UT Austin Villa RoboCup 3D simulation team base code release
This release is based off the UT Austin Villa RoboCup 3D simulation league team.
Video of default demo behavior: (YouTube, mp4)
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
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.)
make
First be sure to start the simulation server running.
./start.sh <host>
./start_penalty_kicker.sh <host>
./start_penalty_goalie.sh <host>
./start_fat_proxy.sh <host> -p <proxy_port>
./start_simple_soccer.sh <host>
./start_gazebo.sh <host>
Video of default walking behavior in Gazebo: (YouTube, mp4)
./kill.sh
./agentspark --help
See DOCUMENTATION for some high level documentation about the codebase.
View a tutorial about using the code base (YouTube, mp4).
See the methods in selectSkill()
in behaviors/strategy.cc for demo behaviors.
See behaviors/simplesoccer.cc for an example simple soccer team behavior with a basic formation and dynamic greedy role assignment.
See the optimization directory.
(http://www.cs.utexas.edu/~AustinVilla/sim/3dsimulation/)
(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:
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)
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)
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)
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)
Patrick MacAlpine (patmac@cs.utexas.edu)
Peter Stone (pstone@cs.utexas.edu)