Kick in kicking team detection #1646

ThagonDuarte · 2025-02-20T15:44:09Z

Why? What?

The rule update for the 2025 season introduces a change to the set play of free kicks. Instead of sending the kicking team in the game controller message during all free kicks, now, during CornerKick, GoalKick, KickIn, PenaltyKick and PushingFreeKick no kicking team will be sent in the game controller message. Instead, the head referee will give a visual signal to indicate the direction of play for the kicking team. This means a signal in the direction of the goal of the HULKs indicates that the Opponent is the kicking team. This signal can be seen below:

This expands our current visual referee implementation to now also detect this free kick visual referee signal.
We only try to detect the visual referee signal in KickIn since the kicking_team during CornerKick, GoalKick, and PenaltyKick can be deduced from the current ball position and the teams GlobalFieldSide, i.e. whether their are home or away and PushingFreeKick can be deduced by looking at the changed penalties. During KickIn when Home the DefenderRight and MidfielderRight should look at the referee and do the detection. When Away, this is done by DefenderLeft and MidfielderLeft. On both sides the first two non-penalized Searchers that are not the keeper also look at the referee, for the case, that both the currently detecting roles are Searcher.

Depends on #1782
Fixes #1476

ToDo / Known Issues

Implement behavior for looking at the referee for pose detection during set plays.
Implement detection logic and filtering.
Implement bevyhavior simulator scenarios for
- Check behavior for visual referee during free kicks works correctly
Make NAOs look further up to better see referee during detection

Ideas for Next Iterations (Not This PR)

Add standby to ready visual referee to bevyhavior simulator

How to Test

In play, trigger KickIn
- Check that only the correct defender and midfielder or searcher look at the referee and do the visual signal detection.
- Check that the visual referee free kick pose signal is detected, filtered, and interpreted correctly.

oleflb

review not yet complete

crates/bevyhavior_simulator/src/bin/visual_referee_free_kick_behavior.rs

etc/parameters/default.json

crates/types/src/pose_kinds.rs

crates/types/src/pose_detection.rs

crates/types/src/motion_command.rs

crates/spl_network_messages/src/game_controller_state_message.rs

crates/control/src/role_assignment.rs

crates/control/src/free_kick_signal_filter.rs

crates/control/src/behavior/node.rs

oleflb · 2025-03-13T12:34:43Z

crates/control/src/behavior/node.rs

+                    .filtered_game_controller_state
+                    .clone()
+                    .is_some_and(|filtered_game_controller_state| {
+                        is_free_kick(filtered_game_controller_state, world_state.clone())


no clone please

oleflb · 2025-03-13T12:39:19Z

crates/control/src/game_controller_filter.rs

+            global_field_side: if message.hulks_team_is_home_after_coin_toss {
+                GlobalFieldSide::Home
+            } else {
+                GlobalFieldSide::Away
+            },


TODO: check correctness of hulks_team_is_home_after_coin_toss (second half)

oleflb · 2025-03-13T17:08:03Z

crates/control/src/free_kick_signal_filter.rs

+            .truncate(*context.referee_pose_queue_length);
+
+        let (own_detected_kicking_team, number_of_detections) =
+            most_detections(self.detected_free_kick_detections_queue.clone().into());


use references here

oleflb · 2025-03-13T17:08:32Z

crates/control/src/free_kick_signal_filter.rs

+        .iter()
+        .cloned()
+        .filter(|kicking_team| *kicking_team == Team::Hulks)
+        .collect();


use .count() instead of .collect().len()

oleflb · 2025-03-13T17:08:51Z

crates/control/src/free_kick_signal_filter.rs

+        .collect();
+    let own_detections_opponent: Vec<Team> = detections
+        .iter()
+        .cloned()


prefer copied here

oleflb · 2025-03-13T17:15:55Z

crates/control/src/free_kick_signal_filter.rs

+    match (global_field_side, free_kick_signal_pose) {
+        (
+            GlobalFieldSide::Home,
+            Some(PoseKind::FreeKick {
+                global_field_side: GlobalFieldSide::Away,
+            }),
+        ) => Some(Team::Hulks),
+        (
+            GlobalFieldSide::Home,
+            Some(PoseKind::FreeKick {
+                global_field_side: GlobalFieldSide::Home,
+            }),
+        ) => Some(Team::Opponent),
+        (
+            GlobalFieldSide::Away,
+            Some(PoseKind::FreeKick {
+                global_field_side: GlobalFieldSide::Away,
+            }),
+        ) => Some(Team::Opponent),
+        (
+            GlobalFieldSide::Away,
+            Some(PoseKind::FreeKick {
+                global_field_side: GlobalFieldSide::Home,
+            }),
+        ) => Some(Team::Hulks),
+        _ => None,
+    }


Suggested change

match (global_field_side, free_kick_signal_pose) {

(

GlobalFieldSide::Home,

Some(PoseKind::FreeKick {

global_field_side: GlobalFieldSide::Away,

}),

) => Some(Team::Hulks),

(

GlobalFieldSide::Home,

Some(PoseKind::FreeKick {

global_field_side: GlobalFieldSide::Home,

}),

) => Some(Team::Opponent),

(

GlobalFieldSide::Away,

Some(PoseKind::FreeKick {

global_field_side: GlobalFieldSide::Away,

}),

) => Some(Team::Opponent),

(

GlobalFieldSide::Away,

Some(PoseKind::FreeKick {

global_field_side: GlobalFieldSide::Home,

}),

) => Some(Team::Hulks),

_ => None,

}

free_kick_signal_pose.and_then(|a| if a.global_field_side == global_field_side { Team::Opponent } else { Team::Hulks })

`LookAtReferee` during free kicks Detect `FreeKickPose` `PoseKind` Filter detected `FreeKickPose` Led status feedback for visual referee free kick detections Fix parameter import in `FreeKickSignalFilter` Make clippy happy Add fallback `Action` after `Action` `LookAtReferee` Co-authored-by: MaikRe <[email protected]> Always produce `MotionCommand` in `LookAtReferee` Co-authored-by: MaikRe <[email protected]> Fix `MotionCommand` matching Co-authored-by: MaikRe <[email protected]> Add scenario for visual referee free kick behavior Co-authored-by: MaikRe <[email protected]> Only add `Option<Team>` where necessary Reset `ReadySignalDetectionFilter` outside of `Standby` Reset `FreeKickSignalFilter` outside of `KickIn` and `PushingFreeKick` Freeze role assignment during free kick detection Add full image pose detection Let two searcher look at referee during free kicks Lower `ImageRegion::Bottom` y pixel target Address review comments Fix scenario to updated behavior and renaming Better free kick pose interpretation Only draw pose detection dead zone overlay in `Standby` Formatting Remove `target` from `HeadMotion::LookAtReferee` Refactor `initial.rs` Address review comments II Only keep role for relevant roles during free kicks Throw error in path deserialize `Option<T>` if its `None` Produce correct `head_yaw` for `LookAtReferee` Change `hulks_team_is_home_after_coin_toss` to `GlobalFieldSide` Change default `expected_referee_position` to center circle Dequadruplicate free kick behavior Dont copy world state Address review comments III

ThagonDuarte added rules:2025 Changes needed to comply to rule changes for the SPL 2025 Season. GO25 labels Feb 20, 2025

ThagonDuarte mentioned this pull request Feb 20, 2025

Visual referee update: Kicking team filtering #1571

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12 tasks

ThagonDuarte self-assigned this Feb 20, 2025

ThagonDuarte force-pushed the kicking-team-detection branch from 02fbf70 to f24baba Compare February 21, 2025 13:13

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ThagonDuarte mentioned this pull request Feb 21, 2025

Visual referee update: Kicking team filtering #1647

Closed

12 tasks

oleflb self-assigned this Feb 26, 2025

oleflb requested changes Mar 2, 2025

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ThagonDuarte force-pushed the kicking-team-detection branch 5 times, most recently from 3eb1e77 to 8788ae5 Compare March 7, 2025 10:46

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ThagonDuarte moved this from Request for Review to In Progress in Development Mar 29, 2025

ThagonDuarte force-pushed the kicking-team-detection branch from 05ec27b to 82beb18 Compare April 1, 2025 09:58

ThagonDuarte changed the title ~~Visual referee update: Free kick signal detection~~ Kick in kicking team detection Apr 1, 2025

ThagonDuarte moved this from In Progress to Request for Review in Development Apr 1, 2025

ThagonDuarte unassigned oleflb Apr 1, 2025

ThagonDuarte enabled auto-merge April 1, 2025 10:28

ThagonDuarte moved this from Request for Review to In Progress in Development Apr 1, 2025

ThagonDuarte force-pushed the kicking-team-detection branch from 8d077e2 to accc70a Compare April 2, 2025 14:36

oleflb removed the GO25 label Apr 8, 2025

ThagonDuarte force-pushed the kicking-team-detection branch 4 times, most recently from 74339cf to 57c816e Compare April 16, 2025 17:46

ThagonDuarte added 21 commits April 17, 2025 11:32

Infer kicking_team in PushingFreeKick

6d67912

Add pushing kicking team filter

53ac592

Add last_ball_state as additional output

8ee99d1

Increase duration_to_keep_observed_ball

1fa6cfe

Add scenario kicking_team_filtering

2673721

Allow Penalize and Unpenalize for opponents

009a0f2

Setting sub states applies penalties for PushingFreeKick and PenaltyKick

f40b7aa

Manually unpenalize after timeout

15ff731

Increase duration_to_keep_new_penalties to 45s

541f679

Update both visual referee filters after rebase

e979bea

Only do free kick detection in KickIn

fade698

Update kick in scenario to only test that sub state

8d99882

Clean up parameters

bab1e94

Use detected kicking team in FilteredGameControllerState

d30c8b0

Removed unnecessary input

4322eff

Remove early return when no last_observed_ball exists

af8feeb

Renaming and fix detection for empty poses

46513a1

Fix kicking team matching from pose kind

b8e8209

Add visual referee kick in detection to bevyhavior simulator

4f59fd9

Update scenario to also Searcher behavior

831eaa7

ThagonDuarte force-pushed the kicking-team-detection branch from 57c816e to 831eaa7 Compare April 17, 2025 12:44

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Kick in kicking team detection #1646

Kick in kicking team detection #1646

ThagonDuarte commented Feb 20, 2025 •

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Kick in kicking team detection #1646

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Kick in kicking team detection #1646

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ThagonDuarte commented Feb 20, 2025 • edited Loading

Why? What?

ToDo / Known Issues

Ideas for Next Iterations (Not This PR)

How to Test

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ThagonDuarte commented Feb 20, 2025 •

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