First commit

batch.sh

+#!/bin/bash
+
+for i in `seq 10`
+do
+	./bin/HFO --offense-agents=3 --defense-npcs=2 --defense-team=helios  --offense-on-ball 5 --headless  > "logfile_$i" &
+	P1=$!
+	sleep 5
+	(cd ./example/sarsa_offense/ && rm -f "weight*" && ./high_level_sarsa_agent --numAgents 3 --numEpisodes 20000 &)
+	P2=$!
+
+	wait $P1 $P2
+	echo "COMPLETED"
+done

bin/HFO

@@ -18,6 +18,9 @@ SERVER_BIN = 'rcssserver'
 # Command to run the monitor. Edit as needed; ditto to the above re directories.
 MONITOR_BIN = 'soccerwindow2'
 
+# Progress percentage
+success_rate_vs_time = []
+
 def cleanup():
   """Cleanup even if doing SystemExit, as with term."""
   for p in reversed(processes):
@@ -40,6 +43,7 @@ def launch(cmd, name = 'Unknown', necessary = True, suppressOutput = True):
   if suppressOutput:
     kwargs = {'stdout': open(os.devnull, 'w'),
               'stderr': open(os.devnull, 'w')}
+  print(cmd)
   try:
     p = subprocess.Popen(cmd.split(' '), shell = False, **kwargs)
   except (IOError, OSError):

bin/Trainer.py

@@ -3,6 +3,8 @@
 
 import sys, numpy, time, os, subprocess, Teams
 from Communicator import ClientCommunicator, TimeoutError
+import matplotlib.pyplot as plt
+
 
 class DoneError(Exception):
   """ This exception is thrown when the Trainer is finished. """
@@ -51,6 +53,13 @@ class Trainer(object):
     self._connectedPlayers = [] # List of connected players
     self.initMsgHandlers()
 
+    self.fd = open('progress_data', 'w')  # File to hold the game lengths, and types of game endings
+
+
+  def __del__(self):
+    self.fd.close()
+
+
   def launch_agent(self, agent_num, agent_ext_num, play_offense, port, wait_until_join=True):
     """Launches a learning agent using the agent binary
 
@@ -166,22 +175,33 @@ class Trainer(object):
       self._numGoals += 1
       self._numGoalFrames += self._frame - self._lastTrialStart
       endOfTrial = True
+      game_duration = self._frame - self._lastTrialStart
+      self.fd.write(str(game_duration) + ',GOAL\n')
     elif event == 'OUT_OF_BOUNDS':
       self._numBallsOOB += 1
       endOfTrial = True
+      game_duration = self._frame - self._lastTrialStart
+      self.fd.write(str(game_duration) + ',OOB\n')
     elif 'CAPTURED_BY_DEFENSE' in event:
       self._numBallsCaptured += 1
       endOfTrial = True
+      game_duration = self._frame - self._lastTrialStart
+      self.fd.write(str(game_duration) + ',DEF\n')
     elif event == 'OUT_OF_TIME':
       self._numOutOfTime += 1
       endOfTrial = True
+      game_duration = self._frame - self._lastTrialStart
+      self.fd.write(str(game_duration) + ',OOT\n')
     elif event == 'HFO_FINISHED':
       self._done = True
     if endOfTrial:
       self._numTrials += 1
+      if self._numTrials % 100 == 0:
+        print(self._numTrials)
       print('EndOfTrial: %d / %d %d %s'%\
         (self._numGoals, self._numTrials, self._frame, event))
       self._numFrames += self._frame - self._lastTrialStart
+#      print("############# MATCH LENGTH (IN FRAMES)", self._frame - self._lastTrialStart, ".################")
       self._lastTrialStart = self._frame
       self.getConnectedPlayers()
 

example/agent1.txt

+

example/sarsa_libraries/funcapprox/CMAC.cpp

 #include "CMAC.h"
 
 #define TILINGS_PER_GROUP 32
+#include<random>
+
 
 CMAC::CMAC(int numF, int numA, double r[], double m[], double res[]):FunctionApproximator(numF,numA){
 
+  double lb = -1, ub = 1;
+  std::uniform_real_distribution<double> unif(lb, ub);
+  std::default_random_engine re;
+  
   for(int i = 0; i < numF; i++){
     ranges[i] = r[i];
     minValues[i] = m[i];
@@ -15,6 +21,7 @@ CMAC::CMAC(int numF, int numA, double r[], double m[], double res[]):FunctionApp
   numNonzeroTraces = 0;
   for(int i = 0; i < RL_MEMORY_SIZE; i++){
     weights[i] = 0;
+    // weights[i] = unif(re);
     traces[i] = 0;
   }
 
@@ -46,6 +53,11 @@ void CMAC::setState(double s[]){
 void CMAC::updateWeights(double delta, double alpha){
 
   double tmp = delta * alpha / numTilings;
+
+  // std::cout<<"TMP var \t"<<tmp<<std::endl;
+  
+  // if(numNonzeroTraces > 0)
+  //   std::cout<<"weight update"<<std::endl;
   
   for(int i = 0; i < numNonzeroTraces; i++){
 
@@ -55,6 +67,8 @@ void CMAC::updateWeights(double delta, double alpha){
     }
 
     weights[f] += tmp * traces[f];
+    // if(weights[f] != 0)
+    //   std::cout<<weights[f]<<std::endl;
   }
 }
 
@@ -149,17 +163,24 @@ void CMAC::increaseMinTrace(){
 
 void CMAC::read(char *fileName){
 
-  std::fstream file;
-  file.open(fileName, std::ios::in | std::ios::binary);
-  file.read((char *) weights, RL_MEMORY_SIZE * sizeof(double));
-  unsigned long pos = file.tellg();
-  file.close();
+  std::cout<<"Not reading weights"<<std::endl;
+  // std::fstream file;
+  // file.open(fileName, std::ios::in | std::ios::binary);
+  // file.read((char *) weights, RL_MEMORY_SIZE * sizeof(double));
+  // unsigned long pos = file.tellg();
+  // file.close();
 
-  colTab->restore(fileName, pos);
+  // for(int i=0; i<RL_MEMORY_SIZE; i++)
+  //   std::cout<<weights[i]<<std::endl;
+
+//  colTab->restore(fileName, pos);
 }
 
 void CMAC::write(char *fileName){
 
+  // for(int i=0; i<RL_MEMORY_SIZE; i++)
+  //   std::cout<<weights[i]<<std::endl;
+  
   std::fstream file;
   file.open(fileName, std::ios::out | std::ios::binary);
   file.write((char *) weights, RL_MEMORY_SIZE * sizeof(double));
@@ -177,6 +198,12 @@ void CMAC::reset(){
   }
 }
 
+void CMAC::copyWeights(CMAC *obj){
+  for (int i = 0; i < RL_MEMORY_SIZE; i++)
+    weights[i] = obj->weights[i];
+}
+
+
 void CMAC::loadTiles(){
 
   int tilingsPerGroup = TILINGS_PER_GROUP;  /* num tilings per tiling group */
@@ -205,7 +232,8 @@ double CMAC::computeQ(int action){
   for(int j = 0; j < numTilings; j++){
     q += weights[tiles[action][j]];
   }
-
+  // if(q!=0)
+  //   std::cout<<"QValue:\t"<<q<<std::endl;
   return q;
 }
 

example/sarsa_libraries/funcapprox/CMAC.h

@@ -49,6 +49,8 @@ class CMAC: public FunctionApproximator{
 
   CMAC(int numF, int numA, double r[], double m[], double res[]);
 
+  void copyWeights(CMAC*);
+  
   void setState(double s[]);
 
   void updateWeights(double delta, double alpha);

example/sarsa_libraries/policy/PolicyAgent.cpp

@@ -47,6 +47,7 @@ int  PolicyAgent::argmaxQ(double state[]){
 }
 
 double PolicyAgent::computeQ(double state[], int action){
+  std::cout<<"PolicyAgent ComputeQ being called"<<std::endl;
   return 0;
 }
 

example/sarsa_libraries/policy/SarsaAgent.cpp

@@ -2,6 +2,7 @@
 
 //add lambda as parameter to sarsaagent
 SarsaAgent::SarsaAgent(int numFeatures, int numActions, double learningRate, double epsilon, double lambda, FunctionApproximator *FA, char *loadWeightsFile, char *saveWeightsFile):PolicyAgent(numFeatures, numActions, learningRate, epsilon, FA, loadWeightsFile, saveWeightsFile){
+  std::cout<<"Num actions: \t"<<numActions<<std::endl;
   this->lambda = lambda;
   episodeNumber = 0;
   lastAction = -1;
@@ -31,8 +32,11 @@ void SarsaAgent::update(double state[], int action, double reward, double discou
 
     //Sarsa update
     double newQ = FA->computeQ(action);
+    //    std::cout<<"newQ \t"<<newQ<<std::endl;
     delta += discountFactor * newQ;
 
+    // std::cout<<"Delta: \t"<<delta<<std::endl;
+    
     FA->updateWeights(delta, learningRate);
     //Assume gamma, lambda are 0.
     FA->decayTraces(discountFactor*lambda);//replace 0 with gamma*lambda
@@ -45,6 +49,10 @@ void SarsaAgent::update(double state[], int action, double reward, double discou
   }
 }
 
+void SarsaAgent::copyWeights(SarsaAgent *agent){
+  dynamic_cast<CMAC*>(FA)->copyWeights(dynamic_cast<CMAC*>(agent->FA));
+}
+
 void SarsaAgent::endEpisode(){
 
   episodeNumber++;
@@ -66,7 +74,7 @@ void SarsaAgent::endEpisode(){
 
   if(toSaveWeights && (episodeNumber + 1) % 5 == 0){
     saveWeights(saveWeightsFile);
-    std::cout << "Saving weights to " << saveWeightsFile << std::endl;
+    //    std::cout << "Saving weights to " << saveWeightsFile << std::endl;
   }
 
   lastAction = -1;
@@ -88,7 +96,8 @@ int SarsaAgent::selectAction(double state[]){
   else{
     action = argmaxQ(state);
   }
-  
+
+  // std::cout<<"Action id\t"<<action<<std::endl;
   return action;
 }
 

example/sarsa_libraries/policy/SarsaAgent.h

@@ -2,7 +2,9 @@
 #define SARSA_AGENT
 
 #include "PolicyAgent.h"
-#include "FuncApprox.h"
+// #include "FuncApprox.h"
+#include "CMAC.h"
+// #define RL_MEMORY_SIZE 1048576
 
 class SarsaAgent:public PolicyAgent{
 
@@ -18,6 +20,8 @@ class SarsaAgent:public PolicyAgent{
 
   SarsaAgent(int numFeatures, int numActions, double learningRate, double epsilon, double lambda, FunctionApproximator *FA, char *loadWeightsFile, char *saveWeightsFile);
 
+  void copyWeights(SarsaAgent*);
+
   int  argmaxQ(double state[]);
   double computeQ(double state[], int action);
 

example/sarsa_offense/Makefile

@@ -12,7 +12,8 @@ FA_LIB = funcapprox
 POLICY_LIB = policyagent
 
 #Flags
-CXXFLAGS = -g -Wall -std=c++11 -pthread
+# CXXFLAGS = -g -Wall -std=c++11 -pthread
+CXXFLAGS = -O3 -Wall -std=c++11 -pthread
 LDFLAGS = -l$(FA_LIB) -l$(POLICY_LIB) -lhfo -pthread
 LDLIBS = -L$(FA_DIR) -L$(POLICY_DIR) -L$(HFO_LIB_DIR)
 LINKEROPTIONS = -Wl,-rpath,$(HFO_LIB_DIR)
@@ -21,7 +22,9 @@ LINKEROPTIONS = -Wl,-rpath,$(HFO_LIB_DIR)
 CXX = g++
 
 #Sources
-SRC = high_level_sarsa_agent.cpp
+# SRC = high_level_sarsa_agent.cpp
+SRC = high_level_sarsa_agent_changed.cpp
+
 
 #Objects
 OBJ = $(SRC:.cpp=.o)

example/sarsa_offense/high_level_sarsa_agent.cpp

@@ -107,9 +107,25 @@ void offenseAgent(int port, int numTMates, int numEpi, double learnR,
                   "_" + std::to_string(numTMates + 1) +
                   "_" + std::to_string(suffix);
   wtFile = &s[0u];
+  // std::string filename1 = "early_game_model_" + std::to_string(port) + 
+  //   "_" + std::to_string(numTMates + 1) +
+  //   "_" + std::to_string(suffix);
+  // std::string filename2 = "late_game_model_" + std::to_string(port) + 
+  //   "_" + std::to_string(numTMates + 1) +
+  //   "_" + std::to_string(suffix);
+
+  // char *str1 = &filename1[0u];
+  // char *str2 = &filename2[0u];
+  
   double lambda = 0;
   CMAC *fa = new CMAC(numF, numA, range, min, res);
+  // CMAC *fa1 = new CMAC(numF, numA, range, min, res);
+  // CMAC *fa2 = new CMAC(numF, numA, range, min, res);
+  // CMAC *fa = fa1;
   SarsaAgent *sa = new SarsaAgent(numF, numA, learnR, eps, lambda, fa, wtFile, wtFile);
+  // SarsaAgent *sa1 = new SarsaAgent(numF, numA, learnR, eps, lambda, fa1, str1, str1);
+  // SarsaAgent *sa2 = new SarsaAgent(numF, numA, learnR, eps, lambda, fa2, str2, str2);
+  // SarsaAgent *sa = sa1;
 
   hfo::HFOEnvironment hfo;
   hfo::status_t status;
@@ -119,18 +135,28 @@ void offenseAgent(int port, int numTMates, int numEpi, double learnR,
   double reward;
   hfo.connectToServer(hfo::HIGH_LEVEL_FEATURE_SET,"../../bin/teams/base/config/formations-dt",6000,"localhost","base_left",false,"");
   for (int episode=0; episode < numEpi; episode++) {
-    int count = 0;
+    //    int count = 0;
     status = hfo::IN_GAME;
     action = -1;
+    // bool model_changed_flag = false;
     while (status == hfo::IN_GAME) {
       const std::vector<float>& state_vec = hfo.getState();
       // If has ball
+      // sleep(1);
+      // std::cout<<state_vec[numTMates]<<std::endl;
+      
       if(state_vec[5] == 1) {
         if(action != -1) {
           reward = getReward(status);
           sa->update(state, action, reward, discFac);
         }
 
+	// if(state_vec[numTMates] >= 0.2 && model_changed_flag == false)
+	//   {
+	//     sa = sa2;
+	//     model_changed_flag = true;
+	//   }
+	
         // Fill up state array
         purgeFeatures(state, state_vec, numTMates, oppPres);
 
@@ -156,11 +182,16 @@ void offenseAgent(int port, int numTMates, int numEpi, double learnR,
       reward = getReward(status);
       sa->update(state, action, reward, discFac);
       sa->endEpisode();
+      // sa1->endEpisode();
+      // sa2->endEpisode();
+      // sa = sa1;
+      // model_changed_flag = false;
     }
   }
 
-  delete sa;
-  delete fa;
+  delete sa, fa;
+  // delete sa1, sa2;
+  // delete fa1, fa2;
 }
 
 int main(int argc, char **argv) {

example/sarsa_offense/high_level_sarsa_agent_changed.cpp

+#include <iostream>
+#include <vector>
+#include <HFO.hpp>
+#include <cstdlib>
+#include <thread>
+#include "SarsaAgent.h"
+#include "CMAC.h"
+#include <unistd.h>
+
+// Before running this program, first Start HFO server:
+// $./bin/HFO --offense-agents numAgents
+
+void printUsage() {
+  std::cout<<"Usage: ./high_level_sarsa_agent [Options]"<<std::endl;
+  std::cout<<"Options:"<<std::endl;
+  std::cout<<"  --numAgents <int>        Number of SARSA agents"<<std::endl;
+  std::cout<<"                           Default: 1"<<std::endl;
+  std::cout<<"  --numEpisodes <int>      Number of episodes to run"<<std::endl;
+  std::cout<<"                           Default: 10"<<std::endl;
+  std::cout<<"  --basePort <int>         SARSA agent base port"<<std::endl;
+  std::cout<<"                           Default: 6000"<<std::endl;
+  std::cout<<"  --learnRate <float>      Learning rate of SARSA agents"<<std::endl;
+  std::cout<<"                           Range: [0.0, 1.0]"<<std::endl;
+  std::cout<<"                           Default: 0.1"<<std::endl;
+  std::cout<<"  --suffix <int>           Suffix for weights files"<<std::endl;
+  std::cout<<"                           Default: 0"<<std::endl;
+  std::cout<<"  --noOpponent             Sets opponent present flag to false"<<std::endl;
+  std::cout<<"  --help                   Displays this help and exit"<<std::endl;
+}
+
+// Returns the reward for SARSA based on current state
+double getReward(int status) {
+  double reward;
+  if (status==hfo::GOAL) reward = 1;
+  else if (status==hfo::CAPTURED_BY_DEFENSE) reward = -1;
+  else if (status==hfo::OUT_OF_BOUNDS) reward = -1;
+  else reward = 0;
+  return reward;
+}
+
+// Fill state with only the required features from state_vec
+void purgeFeatures(double *state, const std::vector<float>& state_vec,
+                   int numTMates, bool oppPres) {
+
+  int stateIndex = 0;
+
+  // If no opponents ignore features Distance to Opponent
+  // and Distance from Teammate i to Opponent are absent
+  int tmpIndex = 9 + 3 * numTMates;
+
+  for(int i = 0; i < state_vec.size(); i++) {
+
+    // Ignore first six features and teammate proximity to opponent(when opponent is absent)and opponent features
+    if(i < 6||(!oppPres && ((i>9+numTMates && i<=9+2*numTMates)||i==9))||i>9+6*numTMates) continue;
+
+    // Ignore Angle and Uniform Number of Teammates
+    int temp =  i-tmpIndex;
+    if(temp > 0 && (temp % 3 == 2 || temp % 3 == 0)) continue;
+    if (i > 9+6*numTMates) continue;
+    state[stateIndex] = state_vec[i];
+    stateIndex++;
+  }
+  //std::cout<<stateIndex<<"yo";
+}
+
+// Convert int to hfo::Action
+hfo::action_t toAction(int action, const std::vector<float>& state_vec) {
+  hfo::action_t a;
+  switch(action) {
+    case 0: a = hfo::SHOOT;
+            break;
+    case 1: a = hfo::DRIBBLE;
+            break;
+    default:int size = state_vec.size();
+            a = hfo::PASS;/*,
+                 state_vec[(size - 1) - (action - 2) * 3],
+                 0.0};*/
+  }
+  return a;
+}
+
+void offenseAgent(int port, int numTMates, int numEpi, double learnR,
+                  int suffix, bool oppPres, double eps) {
+
+  // Number of features
+  int numF = oppPres ? (4 + 4 * numTMates) : (3 + 3 * numTMates);
+  // Number of actions
+  int numA = 2 + numTMates;
+
+  double discFac = 1;
+
+  // Tile coding parameter
+  double resolution = 0.1;
+
+  double range[numF];
+  double min[numF];
+  double res[numF];
+  for(int i = 0; i < numF; i++) {
+      min[i] = -1;
+      range[i] = 2;
+      res[i] = resolution;
+  }
+
+  // Weights file
+  char *wtFile;
+  std::string s = "weights_" + std::to_string(port) +
+                  "_" + std::to_string(numTMates + 1) +
+                  "_" + std::to_string(suffix);
+  wtFile = &s[0u];
+  std::string filename1 = "early_game_model_" + std::to_string(port) + 
+    "_" + std::to_string(numTMates + 1) +
+    "_" + std::to_string(suffix);
+  std::string filename2 = "late_game_model_" + std::to_string(port) + 
+    "_" + std::to_string(numTMates + 1) +
+    "_" + std::to_string(suffix);
+
+  char *str1 = &filename1[0u];
+  char *str2 = &filename2[0u];
+  
+  double lambda = 0;
+  // CMAC fa1(numF, numA, range, min, res);
+  // CMAC fa2(numF, numA, range, min, res);
+  CMAC *fa1 = new CMAC(numF, numA, range, min, res);
+  CMAC *fa2 = new CMAC(numF, numA, range, min, res);
+  CMAC *fa = fa1;
+  // SarsaAgent sa1(numF, numA, learnR, eps, lambda, &fa1, filename1.c_str(), filename1.c_str());
+  // SarsaAgent sa1(numF, numA, learnR, eps, lambda, &fa1, filename2.c_str(), filename2.c_str());
+  SarsaAgent *sa1 = new SarsaAgent(numF, numA, learnR, eps, lambda, fa1, str1, str1);
+  SarsaAgent *sa3 = new SarsaAgent(numF, numA, learnR, eps, lambda, fa2, str2, str2);
+  SarsaAgent *sa = sa1, *sa2 = sa1;
+
+  hfo::HFOEnvironment hfo;
+  hfo::status_t status;
+  hfo::action_t a;
+  double state[numF];
+  int action = -1;
+  double reward;
+  //  bool second_model_active = true;
+  hfo.connectToServer(hfo::HIGH_LEVEL_FEATURE_SET,"../../bin/teams/base/config/formations-dt",6000,"localhost","base_left",false,"");
+  for (int episode=0; episode < numEpi; episode++) {
+    if(episode==6000)
+      {
+	// for(int i=0; i<RL_MEMORY_SIZE; i++)
+	//   sa3->FA->weights[i] = sa1->FA->weights[i];
+	sa3->copyWeights(sa1);
+	sa2 = sa3;
+      }
+    int count = 0;
+    status = hfo::IN_GAME;
+    action = -1;
+    bool model_changed_flag = false;
+    int iter_count = -1;
+    while (status == hfo::IN_GAME) {
+      iter_count++;
+      const std::vector<float>& state_vec = hfo.getState();
+      // If has ball
+      // sleep(1);
+      // std::cout<<state_vec[numTMates]<<std::endl;
+      
+      if(state_vec[5] == 1) {
+        if(action != -1) {
+          reward = getReward(status);
+          sa->update(state, action, reward, discFac);
+        }
+
+	if(state_vec[numTMates] >= 0.2 && model_changed_flag == false)
+	if(iter_count > 100 && model_changed_flag == false)
+	  {
+	    sa = sa2;
+	    model_changed_flag = true;
+	  }
+	
+        // Fill up state array
+        purgeFeatures(state, state_vec, numTMates, oppPres);
+
+	// Get raw action
+        action = sa->selectAction(state);
+
+        // Get hfo::Action
+        a = toAction(action, state_vec);
+
+      } else {
+            a = hfo::MOVE;
+      }
+      if (a== hfo::PASS) {
+           hfo.act(a,state_vec[(9+6*numTMates) - (action-2)*3]);
+           //std::cout<<(9+6*numTMates) - (action-2)*3;
+        } else {
+           hfo.act(a);
+        }
+      status = hfo.step();
+    }
+    // End of episode
+    if(action != -1) {
+      reward = getReward(status);
+      sa->update(state, action, reward, discFac);
+      sa1->endEpisode();
+      sa2->endEpisode();
+      sa = sa1;
+      model_changed_flag = false;
+    }
+  }
+
+  delete sa1, sa2;
+  delete fa1, fa2;
+}
+
+int main(int argc, char **argv) {
+
+  int numAgents = 1;
+  int numEpisodes = 10;
+  int basePort = 6000;
+  double learnR = 0.1;
+  int suffix = 0;
+  bool opponentPresent = true;
+  double eps = 0.01;
+  for(int i = 1; i < argc; i++) {
+    std::string param = std::string(argv[i]);
+    if(param == "--numAgents") {
+      numAgents = atoi(argv[++i]);
+    }else if(param == "--numEpisodes") {
+      numEpisodes = atoi(argv[++i]);
+    }else if(param == "--basePort") {
+      basePort = atoi(argv[++i]);
+    }else if(param == "--learnRate") {
+      learnR = atof(argv[++i]);
+      if(learnR < 0 || learnR > 1) {
+        printUsage();
+        return 0;
+      }
+    }else if(param == "--suffix") {
+      suffix = atoi(argv[++i]);
+    }else if(param == "--noOpponent") {
+      opponentPresent = false;
+    }else if(param=="--eps"){
+        eps=atoi(argv[++i]);
+    }else {
+      printUsage();
+      return 0;
+    }
+  }
+
+  int numTeammates = numAgents - 1;
+
+  std::thread agentThreads[numAgents];
+  for (int agent = 0; agent < numAgents; agent++) {
+    agentThreads[agent] = std::thread(offenseAgent, basePort + agent,
+                                      numTeammates, numEpisodes, learnR,
+                                      suffix, opponentPresent, eps);
+    usleep(500000L);
+  }
+  for (int agent = 0; agent < numAgents; agent++) {
+    agentThreads[agent].join();
+  }
+  return 0;
+}

example/~/.rcssserver/CSVSaver.conf

+/* CSVSaver Configuration file */
+
+# CSVSaver::version
+CSVSaver::version = '15.2.2'
+
+# CSVSaver::save
+/* If save is on/true, then the saver will attempt to save the results
+to the database.  Otherwise it will do nothing. */
+CSVSaver::save = false
+
+# CSVSaver::filename
+/* The file to save the results to.  If this file does not exist it
+will be created.  If the file does exist, the results will be appended
+to the end. */
+CSVSaver::filename = 'rcssserver.csv'
+

example/~/.rcssserver/player.conf

+/* player Configuration file */
+
+# player::version
+player::version = '15.2.2'
+
+# player::player_types
+player::player_types = 18
+
+# player::pt_max
+player::pt_max = 1
+
+# player::random_seed
+player::random_seed = -1
+
+# player::subs_max
+player::subs_max = 3
+
+# player::allow_mult_default_type
+player::allow_mult_default_type = false
+
+# player::catchable_area_l_stretch_max
+player::catchable_area_l_stretch_max = 1.3
+
+# player::catchable_area_l_stretch_min
+player::catchable_area_l_stretch_min = 1
+
+# player::dash_power_rate_delta_max
+player::dash_power_rate_delta_max = 0
+
+# player::dash_power_rate_delta_min
+player::dash_power_rate_delta_min = 0
+
+# player::effort_max_delta_factor
+player::effort_max_delta_factor = -0.004
+
+# player::effort_min_delta_factor
+player::effort_min_delta_factor = -0.004
+
+# player::extra_stamina_delta_max
+player::extra_stamina_delta_max = 50
+
+# player::extra_stamina_delta_min
+player::extra_stamina_delta_min = 0
+
+# player::foul_detect_probability_delta_factor
+player::foul_detect_probability_delta_factor = 0
+
+# player::inertia_moment_delta_factor
+player::inertia_moment_delta_factor = 25
+
+# player::kick_power_rate_delta_max
+player::kick_power_rate_delta_max = 0
+
+# player::kick_power_rate_delta_min
+player::kick_power_rate_delta_min = 0
+
+# player::kick_rand_delta_factor
+player::kick_rand_delta_factor = 1
+
+# player::kickable_margin_delta_max
+player::kickable_margin_delta_max = 0.1
+
+# player::kickable_margin_delta_min
+player::kickable_margin_delta_min = -0.1
+
+# player::new_dash_power_rate_delta_max
+player::new_dash_power_rate_delta_max = 0.0008
+
+# player::new_dash_power_rate_delta_min
+player::new_dash_power_rate_delta_min = -0.0012
+
+# player::new_stamina_inc_max_delta_factor
+player::new_stamina_inc_max_delta_factor = -6000
+
+# player::player_decay_delta_max
+player::player_decay_delta_max = 0.1
+
+# player::player_decay_delta_min
+player::player_decay_delta_min = -0.1
+
+# player::player_size_delta_factor
+player::player_size_delta_factor = -100
+
+# player::player_speed_max_delta_max
+player::player_speed_max_delta_max = 0
+
+# player::player_speed_max_delta_min
+player::player_speed_max_delta_min = 0
+
+# player::stamina_inc_max_delta_factor
+player::stamina_inc_max_delta_factor = 0
+

example/~/.rcssserver/server.conf

+/* server Configuration file */
+
+# server::version
+server::version = '15.2.2'
+
+# server::catch_ban_cycle
+server::catch_ban_cycle = 5
+
+# server::clang_advice_win
+server::clang_advice_win = 1
+
+# server::clang_define_win
+server::clang_define_win = 1
+
+# server::clang_del_win
+server::clang_del_win = 1
+
+# server::clang_info_win
+server::clang_info_win = 1
+
+# server::clang_mess_delay
+server::clang_mess_delay = 50
+
+# server::clang_mess_per_cycle
+server::clang_mess_per_cycle = 1
+
+# server::clang_meta_win
+server::clang_meta_win = 1
+
+# server::clang_rule_win
+server::clang_rule_win = 1
+
+# server::clang_win_size
+server::clang_win_size = 300
+
+# server::coach_port
+server::coach_port = 6001
+
+# server::connect_wait
+server::connect_wait = 300
+
+# server::drop_ball_time
+server::drop_ball_time = 100
+
+# server::extra_half_time
+server::extra_half_time = 100
+
+# server::foul_cycles
+server::foul_cycles = 5
+
+# server::freeform_send_period
+server::freeform_send_period = 20
+
+# server::freeform_wait_period
+server::freeform_wait_period = 600
+
+# server::game_log_compression
+server::game_log_compression = 0
+
+# server::game_log_version
+server::game_log_version = 5
+
+# server::game_over_wait
+server::game_over_wait = 100
+
+# server::goalie_max_moves
+server::goalie_max_moves = 2
+
+# server::half_time
+server::half_time = 300
+
+# server::hear_decay
+server::hear_decay = 1
+
+# server::hear_inc
+server::hear_inc = 1
+
+# server::hear_max
+server::hear_max = 1
+
+# server::hfo_max_frames
+server::hfo_max_frames = -1
+
+# server::hfo_max_trial_time
+server::hfo_max_trial_time = 1000
+
+# server::hfo_max_trials
+server::hfo_max_trials = -1
+
+# server::hfo_max_untouched_time
+server::hfo_max_untouched_time = 100
+
+# server::hfo_offense_on_ball
+server::hfo_offense_on_ball = 0
+
+# server::keepaway_start
+server::keepaway_start = -1
+
+# server::kick_off_wait
+server::kick_off_wait = 100
+
+# server::max_goal_kicks
+server::max_goal_kicks = 3
+
+# server::max_monitors
+server::max_monitors = -1
+
+# server::nr_extra_halfs
+/* Number if extra-time periods in a game if it is drawn */
+server::nr_extra_halfs = 2
+
+# server::nr_normal_halfs
+/* Number of normal halfs in a game */
+server::nr_normal_halfs = 2
+
+# server::olcoach_port
+server::olcoach_port = 6002
+
+# server::pen_before_setup_wait
+server::pen_before_setup_wait = 10
+
+# server::pen_max_extra_kicks
+server::pen_max_extra_kicks = 5
+
+# server::pen_nr_kicks
+server::pen_nr_kicks = 5
+
+# server::pen_ready_wait
+server::pen_ready_wait = 10
+
+# server::pen_setup_wait
+server::pen_setup_wait = 70
+
+# server::pen_taken_wait
+server::pen_taken_wait = 150
+
+# server::point_to_ban
+server::point_to_ban = 5
+
+# server::point_to_duration
+server::point_to_duration = 20
+
+# server::port
+server::port = 6000
+
+# server::random_seed
+server::random_seed = -1
+
+# server::recv_step
+server::recv_step = 10
+
+# server::say_coach_cnt_max
+server::say_coach_cnt_max = 128
+
+# server::say_coach_msg_size
+server::say_coach_msg_size = 128
+
+# server::say_msg_size
+server::say_msg_size = 10
+
+# server::send_step
+server::send_step = 150
+
+# server::send_vi_step
+server::send_vi_step = 100
+
+# server::sense_body_step
+server::sense_body_step = 100
+
+# server::simulator_step
+server::simulator_step = 100
+
+# server::slow_down_factor
+server::slow_down_factor = 1
+
+# server::start_goal_l
+server::start_goal_l = 0
+
+# server::start_goal_r
+server::start_goal_r = 0
+
+# server::synch_micro_sleep
+server::synch_micro_sleep = 1
+
+# server::synch_offset
+server::synch_offset = 60
+
+# server::synch_see_offset
+server::synch_see_offset = 0
+
+# server::tackle_cycles
+server::tackle_cycles = 10
+
+# server::text_log_compression
+server::text_log_compression = 0
+
+# server::auto_mode
+server::auto_mode = false
+
+# server::back_passes
+server::back_passes = true
+
+# server::coach
+server::coach = false
+
+# server::coach_w_referee
+server::coach_w_referee = false
+
+# server::forbid_kick_off_offside
+server::forbid_kick_off_offside = true
+
+# server::free_kick_faults
+server::free_kick_faults = true
+
+# server::fullstate_l
+server::fullstate_l = false
+
+# server::fullstate_r
+server::fullstate_r = false
+
+# server::game_log_dated
+server::game_log_dated = true
+
+# server::game_log_fixed
+server::game_log_fixed = false
+
+# server::game_logging
+server::game_logging = true
+
+# server::golden_goal
+server::golden_goal = false
+
+# server::hfo
+server::hfo = false
+
+# server::hfo_log_dated
+server::hfo_log_dated = true
+
+# server::hfo_log_fixed
+server::hfo_log_fixed = false
+
+# server::hfo_logging
+server::hfo_logging = true
+
+# server::keepaway
+server::keepaway = false
+
+# server::keepaway_log_dated
+server::keepaway_log_dated = true
+
+# server::keepaway_log_fixed
+server::keepaway_log_fixed = false
+
+# server::keepaway_logging
+server::keepaway_logging = true
+
+# server::log_times
+server::log_times = false
+
+# server::old_coach_hear
+server::old_coach_hear = false
+
+# server::pen_allow_mult_kicks
+/* Turn on to allow dribbling in penalty shootouts */
+server::pen_allow_mult_kicks = true
+
+# server::pen_coach_moves_players
+/* Turn on to have the server automatically position players for
+peanlty shootouts */
+server::pen_coach_moves_players = true
+
+# server::pen_random_winner
+server::pen_random_winner = false
+
+# server::penalty_shoot_outs
+/* Set to true to enable penalty shootouts after normal time and extra
+time if the game is drawn.
+To have the game go straight into penalty shoot outs, set this to true
+and nr_normal_halfs and nr_extra_halfs to 0 */
+server::penalty_shoot_outs = true
+
+# server::profile
+server::profile = false
+
+# server::proper_goal_kicks
+server::proper_goal_kicks = false
+
+# server::record_messages
+server::record_messages = false
+
+# server::send_comms
+server::send_comms = false
+
+# server::synch_mode
+server::synch_mode = false
+
+# server::team_actuator_noise
+server::team_actuator_noise = false
+
+# server::text_log_dated
+server::text_log_dated = true
+
+# server::text_log_fixed
+server::text_log_fixed = false
+
+# server::text_logging
+server::text_logging = true
+
+# server::use_offside
+server::use_offside = true
+
+# server::verbose
+server::verbose = false
+
+# server::wind_none
+server::wind_none = false
+
+# server::wind_random
+server::wind_random = false
+
+# server::audio_cut_dist
+server::audio_cut_dist = 50
+
+# server::back_dash_rate
+server::back_dash_rate = 0.6
+
+# server::ball_accel_max
+server::ball_accel_max = 2.7
+
+# server::ball_decay
+server::ball_decay = 0.94
+
+# server::ball_rand
+server::ball_rand = 0.05
+
+# server::ball_size
+server::ball_size = 0.085
+
+# server::ball_speed_max
+server::ball_speed_max = 3
+
+# server::ball_stuck_area
+server::ball_stuck_area = 3
+
+# server::ball_weight
+server::ball_weight = 0.2
+
+# server::catch_probability
+server::catch_probability = 1
+
+# server::catchable_area_l
+server::catchable_area_l = 1.2
+
+# server::catchable_area_w
+server::catchable_area_w = 1
+
+# server::ckick_margin
+server::ckick_margin = 1
+
+# server::control_radius
+server::control_radius = 2
+
+# server::dash_angle_step
+server::dash_angle_step = 45
+
+# server::dash_power_rate
+server::dash_power_rate = 0.006
+
+# server::effort_dec
+server::effort_dec = 0.005
+
+# server::effort_dec_thr
+server::effort_dec_thr = 0.3
+
+# server::effort_inc
+server::effort_inc = 0.01
+
+# server::effort_inc_thr
+server::effort_inc_thr = 0.6
+
+# server::effort_init
+server::effort_init = 1
+
+# server::effort_min
+server::effort_min = 0.6
+
+# server::extra_stamina
+server::extra_stamina = 50
+
+# server::foul_detect_probability
+server::foul_detect_probability = 0.5
+
+# server::foul_exponent
+server::foul_exponent = 10
+
+# server::goal_width
+/* The width of the goals */
+server::goal_width = 14.02
+
+# server::hfo_max_ball_pos_x
+server::hfo_max_ball_pos_x = 0
+
+# server::hfo_max_ball_pos_y
+server::hfo_max_ball_pos_y = 0
+
+# server::hfo_min_ball_pos_x
+server::hfo_min_ball_pos_x = 0
+
+# server::hfo_min_ball_pos_y
+server::hfo_min_ball_pos_y = 0
+
+# server::inertia_moment
+server::inertia_moment = 5
+
+# server::keepaway_length
+server::keepaway_length = 20
+
+# server::keepaway_width
+server::keepaway_width = 20
+
+# server::kick_power_rate
+server::kick_power_rate = 0.027
+
+# server::kick_rand
+server::kick_rand = 0.1
+
+# server::kick_rand_factor_l
+server::kick_rand_factor_l = 1
+
+# server::kick_rand_factor_r
+server::kick_rand_factor_r = 1
+
+# server::kickable_margin
+server::kickable_margin = 0.7
+
+# server::max_back_tackle_power
+server::max_back_tackle_power = 0
+
+# server::max_dash_angle
+server::max_dash_angle = 180
+
+# server::max_dash_power
+server::max_dash_power = 100
+
+# server::max_tackle_power
+server::max_tackle_power = 100
+
+# server::maxmoment
+server::maxmoment = 180
+
+# server::maxneckang
+server::maxneckang = 90
+
+# server::maxneckmoment
+server::maxneckmoment = 180
+
+# server::maxpower
+server::maxpower = 100
+
+# server::min_dash_angle
+server::min_dash_angle = -180
+
+# server::min_dash_power
+server::min_dash_power = -100
+
+# server::minmoment
+server::minmoment = -180
+
+# server::minneckang
+server::minneckang = -90
+
+# server::minneckmoment
+server::minneckmoment = -180
+
+# server::minpower
+server::minpower = -100
+
+# server::offside_active_area_size
+server::offside_active_area_size = 2.5
+
+# server::offside_kick_margin
+server::offside_kick_margin = 9.15
+
+# server::pen_dist_x
+server::pen_dist_x = 42.5
+
+# server::pen_max_goalie_dist_x
+server::pen_max_goalie_dist_x = 14
+
+# server::player_accel_max
+/* The max acceleration of players */
+server::player_accel_max = 1
+
+# server::player_decay
+/* Players speed decay rate */
+server::player_decay = 0.4
+
+# server::player_rand
+/* Player random movement factor */
+server::player_rand = 0.1
+
+# server::player_size
+/* The size of the default player */
+server::player_size = 0.3
+
+# server::player_speed_max
+/* The max speed of players */
+server::player_speed_max = 1.05
+
+# server::player_speed_max_min
+/* The minumum value of the max speed of players */
+server::player_speed_max_min = 0.75
+
+# server::player_weight
+/* The weight of the player */
+server::player_weight = 60
+
+# server::prand_factor_l
+server::prand_factor_l = 1
+
+# server::prand_factor_r
+server::prand_factor_r = 1
+
+# server::quantize_step
+server::quantize_step = 0.1
+
+# server::quantize_step_l
+server::quantize_step_l = 0.01
+
+# server::recover_dec
+server::recover_dec = 0.002
+
+# server::recover_dec_thr
+server::recover_dec_thr = 0.3
+
+# server::recover_init
+/* The intial recovery value for players */
+server::recover_init = 1
+
+# server::recover_min
+server::recover_min = 0.5
+
+# server::red_card_probability
+server::red_card_probability = 0
+
+# server::side_dash_rate
+server::side_dash_rate = 0.4
+
+# server::slowness_on_top_for_left_team
+server::slowness_on_top_for_left_team = 1
+
+# server::slowness_on_top_for_right_team
+server::slowness_on_top_for_right_team = 1
+
+# server::stamina_capacity
+server::stamina_capacity = 130600
+
+# server::stamina_inc_max
+/* The maximum player stamina increament */
+server::stamina_inc_max = 45
+
+# server::stamina_max
+/* The maximum stamina of players */
+server::stamina_max = 8000
+
+# server::stopped_ball_vel
+server::stopped_ball_vel = 0.01
+
+# server::tackle_back_dist
+server::tackle_back_dist = 0
+
+# server::tackle_dist
+server::tackle_dist = 2
+
+# server::tackle_exponent
+server::tackle_exponent = 6
+
+# server::tackle_power_rate
+server::tackle_power_rate = 0.027
+
+# server::tackle_rand_factor
+server::tackle_rand_factor = 2
+
+# server::tackle_width
+server::tackle_width = 1.25
+
+# server::visible_angle
+server::visible_angle = 90
+
+# server::visible_distance
+server::visible_distance = 3
+
+# server::wind_ang
+server::wind_ang = 0
+
+# server::wind_dir
+server::wind_dir = 0
+
+# server::wind_force
+server::wind_force = 0
+
+# server::wind_rand
+server::wind_rand = 0
+
+# server::coach_msg_file
+server::coach_msg_file = ''
+
+# server::game_log_dir
+server::game_log_dir = './'
+
+# server::game_log_fixed_name
+server::game_log_fixed_name = 'rcssserver'
+
+# server::hfo_log_dir
+server::hfo_log_dir = './'
+
+# server::hfo_log_fixed_name
+server::hfo_log_fixed_name = 'rcssserver'
+
+# server::keepaway_log_dir
+server::keepaway_log_dir = './'
+
+# server::keepaway_log_fixed_name
+server::keepaway_log_fixed_name = 'rcssserver'
+
+# server::landmark_file
+server::landmark_file = '~/.rcssserver-landmark.xml'
+
+# server::log_date_format
+server::log_date_format = '%Y%m%d%H%M%S-'
+
+# server::team_l_start
+server::team_l_start = ''
+
+# server::team_r_start
+server::team_r_start = ''
+
+# server::text_log_dir
+server::text_log_dir = './'
+
+# server::text_log_fixed_name
+server::text_log_fixed_name = 'rcssserver'
+

progress_data

+87,DEF
+79,DEF
+69,GOAL
+66,OOB
+78,GOAL
+98,DEF
+206,DEF
+43,DEF
+87,OOB
+129,DEF
+45,DEF
+62,DEF
+28,DEF
+101,DEF
+168,DEF
+283,DEF
+50,DEF
+158,OOB
+64,OOB
+217,DEF
+83,OOB
+96,DEF
+84,OOB
+94,OOB
+66,GOAL
+76,DEF
+25,DEF
+32,DEF
+32,DEF
+101,DEF
+66,GOAL
+149,DEF
+55,DEF
+58,DEF
+71,DEF
+139,OOB
+72,DEF
+310,GOAL
+93,GOAL
+87,OOB
+68,DEF
+94,DEF
+75,DEF
+26,DEF
+282,DEF
+143,DEF
+86,OOB
+127,GOAL
+76,DEF
+23,DEF
+169,DEF
+99,GOAL
+233,DEF
+82,DEF
+40,DEF
+11,OOB
+38,DEF
+39,DEF
+145,DEF
+70,DEF
+5,OOB
+97,OOB
+480,DEF
+69,OOB
+150,DEF
+5,OOB
+62,DEF
+66,OOB
+531,DEF
+92,DEF
+66,OOB
+610,DEF
+183,DEF
+253,DEF
+78,GOAL
+79,GOAL
+32,DEF
+93,OOB
+86,DEF
+95,DEF
+112,OOB
+121,GOAL
+62,DEF
+105,DEF
+5,OOB
+60,DEF
+112,OOB
+42,DEF
+89,OOB
+99,DEF
+119,DEF
+62,OOB
+97,GOAL
+5,OOB
+91,DEF
+179,OOB
+137,DEF
+43,DEF
+99,DEF
+154,OOB

src/feature_extractor.cpp

@@ -99,9 +99,9 @@ void FeatureExtractor::addFeature(float val) {
 
 float FeatureExtractor::normalize(float val, float min_val, float max_val) {
   if (val < min_val || val > max_val) {
-    std::cout << "Feature " << featIndx << " Violated Feature Bounds: " << val
-              << " Expected min/max: [" << min_val << ", "
-              << max_val << "]" << std::endl;
+    // std::cout << "Feature " << featIndx << " Violated Feature Bounds: " << val
+    //           << " Expected min/max: [" << min_val << ", "
+    //           << max_val << "]" << std::endl;
     val = std::min(std::max(val, min_val), max_val);
   }
   return ((val - min_val) / (max_val - min_val))

~/.rcssserver/CSVSaver.conf

+/* CSVSaver Configuration file */
+
+# CSVSaver::version
+CSVSaver::version = '15.2.2'
+
+# CSVSaver::save
+/* If save is on/true, then the saver will attempt to save the results
+to the database.  Otherwise it will do nothing. */
+CSVSaver::save = false
+
+# CSVSaver::filename
+/* The file to save the results to.  If this file does not exist it
+will be created.  If the file does exist, the results will be appended
+to the end. */
+CSVSaver::filename = 'rcssserver.csv'
+

~/.rcssserver/player.conf

+/* player Configuration file */
+
+# player::version
+player::version = '15.2.2'
+
+# player::player_types
+player::player_types = 18
+
+# player::pt_max
+player::pt_max = 1
+
+# player::random_seed
+player::random_seed = -1
+
+# player::subs_max
+player::subs_max = 3
+
+# player::allow_mult_default_type
+player::allow_mult_default_type = false
+
+# player::catchable_area_l_stretch_max
+player::catchable_area_l_stretch_max = 1.3
+
+# player::catchable_area_l_stretch_min
+player::catchable_area_l_stretch_min = 1
+
+# player::dash_power_rate_delta_max
+player::dash_power_rate_delta_max = 0
+
+# player::dash_power_rate_delta_min
+player::dash_power_rate_delta_min = 0
+
+# player::effort_max_delta_factor
+player::effort_max_delta_factor = -0.004
+
+# player::effort_min_delta_factor
+player::effort_min_delta_factor = -0.004
+
+# player::extra_stamina_delta_max
+player::extra_stamina_delta_max = 50
+
+# player::extra_stamina_delta_min
+player::extra_stamina_delta_min = 0
+
+# player::foul_detect_probability_delta_factor
+player::foul_detect_probability_delta_factor = 0
+
+# player::inertia_moment_delta_factor
+player::inertia_moment_delta_factor = 25
+
+# player::kick_power_rate_delta_max
+player::kick_power_rate_delta_max = 0
+
+# player::kick_power_rate_delta_min
+player::kick_power_rate_delta_min = 0
+
+# player::kick_rand_delta_factor
+player::kick_rand_delta_factor = 1
+
+# player::kickable_margin_delta_max
+player::kickable_margin_delta_max = 0.1
+
+# player::kickable_margin_delta_min
+player::kickable_margin_delta_min = -0.1
+
+# player::new_dash_power_rate_delta_max
+player::new_dash_power_rate_delta_max = 0.0008
+
+# player::new_dash_power_rate_delta_min
+player::new_dash_power_rate_delta_min = -0.0012
+
+# player::new_stamina_inc_max_delta_factor
+player::new_stamina_inc_max_delta_factor = -6000
+
+# player::player_decay_delta_max
+player::player_decay_delta_max = 0.1
+
+# player::player_decay_delta_min
+player::player_decay_delta_min = -0.1
+
+# player::player_size_delta_factor
+player::player_size_delta_factor = -100
+
+# player::player_speed_max_delta_max
+player::player_speed_max_delta_max = 0
+
+# player::player_speed_max_delta_min
+player::player_speed_max_delta_min = 0
+
+# player::stamina_inc_max_delta_factor
+player::stamina_inc_max_delta_factor = 0
+

~/.rcssserver/server.conf

+/* server Configuration file */
+
+# server::version
+server::version = '15.2.2'
+
+# server::catch_ban_cycle
+server::catch_ban_cycle = 5
+
+# server::clang_advice_win
+server::clang_advice_win = 1
+
+# server::clang_define_win
+server::clang_define_win = 1
+
+# server::clang_del_win
+server::clang_del_win = 1
+
+# server::clang_info_win
+server::clang_info_win = 1
+
+# server::clang_mess_delay
+server::clang_mess_delay = 50
+
+# server::clang_mess_per_cycle
+server::clang_mess_per_cycle = 1
+
+# server::clang_meta_win
+server::clang_meta_win = 1
+
+# server::clang_rule_win
+server::clang_rule_win = 1
+
+# server::clang_win_size
+server::clang_win_size = 300
+
+# server::coach_port
+server::coach_port = 6001
+
+# server::connect_wait
+server::connect_wait = 300
+
+# server::drop_ball_time
+server::drop_ball_time = 100
+
+# server::extra_half_time
+server::extra_half_time = 100
+
+# server::foul_cycles
+server::foul_cycles = 5
+
+# server::freeform_send_period
+server::freeform_send_period = 20
+
+# server::freeform_wait_period
+server::freeform_wait_period = 600
+
+# server::game_log_compression
+server::game_log_compression = 0
+
+# server::game_log_version
+server::game_log_version = 5
+
+# server::game_over_wait
+server::game_over_wait = 100
+
+# server::goalie_max_moves
+server::goalie_max_moves = 2
+
+# server::half_time
+server::half_time = 300
+
+# server::hear_decay
+server::hear_decay = 1
+
+# server::hear_inc
+server::hear_inc = 1
+
+# server::hear_max
+server::hear_max = 1
+
+# server::hfo_max_frames
+server::hfo_max_frames = -1
+
+# server::hfo_max_trial_time
+server::hfo_max_trial_time = 1000
+
+# server::hfo_max_trials
+server::hfo_max_trials = -1
+
+# server::hfo_max_untouched_time
+server::hfo_max_untouched_time = 100
+
+# server::hfo_offense_on_ball
+server::hfo_offense_on_ball = 0
+
+# server::keepaway_start
+server::keepaway_start = -1
+
+# server::kick_off_wait
+server::kick_off_wait = 100
+
+# server::max_goal_kicks
+server::max_goal_kicks = 3
+
+# server::max_monitors
+server::max_monitors = -1
+
+# server::nr_extra_halfs
+/* Number if extra-time periods in a game if it is drawn */
+server::nr_extra_halfs = 2
+
+# server::nr_normal_halfs
+/* Number of normal halfs in a game */
+server::nr_normal_halfs = 2
+
+# server::olcoach_port
+server::olcoach_port = 6002
+
+# server::pen_before_setup_wait
+server::pen_before_setup_wait = 10
+
+# server::pen_max_extra_kicks
+server::pen_max_extra_kicks = 5
+
+# server::pen_nr_kicks
+server::pen_nr_kicks = 5
+
+# server::pen_ready_wait
+server::pen_ready_wait = 10
+
+# server::pen_setup_wait
+server::pen_setup_wait = 70
+
+# server::pen_taken_wait
+server::pen_taken_wait = 150
+
+# server::point_to_ban
+server::point_to_ban = 5
+
+# server::point_to_duration
+server::point_to_duration = 20
+
+# server::port
+server::port = 6000
+
+# server::random_seed
+server::random_seed = -1
+
+# server::recv_step
+server::recv_step = 10
+
+# server::say_coach_cnt_max
+server::say_coach_cnt_max = 128
+
+# server::say_coach_msg_size
+server::say_coach_msg_size = 128
+
+# server::say_msg_size
+server::say_msg_size = 10
+
+# server::send_step
+server::send_step = 150
+
+# server::send_vi_step
+server::send_vi_step = 100
+
+# server::sense_body_step
+server::sense_body_step = 100
+
+# server::simulator_step
+server::simulator_step = 100
+
+# server::slow_down_factor
+server::slow_down_factor = 1
+
+# server::start_goal_l
+server::start_goal_l = 0
+
+# server::start_goal_r
+server::start_goal_r = 0
+
+# server::synch_micro_sleep
+server::synch_micro_sleep = 1
+
+# server::synch_offset
+server::synch_offset = 60
+
+# server::synch_see_offset
+server::synch_see_offset = 0
+
+# server::tackle_cycles
+server::tackle_cycles = 10
+
+# server::text_log_compression
+server::text_log_compression = 0
+
+# server::auto_mode
+server::auto_mode = false
+
+# server::back_passes
+server::back_passes = true
+
+# server::coach
+server::coach = false
+
+# server::coach_w_referee
+server::coach_w_referee = false
+
+# server::forbid_kick_off_offside
+server::forbid_kick_off_offside = true
+
+# server::free_kick_faults
+server::free_kick_faults = true
+
+# server::fullstate_l
+server::fullstate_l = false
+
+# server::fullstate_r
+server::fullstate_r = false
+
+# server::game_log_dated
+server::game_log_dated = true
+
+# server::game_log_fixed
+server::game_log_fixed = false
+
+# server::game_logging
+server::game_logging = true
+
+# server::golden_goal
+server::golden_goal = false
+
+# server::hfo
+server::hfo = false
+
+# server::hfo_log_dated
+server::hfo_log_dated = true
+
+# server::hfo_log_fixed
+server::hfo_log_fixed = false
+
+# server::hfo_logging
+server::hfo_logging = true
+
+# server::keepaway
+server::keepaway = false
+
+# server::keepaway_log_dated
+server::keepaway_log_dated = true
+
+# server::keepaway_log_fixed
+server::keepaway_log_fixed = false
+
+# server::keepaway_logging
+server::keepaway_logging = true
+
+# server::log_times
+server::log_times = false
+
+# server::old_coach_hear
+server::old_coach_hear = false
+
+# server::pen_allow_mult_kicks
+/* Turn on to allow dribbling in penalty shootouts */
+server::pen_allow_mult_kicks = true
+
+# server::pen_coach_moves_players
+/* Turn on to have the server automatically position players for
+peanlty shootouts */
+server::pen_coach_moves_players = true
+
+# server::pen_random_winner
+server::pen_random_winner = false
+
+# server::penalty_shoot_outs
+/* Set to true to enable penalty shootouts after normal time and extra
+time if the game is drawn.
+To have the game go straight into penalty shoot outs, set this to true
+and nr_normal_halfs and nr_extra_halfs to 0 */
+server::penalty_shoot_outs = true
+
+# server::profile
+server::profile = false
+
+# server::proper_goal_kicks
+server::proper_goal_kicks = false
+
+# server::record_messages
+server::record_messages = false
+
+# server::send_comms
+server::send_comms = false
+
+# server::synch_mode
+server::synch_mode = false
+
+# server::team_actuator_noise
+server::team_actuator_noise = false
+
+# server::text_log_dated
+server::text_log_dated = true
+
+# server::text_log_fixed
+server::text_log_fixed = false
+
+# server::text_logging
+server::text_logging = true
+
+# server::use_offside
+server::use_offside = true
+
+# server::verbose
+server::verbose = false
+
+# server::wind_none
+server::wind_none = false
+
+# server::wind_random
+server::wind_random = false
+
+# server::audio_cut_dist
+server::audio_cut_dist = 50
+
+# server::back_dash_rate
+server::back_dash_rate = 0.6
+
+# server::ball_accel_max
+server::ball_accel_max = 2.7
+
+# server::ball_decay
+server::ball_decay = 0.94
+
+# server::ball_rand
+server::ball_rand = 0.05
+
+# server::ball_size
+server::ball_size = 0.085
+
+# server::ball_speed_max
+server::ball_speed_max = 3
+
+# server::ball_stuck_area
+server::ball_stuck_area = 3
+
+# server::ball_weight
+server::ball_weight = 0.2
+
+# server::catch_probability
+server::catch_probability = 1
+
+# server::catchable_area_l
+server::catchable_area_l = 1.2
+
+# server::catchable_area_w
+server::catchable_area_w = 1
+
+# server::ckick_margin
+server::ckick_margin = 1
+
+# server::control_radius
+server::control_radius = 2
+
+# server::dash_angle_step
+server::dash_angle_step = 45
+
+# server::dash_power_rate
+server::dash_power_rate = 0.006
+
+# server::effort_dec
+server::effort_dec = 0.005
+
+# server::effort_dec_thr
+server::effort_dec_thr = 0.3
+
+# server::effort_inc
+server::effort_inc = 0.01
+
+# server::effort_inc_thr
+server::effort_inc_thr = 0.6
+
+# server::effort_init
+server::effort_init = 1
+
+# server::effort_min
+server::effort_min = 0.6
+
+# server::extra_stamina
+server::extra_stamina = 50
+
+# server::foul_detect_probability
+server::foul_detect_probability = 0.5
+
+# server::foul_exponent
+server::foul_exponent = 10
+
+# server::goal_width
+/* The width of the goals */
+server::goal_width = 14.02
+
+# server::hfo_max_ball_pos_x
+server::hfo_max_ball_pos_x = 0
+
+# server::hfo_max_ball_pos_y
+server::hfo_max_ball_pos_y = 0
+
+# server::hfo_min_ball_pos_x
+server::hfo_min_ball_pos_x = 0
+
+# server::hfo_min_ball_pos_y
+server::hfo_min_ball_pos_y = 0
+
+# server::inertia_moment
+server::inertia_moment = 5
+
+# server::keepaway_length
+server::keepaway_length = 20
+
+# server::keepaway_width
+server::keepaway_width = 20
+
+# server::kick_power_rate
+server::kick_power_rate = 0.027
+
+# server::kick_rand
+server::kick_rand = 0.1
+
+# server::kick_rand_factor_l
+server::kick_rand_factor_l = 1
+
+# server::kick_rand_factor_r
+server::kick_rand_factor_r = 1
+
+# server::kickable_margin
+server::kickable_margin = 0.7
+
+# server::max_back_tackle_power
+server::max_back_tackle_power = 0
+
+# server::max_dash_angle
+server::max_dash_angle = 180
+
+# server::max_dash_power
+server::max_dash_power = 100
+
+# server::max_tackle_power
+server::max_tackle_power = 100
+
+# server::maxmoment
+server::maxmoment = 180
+
+# server::maxneckang
+server::maxneckang = 90
+
+# server::maxneckmoment
+server::maxneckmoment = 180
+
+# server::maxpower
+server::maxpower = 100
+
+# server::min_dash_angle
+server::min_dash_angle = -180
+
+# server::min_dash_power
+server::min_dash_power = -100
+
+# server::minmoment
+server::minmoment = -180
+
+# server::minneckang
+server::minneckang = -90
+
+# server::minneckmoment
+server::minneckmoment = -180
+
+# server::minpower
+server::minpower = -100
+
+# server::offside_active_area_size
+server::offside_active_area_size = 2.5
+
+# server::offside_kick_margin
+server::offside_kick_margin = 9.15
+
+# server::pen_dist_x
+server::pen_dist_x = 42.5
+
+# server::pen_max_goalie_dist_x
+server::pen_max_goalie_dist_x = 14
+
+# server::player_accel_max
+/* The max acceleration of players */
+server::player_accel_max = 1
+
+# server::player_decay
+/* Players speed decay rate */
+server::player_decay = 0.4
+
+# server::player_rand
+/* Player random movement factor */
+server::player_rand = 0.1
+
+# server::player_size
+/* The size of the default player */
+server::player_size = 0.3
+
+# server::player_speed_max
+/* The max speed of players */
+server::player_speed_max = 1.05
+
+# server::player_speed_max_min
+/* The minumum value of the max speed of players */
+server::player_speed_max_min = 0.75
+
+# server::player_weight
+/* The weight of the player */
+server::player_weight = 60
+
+# server::prand_factor_l
+server::prand_factor_l = 1
+
+# server::prand_factor_r
+server::prand_factor_r = 1
+
+# server::quantize_step
+server::quantize_step = 0.1
+
+# server::quantize_step_l
+server::quantize_step_l = 0.01
+
+# server::recover_dec
+server::recover_dec = 0.002
+
+# server::recover_dec_thr
+server::recover_dec_thr = 0.3
+
+# server::recover_init
+/* The intial recovery value for players */
+server::recover_init = 1
+
+# server::recover_min
+server::recover_min = 0.5
+
+# server::red_card_probability
+server::red_card_probability = 0
+
+# server::side_dash_rate
+server::side_dash_rate = 0.4
+
+# server::slowness_on_top_for_left_team
+server::slowness_on_top_for_left_team = 1
+
+# server::slowness_on_top_for_right_team
+server::slowness_on_top_for_right_team = 1
+
+# server::stamina_capacity
+server::stamina_capacity = 130600
+
+# server::stamina_inc_max
+/* The maximum player stamina increament */
+server::stamina_inc_max = 45
+
+# server::stamina_max
+/* The maximum stamina of players */
+server::stamina_max = 8000
+
+# server::stopped_ball_vel
+server::stopped_ball_vel = 0.01
+
+# server::tackle_back_dist
+server::tackle_back_dist = 0
+
+# server::tackle_dist
+server::tackle_dist = 2
+
+# server::tackle_exponent
+server::tackle_exponent = 6
+
+# server::tackle_power_rate
+server::tackle_power_rate = 0.027
+
+# server::tackle_rand_factor
+server::tackle_rand_factor = 2
+
+# server::tackle_width
+server::tackle_width = 1.25
+
+# server::visible_angle
+server::visible_angle = 90
+
+# server::visible_distance
+server::visible_distance = 3
+
+# server::wind_ang
+server::wind_ang = 0
+
+# server::wind_dir
+server::wind_dir = 0
+
+# server::wind_force
+server::wind_force = 0
+
+# server::wind_rand
+server::wind_rand = 0
+
+# server::coach_msg_file
+server::coach_msg_file = ''
+
+# server::game_log_dir
+server::game_log_dir = './'
+
+# server::game_log_fixed_name
+server::game_log_fixed_name = 'rcssserver'
+
+# server::hfo_log_dir
+server::hfo_log_dir = './'
+
+# server::hfo_log_fixed_name
+server::hfo_log_fixed_name = 'rcssserver'
+
+# server::keepaway_log_dir
+server::keepaway_log_dir = './'
+
+# server::keepaway_log_fixed_name
+server::keepaway_log_fixed_name = 'rcssserver'
+
+# server::landmark_file
+server::landmark_file = '~/.rcssserver-landmark.xml'
+
+# server::log_date_format
+server::log_date_format = '%Y%m%d%H%M%S-'
+
+# server::team_l_start
+server::team_l_start = ''
+
+# server::team_r_start
+server::team_r_start = ''
+
+# server::text_log_dir
+server::text_log_dir = './'
+
+# server::text_log_fixed_name
+server::text_log_fixed_name = 'rcssserver'
+