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Re: [simspark-devel] About 3D Devel Plan
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From: Hedayat V. <hed...@ai...> - 2009-01-07 19:58:03
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Hi all! First: Happy new year :) /*"Feng Xue" <hen...@ma...>*/ wrote on 01/07/2009 05:38:14 PM: > Hi Yuan, > > 21:39:52 2009-01-07 Yuan Xu: > > > Hello & Happy new year! > 2009/1/7 Feng Xue hen...@ma... > <mailto:hen...@ma...>: > > Hi all, > > > > First, happy new year and wish you have a good time in the year 2009! > > > > And here is my situation, we(WrightEagle) decided not to participate > > simlation3D this year because of being short of hands. And I am now a > > little busy with my paper and SPL league. But I will try my best to finish > > my assignment. > What a pity! > I am even afraid there will be not enough teams in RoboCup2009! > > > I am pity too. > :( > > > > > > Considering the previous discussion about the OGRE stuff, I think I'd better > > probably give up this task for 2009 and here is my opinion: our simulator > > has these 3 key problems which are kind of restricting or shrinking our > > research area. > > > > First, no noise added on the controlling joint speed. This ideal thing will > > never happen on the real robot. And, because of the elasticity of the > > material of the real robot, the real angle is not that reported by the > > sensor. However, ODE does not support elastic joint or soft things. But we > > can simulate this by adding noise to it. > Adding noise is easy for MC, but hard for teams ;-) > > > Yes! But adding a little noise is better than no noise ;-) > I think it is what OC should decide about, right?! Anyway, if any noise is going to be added to the server, I think it should be done as soon as possible! > > > > Second, the sync model which is already in the todo list. According to games > > of ChinaOpen2008, making a good sync model will let the simulator run more > > stable agents. Then the strategy becomes much more important. The dream of > > integrating 2D and 3D will probably come true. I think the strategy is a > > great challenge because it is hard to scale the speed of opponent agent > > which is relatively easier in 2D. > > > But I think the sync mode is suitable for research, but not for competition. > Because the computation time of agent is an important factor, the > agent should react in real (or given) time. > > > In ChinaOpen2008, the simulation speed is about 1/3 of the original > speed. However, > we can simulate 8 agents or even more. > Sync mode is certainly not suitable for competitions (since one agent can hold the competitions as much as it likes), but we might use simulation time instead of real time for competitions. This feature is already implemented, so it only needs a decision. Again, I wonder who should decide about it! Maybe OC?! (I think I should read committees tasks again :)) > > > > Third, the information that agent received from the server is too few. I'd > > suggest we provide the restricted vision perceptor with the information of > > hands and legs. And, we'd better provide the camera perceptor which is > > firstly making our robot model like the real robot and secondly extend the > > research area. However, this makes the sensor informaion quite large. But if > > the sync model is good, this problem will probably be solved. > I have a draft version of image camera, see this: > http://www2.informatik.hu-berlin.de/~xu/image_sensor.png > But I hacked the communication between agent and server... > > > Awesome! And this reminds me the feature of external monitor. We > really need > a powerful monitor! > Really nice :) If I manage to implement the Player integration soon, I think the communication problem will go away since Player supports camera sensors... Best wishes for the new year! Hedayat > > > -- > Sincerely, > Xu Yuan > Institute of Informatics, Humboldt University Berlin > -------------------------------------------------- > > > ------------------------------------------------------------------------ > Best Regards, > Feng Xue > 2009-01-07 > > |
