server.conf

浙江大学

# Configurations for soccerserver
# Lines that start '#' are comment lines.

# width of goals
goal_width: 14.02

# size, decay, random parameter, weight, maximum speed of players
player_size: 0.3
player_decay: 0.4
player_rand: 0.1
player_weight: 60
player_speed_max: 1.0
player_accel_max: 1.0

# maximum and recovery step of player's stamina
stamina_max: 4000.0
stamina_inc_max        : 45.0

# decriment threshold ,decriment step and minimum of player's recovery
recover_dec_thr        : 0.3
recover_dec: 0.002
recover_min: 0.5

# decriment threshold, decriment step, incriment threshold, incriment step
# and minimum of player's effort
effort_dec_thr: 0.3
effort_dec: 0.005
effort_inc_thr: 0.6
effort_inc: 0.01
effort_min: 0.6

# maximum, recovery step and decay of player's hear capacity
hear_max: 1
hear_inc: 1
hear_decay: 1

# inertia moment of player
inertia_moment: 5.0

# interval of sense_body  100
sense_body_step: 100

# goalie catchable area length, width
catchable_area_l        : 2.0
catchable_area_w        : 1.0

# goalie catchbale probability
catch_probability       : 1.0

# goalie catch ban cycle
catch_ban_cycle         : 5

# goalie max moves after catch
goalie_max_moves        : 2

# size, decay, random parameter, weight and maximum speed of a ball
ball_size: 0.085
ball_decay: 0.94
ball_rand: 0.05
ball_weight: 0.2
ball_speed_max: 2.7
ball_accel_max: 2.7

# force, direction and random parameter of wind
wind_force: 0
wind_dir: 0
wind_rand: 0

# kickable margin. kickable_area = kickable_margin + bsize + psize
kickable_margin        : 0.7

# corner kick margin
ckick_margin: 1.0

# magnification of power in dash, kick 
dash_power_rate        : 0.006
kick_power_rate        : 0.027

# kick randomeness
kick_rand: 0

# angle of view corn [unit: degree]
visible_angle        : 90.0

# audio cut off distance
audio_cut_dist        : 50.0

# quantize step of distance for move_object, landmark
quantize_step: 0.1
quantize_step_l        : 0.01

# max and min of power in dash and kick
maxpower: 100
minpower: -100

# max and min of power in turn
maxmoment: 180
minmoment: -180

# max and min of power in turn_neck
maxneckmoment: 180
minneckmoment: -180

# max and min of neck angle
maxneckang: 90
minneckang: -90

# Default port number
port: 6000

# Default coach port number
coach_port: 6001

# Default oline coach port number
olcoach_port: 6002

# Default upper limit of the number of online coach's message
say_coach_cnt_max: 128

# Default upper limit of length of online coach's message
say_coach_msg_size: 128

# Parameters for the new coach language
# time wondow which controls how many messages can be sent
clang_win_size          : 300
# number of messages per window
clang_define_win        : 1
clang_meta_win          : 1
clang_advice_win        : 1
clang_info_win          : 1
# delay between receipt of message and send to players
clang_mess_delay        : 50
# maximum number of coach messages sent per cycle
clang_mess_per_cycle    : 1

# Default interval of online coach's look  100
send_vi_step        : 100

# time step of simulation [unit:msec] 100
simulator_step        : 100

# time step of visual information [unit:msec]  150
send_step: 150

# time step of acception of command [unit: msec] 10
recv_step: 10

# length of half of game [unit:sec]
# (if negative, a game does not stop automatically) 300
half_time: 300

# number of cycles to wait until dropping the ball automatically
# for free kicks, corner kicks and so on
# (0 means do not drop automatically)
drop_ball_time        : 200

# string size of say message [unit:byte]
say_msg_size        : 10

# flag for using off side rule. [on/off]
use_offside: on

# offside active area size
offside_active_area_size: 5

# forbid kick off offside. [on/off] 
forbid_kick_off_offside: on

# flag for verbose mode. [on/off]
verbose: off

# offside kick margin. 
offside_kick_margin: 9.15

# Point to parameters
point_to_ban            : 5
point_to_duration       : 20

# Tackle parameters
tackle_dist             :2.5
tackle_back_dist        :0.5
tackle_width            :1.25
tackle_exponent         :6
tackle_cycles           :10