Re: [simspark-devel] Some URGENT TODOs!

[Sander v. D. <sgv...@gm...>]

Hey,

On Sun, Apr 12, 2009 at 4:43 PM, Mahdi <zig...@gm...> wrote:

>
>
> 2009/4/10 Hedayat Vatankhah <hed...@ai...>
>
>>  Hi all,
>>
>> If we are going to change some settings for 2009, it should be done ASAP.
>> Please share your opinions about these matters. Also, it would be nice if
>> you can do this changes.
>>
>> These are what might be necessary to be done for 2009:
>>
>> 1. Adding more flags around the field.
>>
>
> Adding field boundry lines seems to work just good. But if we are going to
> have more vision noise that the current rate (which is proposed by Hedayat
> in next todo item), it seems better if there be more flags on the two
> longitude lines of the field.
>

I find that localization is very well possible with the current amount of
markers. But if only a few teams are able to get it working competitions
will be rather boring. Next week during the German Open we will try to use
restricted vision, after that we'll have a better idea if the teams manage
to cope with it I think.


>  2. Increasing the vision noise. The current noise parameters are tuned
>> for a much bigger field that what we have now, and in the current field the
>> vision noise is probably near zero.
>>
>
I agree to this, the error currently is in the order of milimeters I
believe. Perhaps a reasonable way to define the parameters is to look at the
view angle and resolution of the real NAO and set the error variance such
that it corresponds to 1 (or 2) pixels off. Or see if any team has any real
data on measurement errors (I'll see if I can contact some humanoid teams).

3. Adding noise to agent's joint actuators and/or perceptors.
>>
>
I think this isnj't too hard to implement and we can see how that works out.
However, I feel that we have to keep in mind that the simulation league is
more about higher level control (in my opinion). It is good to make it more
realistic, but 3D teams shouldn't have to spend too much time on problems
that other leagues are already working on.


>  Did I miss anything?
>>
>
The automatic referee could use a lookover I think, like balls hitting the
goal post being registered as goals or clear goals being registered as goal
kicks. And perhaps we can explicitely implement some of the keeper rules
that are now enforced by the human referee (eg. handling the ball outside
the penalty area, lieing in front of the goal longer than so many seconds).


>>  Finally, would you please provide a summary of your current status with
>> regard to simspark development?
>>
>
>
I am afraid I will be quite busy too. I will put the meshes we received from
Aldebaran into the simulator (as soon as they have resolved license issues),
other than that I can't guarantee I will have much time unfortunately..

Cheers,
Sander