Code Release 2024 of Shared Autonomy Challenge

Co-authored-by: Leon B. Co-authored-by: Dominik Brämer <[email protected]> Co-authored-by: Alexandra Cloodt <[email protected]> Co-authored-by: Lisa Dasmann <[email protected]> Co-authored-by: Alicia Gayda <[email protected]> Co-authored-by: Robert Huber <[email protected]> Co-authored-by: Diana Kleingarn <[email protected]> Co-authored-by: Thomas Klute <[email protected]> Co-authored-by: Angelina Koch <[email protected]> Co-authored-by: Aaron Larisch <[email protected]> Co-authored-by: Mahdokht Mohammadi <[email protected]> Co-authored-by: Arne Moos <[email protected]> Co-authored-by: Tim Plotzki <[email protected]> Co-authored-by: Ingmar Schwarz <[email protected]> Co-authored-by: Alexander Voß <[email protected]>
NaoDevils · Oct 15, 2024 · 39d4c90 · 39d4c90
1 parent de64b13
commit 39d4c90
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Showing 102 changed files with 1,815 additions and 611 deletions.
diff --git a/Config/KeyFrameEngine/saveFallFront.kfm b/Config/KeyFrameEngine/saveFallFront.kfm
@@ -72,7 +72,7 @@ keyFrames = [
     leavingPossible = false;
     useArmProblemDetection = [false,false];
     armAngleReached = false;
-    holdFrame = 500;
+    holdFrame = 128;
     nextKeyFrameConditions = [none];
     nextKeyFrameIDs = [none];
     fallDownProtection = none;

diff --git a/Config/Scenes/Includes/SharedAutonomy.con b/Config/Scenes/Includes/SharedAutonomy.con
@@ -0,0 +1,21 @@
+vf worldState
+vfd worldState fieldLines
+vfd worldState goalFrame 
+vfd worldState fieldPolygons
+vfd worldState representation:GameInfo
+vfd worldState representation:RobotPose
+
+vfd worldState behavior:RemoteControlProvider 
+vfd worldState representation:RobotMap
+vfd worldState representation:BallChaserDecision
+vfd worldState representation:TeammateData
+vfd worldState origin:RobotPoseAfterPreview 
+vfd worldState representation:MotionRequest 
+vfd worldState origin:RobotPose
+vfd worldState representation:BallModel 
+vfd worldState representation:BallModel:endPosition
+
+vd module:BallChaserDecisionProvider:overwrite
+
+echo call Includes/JPEGImageViews
+echo set parameters:JPEGImageProvider quality = 15;
diff --git a/Config/Scenes/SharedAutonomyAttackers.con b/Config/Scenes/SharedAutonomyAttackers.con
@@ -0,0 +1,19 @@
+call Includes/Normal
+
+robot robot8
+dr module:BallChaserDecisionProvider:enable on
+robot robot9
+dr module:BallChaserDecisionProvider:enable on
+
+robot robot3
+call Includes/FieldViewsCreate
+call Includes/Ballchaser
+
+robot robot4
+rc offensive
+rc passPref
+rc on
+call Includes/SharedAutonomy
+
+echo gc playing
+echo rc kickPref
diff --git a/Config/Scenes/SharedAutonomyAttackers.ros2 b/Config/Scenes/SharedAutonomyAttackers.ros2
@@ -0,0 +1,47 @@
+<Simulation>
+
+  <Include href="Includes/NaoV6H25.rsi2"/>
+  <Include href="Includes/Ball2016SPL.rsi2"/>
+  <Include href="Includes/Field2020SPL.rsi2"/>
+  <Include href="Includes/Boards.rsi2"/>
+
+  <Scene name="RoboCup" controller="SimulatedNao" stepLength="0.012" color="rgb(65%, 65%, 70%)" Kp="12500" Kd="10000" contactKp="1425" contactKd="7.5">
+   <Light z="9m" ambientColor="rgb(50%, 50%, 50%)"/>
+
+    <Compound name="robots">
+      <Body ref="Nao" name="robot3">
+        <Translation x="0.3" y="0.3" z="330mm"/>
+        <Rotation z="180degree"/>
+        <Set name="NaoColor" value="red"/>
+      </Body>
+      <Body ref="Nao" name="robot4">
+        <Translation x="3" y="-1" z="330mm"/>
+        <Rotation z="180degree"/>
+        <Set name="NaoColor" value="yellow"/>
+      </Body>
+
+      <Body ref="Nao" name="robot8">
+        <Translation x="-4.5" z="330mm"/>
+        <Set name="NaoColor" value="blue"/>
+      </Body>
+      <Body ref="Nao" name="robot9">
+        <Translation x="-3" y= "1.4" z="330mm"/>
+        <Set name="NaoColor" value="black"/>
+      </Body>
+    </Compound>
+
+    <Compound name="balls">
+      <Body ref="ball">
+        <Translation z="0.05m"/>
+      </Body>
+    </Compound>
+
+    <Compound name="boards">
+      <Compound ref="boards"/>
+    </Compound>
+
+    <Compound name="field">
+      <Compound ref="field"/>
+    </Compound>
+  </Scene>
+</Simulation>
diff --git a/Config/Scenes/SharedAutonomyDefenders.con b/Config/Scenes/SharedAutonomyDefenders.con
@@ -0,0 +1,23 @@
+call Includes/Normal
+
+robot robot10
+dr module:BallChaserDecisionProvider:enable on
+robot robot11
+dr module:BallChaserDecisionProvider:enable on
+
+#robot robot1
+robot robot3
+call Includes/FieldViewsCreate
+call Includes/Ballchaser
+
+robot robot2
+rc defensive
+rc passPref
+rc on
+call Includes/SharedAutonomy
+
+echo gc playing
+echo rc kickPref
+echo rc passPref
+echo rc offensive
+echo rc defensive
diff --git a/Config/Scenes/SharedAutonomyDefenders.ros2 b/Config/Scenes/SharedAutonomyDefenders.ros2
@@ -0,0 +1,47 @@
+<Simulation>
+
+  <Include href="Includes/NaoV6H25.rsi2"/>
+  <Include href="Includes/Ball2016SPL.rsi2"/>
+  <Include href="Includes/Field2020SPL.rsi2"/>
+  <Include href="Includes/Boards.rsi2"/>
+
+  <Scene name="RoboCup" controller="SimulatedNao" stepLength="0.012" color="rgb(65%, 65%, 70%)" Kp="12500" Kd="10000" contactKp="1425" contactKd="7.5">
+   <Light z="9m" ambientColor="rgb(50%, 50%, 50%)"/>
+
+    <Compound name="robots">
+      <Body ref="Nao" name="robot3">
+        <Translation x="1.0" z="330mm"/>
+        <Rotation z="180degree"/>
+        <Set name="NaoColor" value="red"/>
+      </Body>
+      <Body ref="Nao" name="robot2">
+        <Translation x="3" y="0" z="330mm"/>
+        <Rotation z="180degree"/>
+        <Set name="NaoColor" value="yellow"/>
+      </Body>
+
+      <Body ref="Nao" name="robot10">
+        <Translation x="-0.3" y="0.3" z="330mm"/>
+        <Set name="NaoColor" value="blue"/>
+      </Body>
+      <Body ref="Nao" name="robot11">
+        <Translation x="-3" y="-1" z="330mm"/>
+        <Set name="NaoColor" value="black"/>
+      </Body>
+    </Compound>
+
+    <Compound name="balls">
+      <Body ref="ball">
+        <Translation z="0.05m"/>
+      </Body>
+    </Compound>
+
+    <Compound name="boards">
+      <Compound ref="boards"/>
+    </Compound>
+
+    <Compound name="field">
+      <Compound ref="field"/>
+    </Compound>
+  </Scene>
+</Simulation>
diff --git a/Config/Scenes/SharedAutonomyDummyAttackers.con b/Config/Scenes/SharedAutonomyDummyAttackers.con
@@ -0,0 +1,14 @@
+call Includes/Normal
+
+robot robot3
+call Includes/FieldViewsCreate
+call Includes/Ballchaser
+
+robot robot4
+rc offensive
+rc passPref
+rc on
+call Includes/SharedAutonomy
+
+echo gc playing
+echo rc kickPref
diff --git a/Config/Scenes/SharedAutonomyDummyAttackers.ros2 b/Config/Scenes/SharedAutonomyDummyAttackers.ros2
@@ -0,0 +1,49 @@
+<Simulation>
+
+  <Include href="Includes/NaoV6H25.rsi2"/>
+  <Include href="Includes/Ball2016SPL.rsi2"/>
+  <Include href="Includes/Field2020SPL.rsi2"/>
+  <Include href="Includes/Boards.rsi2"/>
+
+  <Scene name="RoboCup" controller="SimulatedNao" stepLength="0.012" color="rgb(65%, 65%, 70%)" Kp="12500" Kd="10000" contactKp="1425" contactKd="7.5">
+   <Light z="9m" ambientColor="rgb(50%, 50%, 50%)"/>
+
+    <Compound name="robots">
+      <Body ref="Nao" name="robot3">
+        <Translation x="0.3" y="0.3" z="330mm"/>
+        <Rotation z="180degree"/>
+        <Set name="NaoColor" value="red"/>
+      </Body>
+      <Body ref="Nao" name="robot4">
+        <Translation x="3" y="-1" z="330mm"/>
+        <Rotation z="180degree"/>
+        <Set name="NaoColor" value="yellow"/>
+      </Body>
+    </Compound>
+
+    <Compound name="extras">
+      <Body ref="NaoDummy" name="robot8">
+        <Translation x="-4.5" z="330mm"/>
+        <Set name="NaoColor" value="blue"/>
+      </Body>
+      <Body ref="NaoDummy" name="robot9">
+        <Translation x="-3" y= "1.4" z="330mm"/>
+        <Set name="NaoColor" value="black"/>
+      </Body>
+    </Compound>
+
+    <Compound name="balls">
+      <Body ref="ball">
+        <Translation z="0.05m"/>
+      </Body>
+    </Compound>
+
+    <Compound name="boards">
+      <Compound ref="boards"/>
+    </Compound>
+
+    <Compound name="field">
+      <Compound ref="field"/>
+    </Compound>
+  </Scene>
+</Simulation>
diff --git a/Config/Scenes/SharedAutonomyDummyDefenders.con b/Config/Scenes/SharedAutonomyDummyDefenders.con
@@ -0,0 +1,17 @@
+call Includes/Normal
+
+robot robot3
+call Includes/FieldViewsCreate
+call Includes/Ballchaser
+
+robot robot4
+rc defensive
+rc passPref
+rc on
+call Includes/SharedAutonomy
+
+echo gc playing
+echo rc kickPref
+echo rc passPref
+echo rc offensive
+echo rc defensive
diff --git a/Config/Scenes/SharedAutonomyDummyDefenders.ros2 b/Config/Scenes/SharedAutonomyDummyDefenders.ros2
@@ -0,0 +1,49 @@
+<Simulation>
+
+  <Include href="Includes/NaoV6H25.rsi2"/>
+  <Include href="Includes/Ball2016SPL.rsi2"/>
+  <Include href="Includes/Field2020SPL.rsi2"/>
+  <Include href="Includes/Boards.rsi2"/>
+
+  <Scene name="RoboCup" controller="SimulatedNao" stepLength="0.012" color="rgb(65%, 65%, 70%)" Kp="12500" Kd="10000" contactKp="1425" contactKd="7.5">
+   <Light z="9m" ambientColor="rgb(50%, 50%, 50%)"/>
+
+    <Compound name="robots">
+      <Body ref="Nao" name="robot3">
+        <Translation x="1.0" z="330mm"/>
+        <Rotation z="180degree"/>
+        <Set name="NaoColor" value="red"/>
+      </Body>
+      <Body ref="Nao" name="robot4">
+        <Translation x="3" y="0" z="330mm"/>
+        <Rotation z="180degree"/>
+        <Set name="NaoColor" value="yellow"/>
+      </Body>
+    </Compound>
+
+    <Compound name="extras">
+      <Body ref="NaoDummy" name="robot8">
+        <Translation x="-0.3" y="0.3" z="330mm"/>
+        <Set name="NaoColor" value="blue"/>
+      </Body>
+      <Body ref="NaoDummy" name="robot9">
+        <Translation x="-3" y="-1" z="330mm"/>
+        <Set name="NaoColor" value="black"/>
+      </Body>
+    </Compound>
+
+    <Compound name="balls">
+      <Body ref="ball">
+        <Translation z="0.05m"/>
+      </Body>
+    </Compound>
+
+    <Compound name="boards">
+      <Compound ref="boards"/>
+    </Compound>
+
+    <Compound name="field">
+      <Compound ref="field"/>
+    </Compound>
+  </Scene>
+</Simulation>
diff --git a/Config/Scenes/SharedAutonomyRemoteRobot.con b/Config/Scenes/SharedAutonomyRemoteRobot.con
@@ -0,0 +1,11 @@
+# connect to a robot
+call Includes/connect
+
+call Includes/SharedAutonomy
+rc passPref
+rc defensive
+rc on
+
+echo rc offensive
+echo rc defensive
+echo rc kickPref
diff --git a/Config/Scenes/SharedAutonomyRemoteRobot.ros2 b/Config/Scenes/SharedAutonomyRemoteRobot.ros2
@@ -0,0 +1,3 @@
+<Simulation>
+  <Scene name="RoboCup" controller="SimulatedNao" stepLength="0.012"/>
+</Simulation>
diff --git a/Config/ballChaserDecisionProvider.cfg b/Config/ballChaserDecisionProvider.cfg
@@ -14,7 +14,7 @@ timeToBallParams = {
   ballBehindRobotHysteresis = 500;
   ballChaserBonus = 500;
   ballChaserTimeBonus = 1;
-  distancePenaltyBallBehindRobot = 800;
+  distancePenaltyBallBehindRobot = 600;
   distancePenaltyBallBehindRobotFullDistance = 4000;
   targetDistanceRobotRotFactor = 1;
   penaltyBallBehindFactorOwnGroundline = 1;

diff --git a/Config/ballchaserProvider.cfg b/Config/ballchaserProvider.cfg
@@ -1,5 +1,5 @@
 previewArrival = true;
 
-penaltyKickNames = [kickMiddleFast];
+penaltyKickNames = [kickHack,kickMiddleFast];
 
 oppSetPlayBallDistance = 1000;
diff --git a/Config/clipLineFinder.cfg b/Config/clipLineFinder.cfg
@@ -1,8 +1,8 @@
 maxDistPointsImage = 35;
 maxNoDistLinesImage = 5;
-maxDistSumPointsToLineImage = 7;
+maxDistSumPointsToLineImage = 5;
 pixelErrorSumToImageWidthFactor = 160;
-minStraightLineLengthInImageFactor = 10;
+minStraightLineLengthInImageFactor = 15;
 maxAngleSumLineImage = 0.08;
 maxAngleSumLineField = 0.15;
 minAngleSumCircleImage = 0.23;
@@ -13,9 +13,9 @@ maxAvgPointDistToCircleField = 30;
 maxDistSegToCenterCircleField = 500;
 maxDistSegToCenterCircleImage = 5;
 maxCenterCircleRadiusDiffField = 150;
-minFieldLineLength = 300;
-minDefiniteFieldLineLength = 700;
-minPointsForLine = 4;
+minFieldLineLength = 350;
+minDefiniteFieldLineLength = 800;
+minPointsForLine = 5;
 minPointsForCenterCircle = 8;
 maxSegConnectDistField = 1000;
 maxSegConnectDistImage = 30;

diff --git a/Config/eventManager.cfg b/Config/eventManager.cfg
@@ -1,9 +1,9 @@
 eventConfig = {
-  playerMovedEventDistance = 1200;
-  playerMovedEventDistanceForBallchaser = 500;
-  playerMovedEventDistanceForNearBall = 500;
-  playerMovedNearBallDistance = 1500;
-  playerMovedEventDistanceWhenSlow = 200;
+  playerMovedEventDistance = 0;
+  playerMovedEventDistanceForBallchaser = 0;
+  playerMovedEventDistanceForNearBall = 0;
+  playerMovedEventDistanceWhenSlow = 0;
+  playerMovedNearBallDistance = 500;
   playerMovedEventSlowTransSpeed = 20;
   playerMovedEventSlowRotSpeed = 20deg;
   playerMovedEventIntervalInitial = 5000;

diff --git a/Config/fieldColorProvider.cfg b/Config/fieldColorProvider.cfg
@@ -6,5 +6,4 @@ maxDiffOptCb = 20;
 maxDiffOptY = 45;
 maxDiffCbCrRatio = 200;
 minLineToFieldColorThresholdUpper = 10;
-fieldColorMaxDistY = 54;
 minLineToFieldColorThresholdLower = 55;
diff --git a/Config/headPOIListGenerator.cfg b/Config/headPOIListGenerator.cfg
@@ -1,10 +1,10 @@
 localizeAngles = [
   {
-    x = -30deg;
+    x = -20deg;
     y = 20deg;
   },
   {
-    x = 30deg;
+    x = 20deg;
     y = 20deg;
   }
 ];