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Replace player number with jersey number #1449

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Replace player number with jersey number #1449

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@MaikRe MaikRe commented Sep 19, 2024 •
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Why? What?

This takes apart the double task that player number was performing and splits it into jersey number and behavior dependent on active field robots, regardless of their jersey number.

Created to replace #1021 in order to not do double work on refactoring the behavior simulator.

ToDo / Known Issues

Depends on #1428
Fixes #1417
Fixes #1298

  • Fix sacrificial lamp somehow as right now the chosen robot is hard coded based on jersey number
  • Fix robot initial pose order in localization
  • Fix robot initial pose order in behavior simulator
  • Handle role assignment correctly, what do we need to prioritize? Is it possible to set offensive and defensive strategies and decide based on that?
  • HULKs aufstellung in intercept ball?
  • Handle replacement keeper delay, probably via leading edge detection on replacement keeper priority
  • Look at referee, check which positions need to do this
  • Goal keeper should have widestance action in node.rs
  • cleanup

Ideas for Next Iterations (Not This PR)

  • Consider when and how goal keeper should perform widestance. Currently in intercept ball since he is the only player on the field he becomes striker and thus does not perform widestance. Is this the desired behavior?

How to Test

@MaikRe MaikRe mentioned this pull request Sep 19, 2024
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@MaikRe MaikRe self-assigned this Sep 19, 2024
@MaikRe MaikRe force-pushed the 1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19_20 branch 2 times, most recently from 0a55ea8 to 6f203d9 Compare September 22, 2024 11:01
@MaikRe MaikRe force-pushed the 1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19_20 branch from 859349a to 3f9bcc8 Compare October 7, 2024 13:01
@MaikRe MaikRe force-pushed the 1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19_20 branch 2 times, most recently from fc8b4b9 to 1d0948d Compare October 14, 2024 14:03
@knoellle @MaikRe
Remove Uncertain kind from Team type
1841d82
@knoellle @MaikRe
Purge lua from simulator
d97edb1 
Clean up game state transitions

Clean up lua stuff

Working scenario
@knoellle @MaikRe
Migrate simulator to bevy
848daf6
@knoellle @MaikRe
Implement simple autoref
a16d3c6
@knoellle @MaikRe
Upgrade to bevy 0.14 to make use of AppExit codes
45309cc
@knoellle @MaikRe
Fix rebase issues
5e67833
@knoellle @MaikRe
Allow look at with negative angles 😬
7e1ab48
@knoellle @MaikRe
Don't skip ready phase
1ca62a3
@knoellle @MaikRe
Enter set early once robots stop moving
9648b38
@knoellle @MaikRe
Clean up golden goal scenario
34b0f4c
@knoellle @MaikRe
Fix system execution order
9c5a70f
@knoellle @MaikRe
Fix system time initialization in LastFilteredGameControllerStateChanges
7a67b98
@knoellle @MaikRe
Speed up playback
cce7ec1
@knoellle @MaikRe
Clean up primary state handling
5cb967a
@knoellle @MaikRe
Configurable ball friction
52495d8
@knoellle @MaikRe
Use walking parameters
53ec661
@knoellle @MaikRe
Make simulated robot movement roughly follow physical step parameters
62635a8
@knoellle @MaikRe
Allow skipping standby phase
1c6ae88
@knoellle @MaikRe
Split auto referee from game controller logic
b4fec9f
@knoellle @MaikRe
Port intercept ball scenario
e90d0b0
@knoellle @MaikRe
Port deny keeper ballsearch scenario
1fd11c4
@knoellle @MaikRe
Split assistant ref jobs from auto referee
b0d32f8
@knoellle @MaikRe
Make scenarios to plugins
6909a70
@MaikRe
produce output for behavior sim
44fb0fa
@MaikRe
remove duplicate node
a24538f
@MaikRe
--wip-- [skip ci]
aa3fb42
@MaikRe
it compiles! mostly :)
07f5cc3
@MaikRe
Revert "--wip--"
b81c437 
This reverts commit ab1e68b.
@MaikRe
Revert "--wip--"
3b8cf14 
This reverts commit 49d29eb.
@MaikRe
use jersey number for initial pose
60f492e
@MaikRe
remove unused parameter
5ca50e9
@MaikRe
behavior sim layer works in twix
8564d1d
@MaikRe
make clippy happy
8e2161f
@MaikRe
fix circular dependency for sacrificial lamb
6ed786d
@MaikRe
refactor active player filter, fix filtering of goal keeper penalty
be4aad8
@MaikRe
fix role assignment in initial
78c862d
@MaikRe
set penalties in scenarios correctly
01cc694
@MaikRe
handle case if replacement keeper is striker
b74d011
@MaikRe
clean up unused code
0a53da1
@MaikRe
remove debug json
5ed2d94
@MaikRe
rename player to jersey
2b01b2f
@MaikRe
paint jersey numbers on robots
f95bfba
@MaikRe
make slider go to max num players
eb7d676
@MaikRe
HULKs Aufstellung!
ceecec9
@MaikRe
offensive and defensive role priorities
ff3621f
@MaikRe
use proper penalizing method
d897699
@MaikRe
filter substitutes out of walk in index
3c2f476
@MaikRe
take all penalties from game controller state
30bcd8a
@MaikRe
look at referee
7bf1bb7
@MaikRe
fmt
2f51548
@MaikRe MaikRe force-pushed the 1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19_20 branch from 1d0948d to 2f51548 Compare October 16, 2024 09:50
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impl Substitutes post-game task: 4 on 7 collisions during walk-in
2 participants
@MaikRe @knoellle