7.3 Agents
As a requirement all teams are required to submit source-code releases with slight omissions in terms of the strategic behaviours. This does however mean we can access them to help us get started. In particular we utilise the UTAustinVilla CodeBase.
7.3.1 UTAustinVilla CodeBase
The UTAustinVilla CodeBase is the code base we have built our new behaviours around as well as the methods required to implement them. The original state of the codebase can be found on the moodle page and you will see during installation using Singularity that this base comes pre-packaged. This base has been modified in multiple ways by different students who have taken different approaches to developing behaviours, these can be found at https://github.com/BrandenIngram/RoboCup. If you require access to this repository please contact one of the admins. More information of the UtAustinVilla team can be found at https://www.cs.utexas.edu/~AustinVilla/sim/3dsimulation/. This includes the following
- Binaries
- Publications
- Courses revolving around Robitics and RoboCup
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
- Support for Gazebo RoboCup 3D simulation plugin (https://bitbucket.org/osrf/robocup3ds)
- Scripts and code for collecting game statistics
What is not included:
- The team’s complete set of skills such as long kicks and goalie dives
- Optimized parameters for behaviors such as the 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)
- High level strategy including formations and role assignment
A detailed breakdown of the code structure itself can be found in Section