Workaround for the relocation bug

controllers/rcj_soccer_referee_supervisor/referee/referee.py

@@ -377,6 +377,14 @@ def kickoff(self, team: Optional[str] = None):
         )
 
     def tick(self) -> bool:
+        # HACK(Richo): Workaround for the following issue 
+        # https://github.com/RoboCupJuniorTC/rcj-soccer-sim/issues/130
+        for robot in ROBOT_NAMES:
+            reset_physics_counter = self.sv.robot_reset_physics[robot]
+            if reset_physics_counter > 0:
+                self.sv.robot_nodes[robot].resetPhysics()
+                self.sv.robot_reset_physics[robot] = reset_physics_counter - 1
+
         # On the very first tick, note that the match has started
         if self.time == self.match_time:
             self.eventer.event(

controllers/rcj_soccer_referee_supervisor/referee/supervisor.py

@@ -30,6 +30,7 @@ def __init__(self):
         self.robot_rotation_fields = {}
         self.robot_translation = {}
         self.robot_rotation = {}
+        self.robot_reset_physics = {}
         for robot in ROBOT_NAMES:
             robot_node = self.getFromDef(robot)
             self.robot_nodes[robot] = robot_node
@@ -42,6 +43,8 @@ def __init__(self):
             self.robot_rotation_fields[robot] = field
             self.robot_rotation[robot] = field.getSFRotation()
 
+            self.robot_reset_physics[robot] = 0
+
     def update_positions(self):
         """Update the positions of robots and the ball"""
         self.ball_translation = self.ball_translation_field.getSFVec3f()
@@ -83,6 +86,7 @@ def set_robot_position(self, robot_name: str, position: List[float]):
         """
         tr_field = self.robot_translation_fields[robot_name]
         tr_field.setSFVec3f(position)
+        self.robot_reset_physics[robot_name] = 1
         self.robot_nodes[robot_name].resetPhysics()
         self.robot_translation[robot_name] = position