Feat/gefr referee profile - #131
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Adds a YAML referee profile for the Great Exhibition Festival Road demo, replacing the inline RefereeProfile(...) block that was previously hardcoded in Utama-Strategy. All 22 fields match the previous hardcoded values exactly. Notable settings: - out_of_bounds enabled (safety: prevents robot chasing ball near spectators) - defense_area and keep_out disabled (exhibition drill use) - all auto-advance off except normal_start_to_force (operator controls restarts) - ball_placement_to_next=false (human places ball, operator presses FORCE_START) - ball_obscured_recovery commented out pending feat/ball-obscured-recovery merge
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Pull request overview
Adds a new CustomReferee YAML profile intended to configure rules and game timing/auto-advance behavior for a specific “gefr/gerf” operating mode within utama_core.custom_referee’s profile-based configuration system.
Changes:
- Introduces a new referee profile YAML (
gerf.yaml) defining rule toggles (goal detection, out-of-bounds, defense area, keep-out). - Defines game timing parameters (half duration, kickoff timeout) and a mostly-manual
auto_advanceconfiguration. - Enables
force_start_after_goalfor the new profile.
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| profile_name: "gerf" | |||
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| force_start_after_goal: true | ||
| stop_duration_seconds: 3.0 |
| prepare_kickoff_to_normal: false | ||
| prepare_penalty_to_normal: false | ||
| direct_free_to_normal: false | ||
| ball_placement_to_next: false # human places ball; operator presses FORCE_START manually |
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