UTAustinVilla3D模拟团队基础代码发布_C++_Shell_下载.zip

# utaustinvilla3d --- UT Austin Villa RoboCup 3D simulation team base code release ### About: This release is based off the UT Austin Villa RoboCup 3D simulation league team.  *Video of default demo behavior: ([YouTube](https://www.youtube.com/watch?v=b47enPRhFR4), [mp4](http://www.cs.utexas.edu/~AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2016/videos/UTABaseCodeReleaseDemoBehavior.mp4))* #### What it includes: * Omnidirectional walk engine based on a double inverted pendulum model * A skill description language for specifying parameterized skills/behaviors * Getup behaviors for all agent types * A couple basic skills for kicking one of which uses inverse kinematics * Sample demo dribble and kick behaviors for scoring a goal * World model and particle filter for localization * Kalman filter for tracking objects * All necessary parsing code for sending/receiving messages from/to the server * Code for drawing objects in the roboviz monitor * Communication system previously provided for use in drop-in player challenges * Example behaviors/tasks for optimizing a kick and forward walk * Example simple soccer behavior with basic formation and dynamic greedy role assignment * Support for running with fat proxy (https://github.com/magmaOffenburg/magmaFatProxy) * Support for Gazebo RoboCup 3D simulation plugin (https://bitbucket.org/osrf/robocup3ds) * Scripts and code for collecting game statistics #### What is not included: * The UT Austin Villa team's complete set of skills such as long kicks and goalie dives * Optimized parameters for behaviors such as the UT Austin Villa team's fastest walks (slow and stable walk engine parameters are included, as well as optimized walk engine parameters for positioning/dribbling and approaching the ball to kick) * The UT Austin Villa team's high level strategy including formations and role assignment ### Requirements: * simspark and rcssserver3d * Boost library * Threads library Instructions for installing simspark and rcssserver3d: https://gitlab.com/robocup-sim/SimSpark/wikis/Installation-on-Linux It's optional (recommended) to install the roboviz monitor: https://github.com/magmaOffenburg/RoboViz ### To build: ```bash cmake . ``` (If cmake can't find RCSSNET3D set the SPARK_DIR environmental variable to the path where you installed the server and then rerun cmake. Also, if you installed rcssserver3d from a package instead of building it from source, you might need to install the rcssserver3d-dev package.) ```bash make ``` ### Instructions for running agent: First be sure to start the simulation server running. ##### Run full team: ```bash ./start.sh <host> ``` ##### Run penalty kick shooter: ```bash ./start_penalty_kicker.sh <host> ``` ##### Run penalty kick goalie: ```bash ./start_penalty_goalie.sh <host> ``` ##### Run team with fat proxy: ```bash ./start_fat_proxy.sh <host> -p <proxy_port> ``` ##### Run simple soccer example team: ```bash ./start_simple_soccer.sh <host> ``` ##### Run agent for Gazebo RoboCup 3D simulation plugin: ```bash ./start_gazebo.sh <host> ``` &nbsp;&nbsp;*Video of default walking behavior in Gazebo: ([YouTube](https://www.youtube.com/watch?v=E3LTkFFt5eA), [mp4](http://www.cs.utexas.edu/~AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2016/videos/GazeboWalk.mp4))* &nbsp; ##### Kill team: ```bash ./kill.sh ``` ##### List command line options: ```bash ./agentspark --help ``` ### Documentation: See [DOCUMENTATION](DOCUMENTATION.md) for some high level documentation about the codebase. View a tutorial about using the code base ([YouTube](https://www.youtube.com/watch?v=5-8YFmJlqhk), [mp4](https://www.cs.utexas.edu/~AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2021/videos/utaustinvilla3d_tutorial.mp4)). ### Demo behaviors: See the methods in `selectSkill()` in [behaviors/strategy.cc](behaviors/strategy.cc) for demo behaviors. See [behaviors/simplesoccer.cc](behaviors/simplesoccer.cc) for an example simple soccer team behavior with a basic formation and dynamic greedy role assignment. ### Optimization task examples: See the [optimization](optimization) directory. ### UT Austin Villa 3D simulation team homepage: (http://www.cs.utexas.edu/~AustinVilla/sim/3dsimulation/) ### More information (team publications): (http://www.cs.utexas.edu/~AustinVilla/sim/3dsimulation/publications.html) If you use this code for research purposes, please consider citing one or more research papers listed at the above link which includes the following topics and papers: ##### Code Release Patrick MacAlpine and Peter Stone. UT Austin Villa RoboCup 3D Simulation Base Code Release. In Sven Behnke, Daniel D. Lee, Sanem Sariel, and Raymond Sheh, editors, RoboCup 2016: Robot Soccer World Cup XX, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2016. (http://www.cs.utexas.edu/~pstone/Papers/bib2html/b2hd-LNAI16-MacAlpine2.html) ##### Walk Engine Patrick MacAlpine, Samuel Barrett, Daniel Urieli, Victor Vu, and Peter Stone. Design and Optimization of an Omnidirectional Humanoid Walk: A Winning Approach at the RoboCup 2011 3D Simulation Competition. In Proceedings of the Twenty-Sixth AAAI Conference on Artificial Intelligence (AAAI), July 2012. (http://www.cs.utexas.edu/~pstone/Papers/bib2html/b2hd-AAAI12-MacAlpine.html) ##### Optimization Patrick MacAlpine and Peter Stone. Overlapping Layered Learning. Artificial Intelligence (AIJ), 254:21-43, Elsevier, January 2018. (http://www.cs.utexas.edu/~pstone/Papers/bib2html/b2hd-AIJ18-MacAlpine.html) ##### Winning team paper Patrick MacAlpine, Josiah Hanna, Jason Liang, and Peter Stone. UT Austin Villa: RoboCup 2015 3D Simulation League Competition and Technical Challenges Champions. In Luis Almeida, Jianmin Ji, Gerald Steinbauer, and Sean Luke, editors, RoboCup-2015: Robot Soccer World Cup XIX, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2016. (http://www.cs.utexas.edu/~pstone/Papers/bib2html/b2hd-LNAI15-MacAlpine.html) ### UT Austin Villa team contacts: Patrick MacAlpine ([email protected]) Peter Stone ([email protected])