osx posy SHOWINFO_SCALE O 0 LI U ang server7 02 dispplayer side unum posx posy ang 0000 6 Soccer Client 6 1 lU E E 0 client server D D B D DI D D D D D D D D Li L server server DD D D UDPL D D D 6000 0 I L UD B D D D DL E D servet D D
10. traier OO 0 0 0 60019 coach D 00 6002 soccerserver D000 init ok OU trainer 000000000 init SIDE ok spepn r nu U say MESSAGE 0000000000000000 trainer 0 O MESSAGE I trainer 0 MES OO0000 say coach msg size O 4 9 I 4 310 soccerserver 1 EL L 0000000 error illegal command form MESSAGE Q D LU LU LU U Ul e change player type TEAM NAME UNUM PLAYER TYPE change_player_type UNUM PLAYER_TYPE 000000 460 TEAM_NAME J 00 UNUM IILI lI PLAYER_TYPE PLAY_TYPE U 0 00 6 online coach O O TEAM_NAME O O O online coach 0000000000060 000 subs maxt D DU D D U D U U 7630 soccerserver warning no_team_found 1 U D LU L error illegal command form O change player type warning no such player
11. say_coach_msg_size 000 msg size 0 0 000 000 lt l ofn server error said too messages T 000000 770000 763 0000000000 change player type O O UUDUDUDUUDUDUDUDUDUUUUUuun play 0000000000 server 00000 7 4 OOO server D D E D LI LL 0 change_player_type UNUM TYPE server HH UU D B HH HH BH B B HH B D D DE B BE 7 UI change player type UNUM before kick off 4 6 LIH B LI D OOUUOUUO Oo 77000000 771 0000 a TEE EE EE E EET TI EET ELTE ERE B ggamagpuaguuguuagu umbiiututuudtuturtultututtlL 0 play on 000000000 00 7620 000000000000000 000000000000000000O0O0NO0 uU uggamagauampuumuupuaugaguunmiumiuiutultutll tL lu OU Userver UU flex bisoh GNU j OU lex 0000000000000 uggamagaeuuuup
12. Ki cko Off left right HH B D D 0 D D U U k off 0 goal kicki O 000 0 0 l mnitor 0 rund 0 servergp 00000000 0 0 III DU server UU mito 1 0 0 0
13. turn neck 00000000000000 00 0 minmoment maxmoment O serever conf O O TH DUDUDUDUUDDUUDUDUUDUGUDUDuUDUDUUuDUUUDUDUUulDlitarnWjii UD DD ULU torn_neck DUUDUUuDDUUDUUDUDUuDupnDpnu trn jdash Jkick 0 00000000000 turn neek O 00 O turn neck O O tut JUD DDD turn 0 0 O minneckmoment Parameter in server conf Value minneckang maxneckang minneckmoment 180 maxneckmoment 180 Table 4 10 Parameter for the turn neck command O 0 minneckang 000000006120 000000 4600800 0 server7 0 1 B D E B E D D Server 0 0 0000000000 layerconf 000000 0000 serverQOOOQOOU0U00U000U0U00 0 42 1010 before kick off u ugBgagpuuumgauiutulutl 000000 100000000 change player type OO D D D DJ LH D 0 subs max J 0 7 400 DUUUDUDUDUUUDUDUDDDD I stamina recovery effort 0 D B H B U D B U D U 0000 0 player 00000000 Table 4 11 Parameter for substitutions and heterogeneous player tvpes 4 7 Referee Model
14. pa E1 EJ E3 EL Uu D uu Uu ooo printf Wd ntohs serv addr sin port BOCk Berv addr sin port serv addr sin port buf n 6 6 2 2 Simple Clients Robocop 0 0 00000 esessp nna BB DB d du Sensing O HH B DL DU DL D l L server S expression 1 D 000000 D D DD DU client O 00 S expression O O D II D D D B B D U Action Interval L1 DU UH OD DB BD D 0 1005 turn dash client I I Ll n LL DL HD UD l 0 O00 000000000000 server E D DL D U D BE D D U 00 Dielient 0000 Planning D D 000000000000 delet III l 00000000 client O U D D II OHO 00 stanq alone E E E H D D E 00 schent sclient2 0000000 oO oO foo oO oO L1 oO Oo oO L1 oO oO L1
15. sampleclient oo OU 00 00 ampleclient 000000 client SERVERHOST SERVERHOST server hostname og EP BERE EDI client SERVERHOST 6005 2 0000000 EE init init MYTEAMNAME version 7 MYTEAMNAME 0000000 server D D BW U D UO B D UO D EI D LI Hd UE HBEHgHHB send 6000 init fon version 73 1567 init r 1 before kick off 1567 server param 14 02 B 0 3 0 4 0 1 60 1 1 4000 45 D 0 3 0 5 recy 1567 player param T 3 3 D 0 2 100 0 0 2 25 0 0 002 100 0 2 racy 1567 iplayer type 45 0 4 5 0 006 0 3 0 7 0 Q 1 0 6 1567 player type 16432 28 5670 0 533438 B 33595 O 00T33326 1567 player type 19861 25 1387 0 437186 5 92921 O 00T1T875 04904 40 0856 0 435023 5 90057 O DOB3ITOS 1723 27 7704 0 568306 8 20764 0 00746072 recy 1567 iplayer type 12561 32 432827 0 402203 5 05508 0 00821539 recy 1567 iplayer type 02919 42 0812 0 581564 9 53909 0 00688457 recy 1567 sense body 0 vieu mode high normal stamina 4000 1 recy 1567 gee O ig r 61 6 37 ff r t 49 4 3 f p r t 37 27 recy 1567 body 0 iview mode high normal stamina 4000 1 recy 1567 player type recy 1967 player type gi Uu s og Re cc 000 3 00 move move 10
16. 0O h HDD OD OB D I DIU U D kiek kick_rand D D playerconf O D O kick rand delta factor O O 0 0 0 U L RoboCup2000 kick rand was used to generate some noise during evaluation round for the normal players D00000n00000700000000 4000000 1 a 000000 0 0 baccel_max 0000000 server 070000000000 2 a 0000000000 v 0 v 0000000 00 ball_speed_max 0 D 00 3 007000 0000 v 00000000 000000000000 wind force wind dir wind rand 00 0000 ball 000000 0000000 lv ball rand v ball rand 0 0 Basic Parameters Parameters for heterogeneous Players Barver contf player conf kickahle margin kickahle margin delta min 6 kickable margin delta max kick_power_rate kick rand uu kickable raargin delta min kickable margin delta max ballzdecay ballspeed ball accel max Table 4 6 Ball and Kick Model Parameters 4 000000 p 000000 0000 ball speed max T 5 ball de 0 000000000 v O v player dee 0 0D a 00000 45 53 430 E DL D D D D 0 10 D D 1509 00000000000
17. OU BodyDi O D HeadDir OU Ooo 0 soa 1 HIH HII fg t 150 fg 120 fag 110 oy r10 Fg t ran fag t r50 L L Eg t 140 bgt 120 e ray Plage ran 21190 felt P ins d El c t Ehgrt ferito e 0119 dp errean hg lec erm fgg L0 Ubhgzru go211 e very hzrro 8 igol 8 hero EEzIB1U Ar iae RUE Phar h 10 hg 1320 ER i RB dp fherb 20 Ebel bon ERIT atin 30 feb 140 h 120 zr n at Eit 2 40 fg b 150 Eig b 120 fhgh 1 Li er Page b id flag t bany Eig t 2 50 1 Distance DB UO D U D U D U III U D Direction D E serverQ D 0 0 sense_step visible angle O O O 150ms 90 DUDUDEU ViewWidth Y ViewQuality 0 ln DL Bu DB DB DL view frequency view angle 4 13 4144000000 view frequency sense step view quality factor view width factor 4 13 0 ViewQuality high O O view quality factor O 10 O ViewQuality low O view quality factor O 0 50 O ViewWidth narrow
18. eye MODE MODE 00 on Gf U0 offf 000 00 eye server O00 100 000000 send vi step 1 HL HL H D client see global O O D eye off O server OOO 0 look 1 soccerserver OOO ok eye on ok eye off poogt error illegal mode MODE O on UO off error illegal command form MODE D D l team names soccerserver 0000 ok team names team 1 TEAMNAME team r TEAMINAME 000 server 0 0000000 1 2 7 5 10 server 0 00000 server D U D D DD 00000 00 700000000 server 000 init LE U D H D LL B D D U UO D DI U U DE Du D server param once player param once e player type once for each player type 000000 4220 DD client eye ond 0 0O 0 00000000000 00 0 0 100 step 00000000000 see global OBJ OBJDESC OBJ OBJDESC 430000 oBDESc DOO000 oO x v 00 X Y DELTAx DELTAy X Y DELTAx DELTAy BODYANGLE NECKANGLE 00000000
19. lt s i r3 rrr nnum U D UU 0 kick_off 0 0 0 inn p 0 eoemer kie 0 00000 9150 goal 0000000000000000000000 00 O O00 Play Mode Control OOUOQU0O0 O kick offf O D kick in D 0 0 eomer D D OO 0 0 U kick J O0O00000 0 Half Time and Time Up ugamgaggauaungau uduituuutituuluritalutsoon 00000005 gmnuuamuunguuugnuaugsugunagsuggupnamuduiututduuttutlut 222700000000 UO Geferee J O00000 sever 0 UIUDDDUDDUDUDUDUDUDUDUUUUDUDUDDUDUDUDD RoboCup 2000 0 LI T 1 9 D D D U Surrouding the ball 2000000000 Blocking the goal with too many players 3 0000000 Net put
20. dash power dash power O 0 effort 0 O O 0 effort O effort min effort max 0O III ND 0 Ul edp effort dash_power_rate power 4 19 dash dasdi OOo0coso00000M1004 000000 1 a 0000000 D player_accel_max 0 0 0 0 2 a 0000000000 vv v 000000000 player_speed_max 000 00 00000 00 0 D player_speed_max player_speed_max_delta_min player_speed_max player_speed_max_delta_max O J player conf T 3 007000 wOO00 v 00000000 000000000000 O wind force wind dir _ 00 0 0000000000 gt player v player rand 1 0 Basic Parameters Parameters for heterogeneous Players server conf player cont ir ERN ee stamina inc max stamina inc max delta factor player speed max delta min player speed max delta max extra stamina 0 extra stamina delta mir 0 d 0 0 extra stamina delta max dash power rate 0 006 dash po
21. view width factor O 20 0 ViewWidth normall view width factor 10 O ViewWidth wide upgugoesupausubpgugpbpBuBlbBBulbiul view angle visible angle view width factor 4 14 ViewWidth O O view width factor 0 50 O ViewWidth norrow view width factor O 10 O ViewWidth wide view width factor O 20 visible disance 00000000000000 ES ee E Aaa t h OMOOG000000000000000 00 F 0000000 OOOOOU0 b g l f Dn 0430 0 0 view_angle 1 LL UU D D U B DH B UO DH D OD D UO D D HO D HE HU 7 DE 7 D 0 0 20000000000 visible distance B D L1 L1 H B D D HL U D HE D DI U b eD 00000000600 000000 00000000000 0000 009 000 00000 0 40 0 00 0000000 20 unum_far_length lt unum_too_far_length lt team_far_length lt team_too_far_length PEL dist unum _ far_length 00000000000000 unum far length lt dist lt unum too far_lengthj0 000000000000 UUDUDUDUDDUDUDUUUDUDDUDD OOOO 10 0000 O0 dist gt unum too far length 00000000000 team far length dist lt team too far_lenghQOQOQOO00
22. 1 D DL DL OLD DL D D U D minmement 00000000000 46 OOOO server HH i D DID LDBBBO DD UO D D B DU D D DI kick 0 00 kickable margin 0 epl effective kick powerT kick power kick_power_rate 4 20 180 gooi 000250 0 uBmaupmugupmlgguubuutuuitututLtututtukeklttutuettl UU D DL EIL LUL 00 kiekable margin 0 O0 UU B B 0870 UU BO D HH UO UO D HU UO D uuu gubututtuttLt kickable margini 00000 uuu tLt 2500 50 4 21 air dim 00000000000 0 1 00000000 0000 I dirdi lt 190 x m distadill kickablesmargin N e ird 4 dist ball ep gp 1 um 184 oe EDI ren WES 0 00000000 500000000000 a 000000000000000000000000000000000 DI D kick
23. 00 000000 00 OOOO 00 1 000 play stop fast forwarQOOrewmdQ QO O00 ogplayerQOOOOO0000d kick off 5589 0 00000000 move 000 lID D stamina OOO 58D DU DL DO U BO U 5 OO Kick off Ez r3 r3 xj C4 o g H r3 r3 Ee Da E EJ oO r3 SS oO L3 L3 L3 L3 EP c3 c3 c3 riz Ez r3 Oo r3 Ed a oO r3 r3 r3 rtg ar oO oO og 5 oO Dg Oo Esme oO Oooo Ec oO noo 9 r3 Ex es r3 r3 E oO v r3 og r3 r3 sono 8 oO o 5 r3 oO L3 n r3 a UEM 5 2 Ej o S Ei 8 oO gt poma oO m Oo 520s o ooo QE Sie n Desa t r3 Et S s r3 o oo0p00 aaa 2 ad
24. oO oO oO L1 oO oO oO oO p c1 etl go0 jp pub soccer client noda client 2 0 tar gz OU D sclient1 sclient2 0000000000000 N be OOM w Om a oO abortO OO UU core 0 L3 L3 L3 E3 L3 LE LLrlErr OOOO L1 oO oO oO oO oO oO oO server server 1 C Sexpressionp D C H D I 1 0 00 000 0 sense_bodyQ O
25. 000 RoboCup Soccer Server V7 06 UU RoboCupf 1 0 0 0 0 0 0 DIII LDO server 0000D HAE ORE Ooo ooo oo oe 0 0 997 0 OY RoboCup Robocop 00000000 1 1 Mackworth lninL UD D Ln NL LL LL LL HL HB D HH D D D B B D B D D D DO D D 7 7E OI UI UI D Kitano Asada Kuniyoshi O O O O O O Robot J League E D EB D E E H UD U 19950 Kitano et al S 19970 I n LUD DH D UL I HL D O RoboCup 19930 D D D B B U D I Robot League O D D B I UU D D Robot World Cup O O RoboCup RoboCup O O O Robo
26. 10 00 101 OOOO 00 0000 0 0 client SERVERHOST gt dev null 1 0000000 4 0 server O Kick Off QOOOOUQ0O0000U0000U0U00000U0000 see sense body LJ DJ D D LJ 0 5 LE E HL E DL E D E DD D D D D D D turn dash kick QO OO000000000 gUgBaggaggtedetutu turn 90 UgggBBBBHBDU dash 100 500 000000 kick 50 90 Sampleclient 1 D server O T init connectionQ 0 write O O message looplT D 1 L1 D B LJ U D L1 LU D D LI U 0 0 0000000 0000000 00 00000 00 server send_message T O server 0 receive messageOLT U LI L1 U U LH D U UI U samplecliet 5 000 socket J stream O selectO Sampleclient LH HH BL DL DL D D D L server O 000 server D 0000 init D D U D U UU D UI UU D 4700 0000000 socker socket stream 1 O 00 man D LI LI D LU Ul 000 server OOOO 00
27. 270 200000000 10 ugggappuugugggggpnuuugggggpauguguggggpimuuuuuuu 0000000 GDOOOOG00G00000 000 It would be another possibility to accelerate the ball to maximum speed without putting it to relative position 0 0 using a compound kick 4 5 4Move Model move L LH HL HB DB D B D D D B DH D D DE 00 movel D DO D D 0 before kick off 00 000000 IU goal r n goal 1 n TJ II lI move lt 0 servet 0 move 4 amp 5 goalie max moves 0 move 0 0 00000000 0 server error too many moves Parameter in server conf Value goalie max moves Table 4 7 Parameter for the move command 4 5 5Say Model D say msg sizel 0 III LI 0 9a zA Z 4 2 lt gt _ JO D D D D OO DO D D D D 00000 audio eut distc D D D 43 1 served D D 0 U0 D BD D IL IL D D B D D U l
28. Body Sensor Model D D OL U LUE EL EI C D D D sense body step 0 O 100 07 0000000 LU L OOUOUU000 view mode ViewQuality View Width stamina Stamina Effort speed AmountOfSpeed DirectionOfSpeed head_angle HeadDirection kick KickCount dash DashCount turn TurnCount say SayCount turn_neck TurnNeckCount catch CatchCount move MoveCount change view Change ViewCount ViewQuality O O high low ViewWidth narrow normal wide AmountOfSpeed E E E ED D 000 DirectionOfSpeed E E E E E E 00 HeadDirection E E EB E E E E O Count server OO D D D I I D D 0 0 O DashCount 134 I I DD OD D D D 134 dash 0 DY ViewQuality ViewWidth O 0 0 4 3 20 UD uuu 0 server D D DU 4 30 Parameter in server conf Value sense body step 100 Table 4 3 Parameters for the body sensor OU 440000 0 u u D A v v D 0 a a I accelerate 74 18 7 p p pi p U 0 ui u D move D Vs decay decay speed D a at D d 0 000 reset acceleration 0 00 vy 00000 00000000000 DesyQoOooodd OO ball decay player decay 0 0000000000000 dash 00000 D ki
29. DEL DE O U D D D B D 7E 7E 7 U U 0 Server D DL D LU U Li 1214 0 0 0 0 server D server All the commands sent to or received from the server are strings of common character and are in a pair of prantesis O 611 MDC DET PEDE F 0000 serveri 0 000 0000000 D init TeamName version VerNum goalie U Du uini D 0 U goaliet OOO server J 0 D B D U U U U U U DU uBguaugugaguagugaupBuBuuuuuuuutuituttulutluttutluttl uult Servei LH D H U LH U B D U HE U D HL U EH UU init Side UniformNumber PlayMode DlUDUUUDUUUUDUDUUDUDUUUDUDULUU 1 error no more team or player or goalie ide O0 HL DB D D U II 7 L D Kdefo rGigho UniformNumber 00 UU 00 server O O 7 0000 000 lUUUUDUUUDUDuunuu server param Parameters player param Parameters player type id Parameters ugguupguuppBuBlgggBiggu server O0 DD U B HL D U 5 0 0 OU lID UD 000 0 0 OOo OOo L3 L3 r3 Lr r
30. lieni init TenmName version VerNum ic init Side Unum Play Node Sie i Voom ie 1 11 PlavMode one al play 8 error no more tenor player or goal TenmiNamre z A the protecol version eg 7 0 reconnect TramName Unum init Side Unum Play Side l r n la z A Unita i 1 11 Phys n ome of play modes error neo more team or player error reconnect client 70D DD DB DO D D D U D HI U D server 0O D LI 000 server I III player D U D B U X C D D D D See460 000 server param gwidth inertia moment psize pdecay prand pweight pspeed max paccel max stamina max stamina inc recover init recover dthr recover min recover dec effort init effort dthr effort min effort dec effort ithr effort inc kick rand team actuator noise prand factor 1 prand factor kick factor kick rand factor r bsize bdecay brand bweight bspeed max server param gwidth iners monent poise pelecayw prand pweight papeed max paccel max stamina max stamina inc recover Init recover dthr recover min recover dec effect init effort dihr effort min effort dec efortithr effert inc kick rand team actuator modise prar factor prand factor r kick rand factor kick rand factor r baize bdecay brand bwelght bspeed max bsccel max dprate kprate kmargin ctlracdins ctlrad
31. was no opponent until the end of the second hall timieup tima nver sent onec the game is over if the time is 2 second half ard the scores for each team are different time before kick off Line es 1 kick off where Side is either the character 1 or r GSile means opponents aide fe is the time in namber af eveles until the subeequent pley mode will be anemones Table 4 1 Referee Messages 0 O00 UC Q esoalie catch ball Side O O 0 free kick Side free kick Oside 480000 48 100 server 0 n OC before kick QO D D D D turn 0 D O dashi 0 server 44 20
32. 000g0a000 ugmamaduessmymuu ut gourntutultt 0 dist 2 team too far_length VO HB aD a Du Client whose vision perspective is being illustrated visible distanec ba o A 1 ro 9 E ia k r 1 i 1 i 1 i ja c pg I k A i j i x angle rd i af er field width f f unum far length 7 1 dee E u L F unum ioo far length re team far length V 7 i 3 team too far length lt T a length i mom 43 ugggauangaua4sygugamagguggugaugumgamunuli 0000000000 OHOUU 0000000000000 56 JDUBDUDUDUDUDUD egi 352000 visible angle visible distance unum far length Not in server conf but compiled into the server Table 4 2 Parameters for the visual sensors server ugmgamagpuagliuuuauurlituluttl d Quantize exp Quantize log d quantize _ step 0 1 00 4 4 00000000000000000 Quantize V Q ceiling V Q 100 00 00 000000 10 00 00000 10000000000 1 00 DUUDUuDDUUDUDDUUDUDUDDUUDUuUDUGuupDpupDpuu d Quantize exp Quantize log d quantize _ stepp _1 0 1
33. 4 Catchable area of the goalie when doing a catch 45 DOU OU U D U ban O0 0 0000 U 0 catch 0000 0 III Ul 000 goalie catch ball irl O0 OD free movel D U Bl kick OO B D UU UU I goalie_max_moves movet E E 00 moe 00 O movel O kick O goalie max moves 0 L1 0 0 server error too many moves 00000 00000 00000 00 movel 000 0000 catchable_area_l catchable_area_w catch_probability catch_ban_cycle Table 4 4 Parameters for the goalie catch command 4 5 2Dash Model stamina modell Dash Model O0 dashi 000000000000000000 00 dashi O D powerd 00000 server conf O O minpower maxpower O O dash 0 00000000 4 50 0000000000 stamina O O0 D dash 000000000000 000000 O stamina max 000000 0 powerd O l J power U B U U LU U D 0000 20 power LU O dash 0 power U D LU D D U UI I power 0000000 0000000000000000000000000000000000 extra stamina deltra min extra_stamina_delta_max HU D B B BE D server dash O power O 0 E E 00 dash J D edi effective
34. Cup O O O RoboCup l l O RoboCup AI 0 0 2 1 1Server 10 2 serverp O0000000000000000000000client serverp 00000 lUDDDDDDDHDHHBHHHDHDHHDEHHDEBDBHBDBHBHBHHBHBHBHBUDUHBDHUDHUBDUDO EXPU DD client server U server cL ient p E E EE E E D E E UDP E PE D DT C DE D D Ddietgyna gpnaupnpnnunaununservennnn gnanntaug 10 client D 0
35. D D C 00 server O E UO D D D coach w referee O server O O 0 0 U D 0 coach referee 00 sever 0 0 0 0 0 00 0 0 0000000000 upPIIDDD CUL uj 0000000000 6002 4 9 1 T 7 4 7 1 e change mode PLAY MODE II DI DD 00 PLAY PLAY MODE 000 471000000000000000 0 socceserer lU free kick kick inQ 0 0 000 befor kick off LL DU O0 DL B U D BE U D DE CI D DI Soccerserver 0000000 ok change_mode 00000 error illegal mode 00000 error OOUU0 0000 illegal command form 0000 move OBJECT X Y VDIR VELx VELy D DID uggupgupuupuupnggpguggpuppupaaupDm BB 0000 JII UID 00000 VELx OOUOU0U e check ball 00 soccerserer0 000000000000000 in field 000000 goal_l 000000000000 goal_r 000000000000 out_of_field OOUUU0U 0000 goal 1 ge 000000000000000
36. audio_cut_dist _ hear_inc E hear decay Table 4 8 Parameters for the say command 4 5 6 Turn Model 0 0 4 5 0 wr D CO O 7 UO U UU D DIU O O moment moment O O O O O minmoment maxmoment 00000000 0 actual_angle moment 1 0 inertia_moment player_speed 4 22 inertia O server conff 00000 5 00 0000000000000 060 uggreiuuugaguugaagguag saegauniguagtududttlul edt t O O dash tun O 00 0 000 UO turni 0 00 0 player speed max player decay 60 O1O00000 0 0 inertia O O inertia value 000000000 player decay delta min inertia moment delta factor player decay delta max inertia moment delta factor J Basic Parameters server conf aue Name Wate Ra marmoment inertia moment X player decay delta mri player decay delta max inertia moment delta factor Table 4 9 Turn Model Parameters 4 5 7TurnNeck Model OO 1 0000000 wr
37. ck 000000 Power 0000000 asa Power x power ratex 00600000 000000 0 power rate J dash power rate 0 kick power rate 453 0 TOUO0O000U0000000000000000 Oran ic 00 6 0 Qoc 00000000000000 Direction ker Direction uu 50 viv D l asa A O O 7 max max 0 O00 rmax D D U U U Qvi rand player rand ball rand L D OOOU Moment 7 Power D I J J D argument O arg ument 1 F a argument rand 4420 000 45D 000 4 5 1Catch 0 O O pay on 0000006 00 D UUBEDED 00 catchable area I catchable area w O D O 00 00 4400 0000600 LL ach probability chi DLL DD DH DH D HB HELD D catch 00000 4 40 Figure 4
38. ds a message every cycle The referee send a message every cycle The four players in the example all send a message every cycle Show which messages gets through during 10 cycles 6 might be enough UU BD U B D sense_step OO OU 150msD VO D BE U D see ObjName Distance Direction DistChng DirChng BodyDir HeadDir ObjName p Teamname UniformNumber goalie g lir b f c f l c r t b p Ii t cib f g Ilr t b f 0 t b Ir 10 20 30 40 50 f Ir t b 10 20 30 1 lirit b Distance Direction DistChng Dirchng 0 00000006060 Pre Bra 4 1 Prey Pu Pun 4 2 tree Un gs 4 3 try Upe Uyo 4 4 Distance V PL 4 5 Direction arctan Py Per te 4 6 Erg prr Distance 4 7 Ey pry Distance 4 8 DistChng the Err Ury Eryl 4 9 DirChng trz ery Ury Erg J Distance 18072 4 10 BodvDir PlaverBodvDir AgenrBoadvitir Agent HeadDir 4 11 HeadDir PlaverHeadDir AgentBodvDir AgentHeadDir 4 12 00 P 00 Yav 000000000 0000000000 4000000000000 000000000 0000000 0000 00000 P P 0 Cv 000000000000000 e 000000000000000000 BodyDir Headbu
39. i L3 L3 r3 Lr L3 OUUUUUUUUUOUN reconnect TeamName UniformNumber u uggggpauubpiulu reconnect Side PlayMode OU Playont 00000000 can t reconnect error reconnect error no more team or player or goalie lU I ll server D U 7 000 D HE D BO 0 BO U B 7 D U Ll D D U 0 server O0 byd bye D U 00 server 00000 0000 OO sever HH H B H D BH D HH B B B HH 0 D BB HL B BF B HE CO DT DEBEO 7E 7I B 7T LO EE U 0 Protocols Version Control ED ED E E E D E EJ E D HE EL E D server OO00 YO versioni int 1 EH EH B BW B UL UI uggagagamuuguupBugagampumnauuuuiuuuiuluuiulut 6 1 2 B3 UU L DUDDUDUDUDDUDUDUDDUUDUDDUDUUDUDUUDUuDDUuDUUDupDuuD DUDUDDUDUDDUDDUDDUDDUDUDDUDDUDUDUDDUUDUDUDDUuDUDUDUDUDDDseerl U l turn Moment Moment O 1800 180 000 Moment 000 da
40. ius width maxp minp maxm minm max ne minn visangile visdist windir winforce winang winrand kickoahleares catch area I catch ares w catch prob goalie max moves chmargio offsideares win mo win random suy cnt max SayConchM sgSize clang win size clung doline win clang retazwln elang asdvice win elang nfozcwin elangzmesszdelay clang mess porcyele halftime sim st send st recv st shostep lem st SayMosgSize hear max hear imc licarzdecay chbanzcycho show downifactor uscalfside Ekickoffoffzide offsidve Kick margin distqestep land gstep dirazgstep distagstep l distzqstepzr land gstep l Inmdogstepor dir gstep dirgstepr CoachMode CuwlE Node ol hear sv st start goal start fullstate fullstater drop time player param player types subs max max player speed max dolta min phlaverzspeed stamina incormnax delta factor playerzdecaydeltamin playeradecay delta zmax Inertiazmormentzdelta factor dashzpowerzratezdeltazmir dash power rmte delta max player size delta factor kickable margin delta min Kicknable margin delis max Kick delta fictor extras stamina delta min extra stamina delta max effort maxieltatactor effortmin delta factor for each available player type a message of the form player type id player speed max st rnina inc max player decay inerti moment dash power rate player aize kicknble margin kick rand extra stamina effort max elfart min client From client ta server O
41. l lUUDUUUuD referee O0 L D UU U o nline coach ringt 000000060 Message O0 LJ D LI L say msg size 1 0000000000000 471000 000000 0 000 41000 audio_cut_dist hear_inc say msg size 0000000 0 decay 000 0 0 0 OO 0 hear O0 E U HB D D UI J hear 000000 hear servr conff I a player can hear at most one message from each team every second simulation cycle ugggngamuuuumgugaguauumubiuiuuiuatuutiuludeautllut ggagamsumnpouuuumgsuuamupuauguuuuuaiu umullutututulutlut DUDUDDDUDUUUDUDUUUDUUUUDUUUUDUDUUDUUUDUDUUUDUDUUUDUU 0000 OO 0 audio cut 5 OO 0 This example should show which messages get through and how to calculated the hear capacity Example Each coach sen
42. nc effort minteffart effort max end if end if recover the stamina a bit stamina stamina recovery staminalinc max stamina min stamina stamina rmax Figure 4 5 The stamina model algorithm 4 000000 pa IRB HDD player speed max T 5 player decay O0 00000000 v O v player decay O 00 a u 000 00 0000 000000000 stamina value recovery effort O O dash DUDUUDJDDDUUDDUDUDUUUDUUuDuUDUuD2UDil recovery D d d Dd B7B 7B UO 7B 7B BD DU U D L effort O O O dash ODO UO UB D B HE UU UI server conf player conf O 00 DUDUDUDUDUDDUUDUDUUDUUUDUDDU4ASIDDUDUDU4SJUDUDDUUDDUUDUuDUUDD stamina O LJ LJ I effort recovery H1 HH B B D B H B H HH B B U D D D UO B HI 0000000 efrrsniu utiututultuttultultl reeovery DU D D D 100000 DUUDUUDuDUDUUUDUU 4 5 3Kick Model server 0 60 0 0 70 kick D D D D UU U D D minpower maxpower 0 0 0 0 D 8 D D DU
43. nly once per atch Directii Fired ian qndramoereerit eorresss change view Width Quality idih Wiche Chundity high lew dash Nam Poser i m npeower L Joie BCA dash CONSUMERS CHH seam N 1 kick Power Direction Yes Poser minpowrr moaxpcower i gudrnwreenf makin move X Y Yes X 52 5 62 6 Y u oth 34 amy Message n message sense body The server returns eerie Dads Tiiri wies nado high bow marrow normal wide stamina Stamina Effort epee Amoun Opes Direction HNpeecd Alene Angle kick Kick Count dash burna Torte say turn neck TurmNeck ount catch Catch cart ome Soret changa view Change Viermi ouni secre he gerer rerisrias score Time Their5core turm Moanenti Morten minmamem o preexrmoemernit degree turm_ merk Angle Wes Angle c minneckrmoenent 2 depres lar sex relative be the direction af the bly Can be invrksd the same eyele ag a hern dish or kick sever 0 0 0 0 error unknown command error illegal command form 4 2 2client O OO MEN SV Lg Clee Chenr Tole under Abe Tis Simulating moc al the Gere cider maine avi left cxaalirze_ravam
44. oli rihl referee well Disini Dieci LBD EAE bogie Moss siring Tiue Cb Praia ryrie of the secre Ungu Obi Naas Diener Deh Tange DirChenge Body boing aimar Crecian Aati beye Mri hage ObjMmne TBsstmasee Directia bhiin Dinta ip Teams hi ig IF e if Lei feb b E p E Eg Hir ts If lb op it t hy Itm n n di Fil E Uc 405 0720 Say h E Fi C2 bes meal her IAD LA depres Dep luis teal Hint hunsr real mimis 1 1BIl lees Beale Febr 1D 1BI degree Tear Din lori uie 1 11 eH Coy view mode high lw marrow normal wide Stumia sque pes Directeur OS pel kik nunt j tum turm_nerk TurgIvecktounr fenteh Caie Cumt nuwe Ahne Cust Iching lew Ching V lr cant Ting in oe od Ehe aoe Samiin pile pea wiles Ema z postive peel mirna Amn nt Hes peer jesse Deal miite Parecticun AS perl LB aegros Hired Angle LAD 10 lege wahie mige o c m E Beers L1 2 5 Ei ina O O speed O 0 neck m m Time O Sender 0 0 lID U
45. sh Power minpower maxpwer J LJ D E E EH 1000 1000 kick Power Direction l Direction O O D O O UDirection OO U D D D UU D U UE D D HI U D power O O minpower maxpower catch Direction 00 Dpirection move X Y 540 4000 y0 00320320 0000000000000 M T 00 U D UU BD D direction D D BH DD 0 ULU 00 OUUUkickKQVOOUUUUUUUUUUU 00 OOUUUUWOO turn_neck Angle UUUDDUDDUUUUDUDUUDUUUDUDUDUUUDUUUDUDUuuuuu Angle ED EH ED D B D E E E HE minaeckanf maxneckang 00900 9 0 0 Om Om Oo Om E Ooo Oo LII ES ES OU OU ugguBgaHDpBHDHOBHBDdgub ub saxi HD UD D DU D hear 1 say Message uggugggpnpBagulubBBllul ubl Ll audio cut disp O0 D D U 500 ok say 0000000000 L error illegal_command_form lU J l server JJI D
46. ting the ball into play after a given number of cycles 4 100000000 0 0 ntentionally blocking the movement of other players SOUOUO catch IU DD UL kick catch D BU D D U u agmumiiuuulbtl tl 6 server D 0 O D Flooding the Server with Messages 00 ChenttQHOOUUUU0UU0U0DUO 30 400000000000 serverl O 0O OO server HH D B B 0 B D B B D UI U D 700000 0 Inappropriate Behaviour DUDDUDUDUUDIDUDDUDDDUDDUDUuUDUDUDUUuDDEDDUGuDDUUUDuUuDuuD DUDUDUUDUuDUUUUDUU 3 OO DUDUUDDDUDUDUDDUDDDD Soccer Server JUD DDUDDDDUDDUUDUUuuD 0 GNU Linux 2 2 17 uname sO OOO 0 eges 2 91 66 which gt 3 10 0000 server 10 0 0 0 SoccerServerQOOOO0000 http ci etl go jp noda soccer server Japan http www robolog org server Germany OOUUUUU 4 Soccer Server 4 1 Objects Gam eObject distance direction MobileObject direction_change distance change speed vector Stationary Object Player team side uniform_number body direction face direction neck direction a marker id UML diagram of the objects in the simulation 4200 4 2 1client O O O llent te exrver Fem server po
47. umumuaumuamusumuauumuiuuutieauuddritutlitutut coach lang Chly coach lang comp Ch 7 2 000000000 DDD D Info Advice Define Meta Freeform O O 0
48. wer rate delta min 0 lI TIT n O sek power eate dela max effort min delta factor extra stamina delta min extra stamina delta max elfort max effort max delta factor exira stamina delta rim extra stamina delta max arde T effort dec 005 eforme o Tr otme om T 3 SS A Precoverdee ame playa 19 player speed max 0 player speed max delta min 0 0 L 0 owe player speed mex delta max orp wide 9 _ player decay 1 creda 0 4 player decay delta max 0 2 0 0 Nut in server conf but compiled into the server Table 4 5 Dash and Stamina Model Parameters for Soccer Server 7 if stamina is below recovery decrement threshold recovery is recluced if stamina recover lec thr stamina max then if recovery gt recover min then recovery recovery recover dec end if end if lif stamina is below effort decrement threshold effort is reduced if stamina effort dec thr stamina max then if efort gt effort min then effort effort effort end if effort max effort effort min end if lif stamina is above effort increment threshold effort is increased if stamina gt effort inc thr stamina max then if effort lt elfortimax then effort effort effort i
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