Robocup
(turn Moment)
Change the direction of the player according to Moment.
Moment should be between minmoment and maxmoment
(default is [-180, 180]). The actual change of direction is reduced when the player
is moving quickly.(turn-neck Angle)
Adds Angle to the clients neck angle (ie angle at which
the view cone extends from the player)
The neck angle must be between [-90,90].
The neck angle is always relative to the angle of the player,
so if a turn command is issued, the view angle also
changes.(dash Power)
Increases the velocity of the player in the direction
it is facing by Power*dash-power-rate.
Power should be between minpower and
maxpower (default: [-30, 100]). If power is negative,
then the player is effectively dashing backwards.
(kick Power Direction)
Kick the ball with Power in Direction
if the ball is near enough
(the distance to the ball is less than
kickable-margin + ball-size + player-size.).
Power should be between minpower and maxpower
(default is [-30,100).
Direction should be between minmoment and
maxmoment (default is [-180,180]).
(move X Y)
Move the player to the position (X,Y).
The origin is the center mark, and the X-axis and Y-axis are toward
the opponent's goal and the right touchline respectively.
Thus, X is usually negative to locate a player
in its own side of the field.
This command is available only in the before-kick-off
mode, and for the goalie immediately after catching the ball (see the
catch) command.
(catch Direction)
Tries to catch the ball in direction Direction.
Direction should be in [-180, 180].
This command is permitted only for goalie clients.
The player (goalie) can catch the ball when
the ball is in the rectangle with
width is goalie-catchable-area-w (default=1),
length is goalie-catchable-area-l (default=2)
and the direction is Direction.
The probability the catch is successful if it is in the
rectangle is given by the parameter catch-probability.
Also note that the goalie can only do 1 catch every few cycles
(specified by the catch-ban-cycle parameter).
If the goalie tries to catch again during the ban cycle, the command
is ignored.
If the catch is successful, the server goes into free kick mode.
Once it has caught the ball, the goalie can move within the
penalty box with the move command. The ball moves with
the agent. However, a catch does not immediately change the
position or facing direction of the goalie.
(say Message)
Broadcast Message to all players.
Message is informed immediately
to clients as sensor information in the (hear ...)
format described below.
Message must be a string with length less than 512 characters,
and consists of alphanumeric characters
and the symbols "|+-*/-.() |".
There is a maximum distance that messages can be heard.
See the section on auditory information for specifics.
(change-view ANGLE-WIDTH QUALITY)
Change angle of view cone and quality of visual information.
ANGLE-WIDTH must be one of
wide (=180 degrees), normal (= 90 degrees)
and narrow (=45 degrees).
QUALITY must be one of high and low.
In the case of high quality,
the server begins to send detailed information about
positions of objects to the client.
In the case of low quality,
the server begins to send reduced information about
positions (only directions, no distance) of objects to the client.
Default values of angle and quality are
normal and high respectively.
On the other hand,
the frequency of visual information sent by the server changes
according to the angle and the quality:
In the case that the angle is normal and
the quality is high,
the information is sent every 150 milli-sec.
(The interval is modifiable by specifying send-step
in the parameter file.)
When the angle changes to wide the frequency is halved,
and when the angle changes to narrow the frequency is
doubled.
When the quality is low, the frequency is doubled.
For example,
when the angle is narrow and the quality is low,
the information is sent every 37.5 milli-sec.
simulator-step (100ms) the simulator updates the
world model using these inputs. Only one action per agent is
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