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From: Hedayat V. <hed...@ai...> - 2007-06-18 08:11:42
|
Hi Yuan, There is a problem; currently the right team can't think that they are on the left because: 1. the init message says: (team right) 2. All of the game states use "right" for that team (e.g. KickOffRight). I just want to say that it would be better if we use "left" and "right" consistently. To be more consistent, we may avoid using left and right for the flags altogether. For example, we may call: our flags and opponent flags! And we may use left and right instead of 1 and 2 which are used currently. So, we will have "our left flag(FLO), our right flag (FRO),..."!! (This is an example only). Cheers, Hedayat /*"Yuan Xu" <xuy...@gm...>*/ wrote on 06/17/2007 06:33:16 AM: > Hi Joschka, > > > >> I had to do some changes in order to make the code compile again. It >> seems you forgot to update your sources before you committed your >> changes. Please remember to always update before a commit. Also, please >> record your changes in the ChangeLog file. >> > > Thank you very much for your guide! > I will take a look at it. > > Come back to the Vision Perceptor, there is still a problem. > I flipped all the object global positions for right team, > the agent will assume he is still in left side while localizing by flags, > but other objects information are wrong ;-( > So, in fact I think what we need is only flip the flags (and goal flags), > then the right team also think they are in left. > Otherwise, do not flip any object, then teams take care of this themselves, > I checked my old 3D sphere agent code, the agent need to take care it. > So, just now I have commented out the flip. > If we know which is flag or not, we can do something better. > > Any idea? > > > |
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From: Hedayat V. <hed...@ai...> - 2007-06-17 22:48:38
|
Hi Joschka and Oliver, I've fixed gyro rate perceptor so that the output is in local coordinates rather than global coordinates now. Hopefully it'll work correctly! ;) And a little question about ClearPlayers functions: is it desired (and it worths) to consider the whole agent body rather than one single point to decide if the agent should be moved? Thanks, Hedayat |
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From: Hedayat V. <hed...@ai...> - 2007-06-17 22:47:37
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<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html> <head> </head> <body dir="ltr" bgcolor="#ffffff" text="#000000"> <p style="margin-bottom: 0cm; margin-top: 0pt;"><small><font size="+1"><small>Hi,</small></font></small></p> <p style="margin-bottom: 0cm; margin-top: 0pt;">There is a problem when MoveAgent(AndRotate) functions are used: there might be another object in the destination! This happens for example when two agents beam into the same place which will slow down the simulation significantly. It seems that these functions should place the agent into the nearest empty position to the destination point. Or maybe the empty position is found before calling these functions.</p> <p style="margin-bottom: 0cm; margin-top: 0pt;"><br> </p> <p style="margin-bottom: 0cm; margin-top: 0pt;">Cheers,</p> <p style="margin-bottom: 0cm; margin-top: 0pt;">Hedayat<br> </p> </body> </html> |
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From: Joschka B. <jbo...@un...> - 2007-06-17 08:52:38
|
Hi Yuan, On Sun, 2007-06-17 at 11:03 +0800, Yuan Xu wrote: > Hi Joschka, [...] > Come back to the Vision Perceptor, there is still a problem. > I flipped all the object global positions for right team, > the agent will assume he is still in left side while localizing by flags, > but other objects information are wrong ;-( > So, in fact I think what we need is only flip the flags (and goal flags), > then the right team also think they are in left. > Otherwise, do not flip any object, then teams take care of this themselves, > I checked my old 3D sphere agent code, the agent need to take care it. > So, just now I have commented out the flip. > If we know which is flag or not, we can do something better. We set names for the flags in the RSG file and you can check these names by using the GetName() method, similar to the line element.AddValue((*i)->GetName()); in the Vision Perceptor. Does this help? Cheers, Joschka |
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From: Yuan X. <xuy...@gm...> - 2007-06-17 03:03:19
|
Hi Joschka,
> I had to do some changes in order to make the code compile again. It
> seems you forgot to update your sources before you committed your
> changes. Please remember to always update before a commit. Also, please
> record your changes in the ChangeLog file.
Thank you very much for your guide!
I will take a look at it.
Come back to the Vision Perceptor, there is still a problem.
I flipped all the object global positions for right team,
the agent will assume he is still in left side while localizing by flags,
but other objects information are wrong ;-(
So, in fact I think what we need is only flip the flags (and goal flags),
then the right team also think they are in left.
Otherwise, do not flip any object, then teams take care of this themselves,
I checked my old 3D sphere agent code, the agent need to take care it.
So, just now I have commented out the flip.
If we know which is flag or not, we can do something better.
Any idea?
--
Best wishes!
Xu Yuan
School of Automation
Southeast University, Nanjing, China
mail: xuy...@gm...
xy...@ya...
web: http://xuyuan.cn.googlepages.com
--------------------------------------------------
|
|
From: Joschka B. <jbo...@un...> - 2007-06-17 02:41:13
|
Hi Yuan, On Sun, 2007-06-17 at 01:35 +0800, Yuan Xu wrote: > Hi Joschka, > > To make it better, I just implemented what I mentioned. > Furthermore, the angle is flipped by sides, i.e. the 0 degree means > facing the opponent's goal. > Is is OK ? I had to do some changes in order to make the code compile again. It seems you forgot to update your sources before you committed your changes. Please remember to always update before a commit. Also, please record your changes in the ChangeLog file. >From my own experience, the PCL-CVS tool in Emacs is very useful for working with CVS. It lets you examine a directory, will show any files that were modified, need update, have conflicts, etc. You can easily diff files in different windows, add ChangeLog entries, and then use the ChangeLog entries automatically as messages when you do a commit. I use it all the time, it's very handy. As an example, I usually go to the rcssserver3D folder and then choose Tools->PCL-CVS->Examine Directory. This will show me which files are different from the versions in the CVS. I can then do a diff using '=', open a file using 'f', add a ChangeLog entry using 'A', and then commit changes using 'C' and 'Ctrl-c Ctrl-c'. This will automatically use the message I put in the ChangeLog the file(s) I want to commit, so I don't have to document twice. You can find many manuals about PCL-CVS on the web, for instance here [1]. Of course there are other good tools, but my own experience with this one has been really good, so I thought I'd share :-) There is also a mailing-list for receiving all the emails generated by the CVS system if someone commits new code. It can be handy also. You can subscribe at [2], if you haven't done it yet. Apart from that: the code works great now. Not only will the robot rotate at a global angle now, it will also stand up if it had fallen down before ;-) Cheers, Joschka [1] http://www.cs.utah.edu/dept/old/texinfo/cvs/pcl-cvs_toc.html [2] https://lists.sourceforge.net/lists/listinfo/sserver-commits |
|
From: Yuan X. <xuy...@gm...> - 2007-06-16 17:35:52
|
Hi Joschka, To make it better, I just implemented what I mentioned. Furthermore, the angle is flipped by sides, i.e. the 0 degree means facing the opponent's goal. Is is OK ? 2007/6/17, Yuan Xu <xuy...@gm...>: > Hi Joschka, > > > > It works perfectly :-) It's important to know that the rotation is now > > relative to the current orientation of the agent, not an absolute > > rotation, but either way is fine (as long as we tell the teams ;-) ). > > Yes, if we set the absolute rotation, we should get the torso rotation, > set the torso to the absolute rotation and calculate the delta rotation, > and apply the delta rotation to all other bodies. > > Do you think we should implement that? > > > Good job! > > > Thanks! > > > -- > Best wishes! > > Xu Yuan > School of Automation > Southeast University, Nanjing, China > > mail: xuy...@gm... > xy...@ya... > web: http://xuyuan.cn.googlepages.com > -------------------------------------------------- > -- Best wishes! Xu Yuan School of Automation Southeast University, Nanjing, China mail: xuy...@gm... xy...@ya... web: http://xuyuan.cn.googlepages.com -------------------------------------------------- |
|
From: Yuan X. <xuy...@gm...> - 2007-06-16 16:39:06
|
Hi Joschka,
> It works perfectly :-) It's important to know that the rotation is now
> relative to the current orientation of the agent, not an absolute
> rotation, but either way is fine (as long as we tell the teams ;-) ).
Yes, if we set the absolute rotation, we should get the torso rotation,
set the torso to the absolute rotation and calculate the delta rotation,
and apply the delta rotation to all other bodies.
Do you think we should implement that?
> Good job!
>
Thanks!
--
Best wishes!
Xu Yuan
School of Automation
Southeast University, Nanjing, China
mail: xuy...@gm...
xy...@ya...
web: http://xuyuan.cn.googlepages.com
--------------------------------------------------
|
|
From: Joschka B. <jbo...@un...> - 2007-06-16 16:17:31
|
Hi Yuan, On Sat, 2007-06-16 at 19:03 +0800, Yuan Xu wrote: > Hi Joschka, > > I have committed my changes, you can test it. It works perfectly :-) It's important to know that the rotation is now relative to the current orientation of the agent, not an absolute rotation, but either way is fine (as long as we tell the teams ;-) ). Good job! Cheers, Joschka > 2007/6/16, Joschka Boedecker <jbo...@un...>: > > Hey Yuan, > > > > On Sat, 2007-06-16 at 17:19 +0800, Yuan Xu wrote: > > > Hi Joschka, > > > > > > I have work it out, and solve the beam effector problem. I think. > > > In my test, our agent can start walk after 20 beams. > > > > Terrific! :-) > > > > > I will commit changes to the HEAD, right? > > > > Yes, I merged the branches, so please commit to the HEAD. > > > > Thank you! > > > > Joschka > > > > > 2007/6/16, Yuan Xu <xuy...@gm...>: > > > > Hi Hedayat and Joschka, > > > > > > > > > It seems that the horizontal degrees are incorrect. The zero horizontal > > > > > degree points backwards. > > > > > > > > Yes, you are right. > > > > After quick check, I found that while the agent initialize ( in > > > > InitEffector::PrePhysicsUpdateInternal ), > > > > the initial position is request from GameState, but the rotation is not! > > > > In the Vision::DynamicAxisPercept the flags are flipped for the right team. > > > > > > > > I'll try to work it out. > > > > > > > > > > > > -- > > > > Best wishes! > > > > > > > > Xu Yuan > > > > School of Automation > > > > Southeast University, Nanjing, China > > > > > > > > mail: xuy...@gm... > > > > xy...@ya... > > > > web: http://xuyuan.cn.googlepages.com > > > > -------------------------------------------------- > > > > > > > > > > > > > > > > |
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From: Joschka B. <jbo...@un...> - 2007-06-16 16:15:08
|
Hi Jan, On Sat, 2007-06-16 at 18:06 +0200, Jan Murray wrote: > Hi Joschka, > > Joschka Boedecker wrote: > > Hi, > > > > I'm testing the soccer rules currently and it seems impossible to shoot > > goals right now, probably due to a collider not correctly setup. I was > > wondering: has anybody ever succeeded shooting a goal? > > What's the exact problem? > > 1. The ball cannot enter the goal? Exactly. In my tests, it bounces off the collider around the goal (at least that's what it looks like). > 2. The goal is not counted? Yes, because of 1. Cheers, Joschka |
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From: Jan M. <mu...@un...> - 2007-06-16 16:06:38
|
Hi Joschka, Joschka Boedecker wrote: > Hi, > > I'm testing the soccer rules currently and it seems impossible to shoot > goals right now, probably due to a collider not correctly setup. I was > wondering: has anybody ever succeeded shooting a goal? What's the exact problem? 1. The ball cannot enter the goal? 2. The goal is not counted? Jan |
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From: Joschka B. <jbo...@un...> - 2007-06-16 15:46:13
|
Hi, I'm testing the soccer rules currently and it seems impossible to shoot goals right now, probably due to a collider not correctly setup. I was wondering: has anybody ever succeeded shooting a goal? Cheers, Joschka |
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From: Yuan X. <xuy...@gm...> - 2007-06-16 13:52:23
|
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From: Yuan Xu <xy...@ya...> - 2007-06-16 13:35:37
|
Hi Jan,
>
> I made the following observation. I let the
> soccerbot try to do some
> squats, i.e. after the init command it only sent the
> fixed string
> "(rle4 -0.5)(rle2_3 0.5 0)(lle4 -0.5)(lle2_3 0.5
> 0)". The movement
> *always* started with a little jump. Commenting out
> the (setHighStopDeg
> 0 X) statements for rle4 and lle4 made this go away.
> Changing the
> allowed maxangle from 0 to 1 also made the jumping
> go away. So the
> problem could be that the joints are already at a
> stop, when the
> movement starts.
Great!
That reminds me that the some values of HOAP-2
specification are 91, 31 ;-)
>
> Perhaps adding 1 degree to the max/min would be okay
> (see above).
> Yuan could you test this?
>
OK, I will try.
BEST WISHES!
Xu Yuan
School of Automation
Southeast University, Nanjing, China
mail: xuy...@gm...
xy...@ya...
web: http://xuyuan.cn.googlepages.com
--------------------------------------------------
___________________________________________________________
Mp3疯狂搜-新歌热歌高速下
http://music.yahoo.com.cn/?source=mail_mailbox_footer
|
|
From: Jan M. <mu...@un...> - 2007-06-16 13:19:54
|
Hi all, Joschka Boedecker wrote: >>> Could you please try to comment out the joint stops in the soccerbot.rsg >>> file? I suspect them to have something to do with this problem. >> Yes, it works after comment out the joint stops. > > OK, thank you for the confirmation. I made the following observation. I let the soccerbot try to do some squats, i.e. after the init command it only sent the fixed string "(rle4 -0.5)(rle2_3 0.5 0)(lle4 -0.5)(lle2_3 0.5 0)". The movement *always* started with a little jump. Commenting out the (setHighStopDeg 0 X) statements for rle4 and lle4 made this go away. Changing the allowed maxangle from 0 to 1 also made the jumping go away. So the problem could be that the joints are already at a stop, when the movement starts. >>> The joint stops were easy to implement, but I'm afraid that some ODE >>> parameters might have to be adjusted to be able to use them in a stable >>> way. If this is the case, I have to remove the joint stops again for >>> now, since we don't have much time to find good parameters currently :-( >> Well, doing is usually harder than thinking. >> Maybe human referee can take this responsibility ;-) This year the referees will probably have a lot of responsibilities, which usually means less volunteers. :-( > Yes, I think so, too. We'll have to have some kind of statement in the > rules that forbids, e.g. using the feet as wheels, but it's difficult to > formulate it to be "non-fuzzy". I will add a section about using common sense to the rules, which states something like "even if this behavior does not violate the rules on the syntactic level, YOU and ME know it's wrong and therefore we are going to treat it as wrong". > It seems certain, though, that we can not use joint stops reliably right > now. I will comment out the joint stops for the final release. :-( Perhaps adding 1 degree to the max/min would be okay (see above). Yuan could you test this? Thanks, Jan |
|
From: Jan M. <mu...@un...> - 2007-06-16 12:51:00
|
Joschka Boedecker wrote: > Hi Hedayat, > > I'll CC this to the devel list, just to have it documented. > > On Fri, 2007-06-15 at 19:00 +0330, Hedayat Vatankhah wrote: >> Hi again, >> Fortunately, I found my problem too! > > I'm glad you did :-) Dito. ;-) > >> The problem is that there are two different files with the same name: >> app/monitorspark/soccersim.rb and app/simspark/soccersim.rb! My >> monitor crashed because it was using soccersim.rb of simspark. >> app/monitorspark/soccersim.rb must be renamed to something else such >> as soccersimmon.rb because both of these files should be installed. >> Currently, one of these will be overwritten with the other one in the >> installation (app/simspark/soccersim.rb will be written over >> app/monitorspark/soccersim.rb in the installation directory >> (e.g. /usr/local/share/rcssserver3d/) which will cause a crash for >> monitorspark. >> (Also, there are two copies of bindings.rb file which are the same. >> One of them should be removed I think (or may be renamed or ....!)) >> > It's interesting that so far, nobody else had problems with this. > Anyways, thanks a lot, we should definitely rename the files then. IIRC the local copy of a file will be tried first. If it does not exist, the simulator tries the installed copy. So, if you start simspark and monitorspark from their source directories, the different versions of soccersim.rb should not interfere. >> And about the results: >> I've not tested much, but I get the same results using agentspark in >> both simspark and monitorspark: >> With 4 agents, the simulation runs smoothly, but after running the 5th >> agent, the simulation becomes unstable, some agents jump high in the >> air and simulation hangs completely. I can still connect 6 soccerbots locally. With the 7th the simulation breaks down, although it still accepts connections. > I get similar results on my laptop. Currently, I can only run 4 agents > reliably on my laptop (with the 0.5.6-preview). Anybody tried with > connecting agents over the network? Does it make a difference? > > Also, does anybody have a machine close to the specs in Atlanta to test? > My laptop is too weak to be used as a reference (only for a lower > baseline maybe). Same here. My TP has a 2GHz processor and only 512MB. Perhaps I can access a 3GHz/1GB machine on Monday. Jan |
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From: Yuan X. <xuy...@gm...> - 2007-06-16 11:03:48
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Hi Joschka, I have committed my changes, you can test it. 2007/6/16, Joschka Boedecker <jbo...@un...>: > Hey Yuan, > > On Sat, 2007-06-16 at 17:19 +0800, Yuan Xu wrote: > > Hi Joschka, > > > > I have work it out, and solve the beam effector problem. I think. > > In my test, our agent can start walk after 20 beams. > > Terrific! :-) > > > I will commit changes to the HEAD, right? > > Yes, I merged the branches, so please commit to the HEAD. > > Thank you! > > Joschka > > > 2007/6/16, Yuan Xu <xuy...@gm...>: > > > Hi Hedayat and Joschka, > > > > > > > It seems that the horizontal degrees are incorrect. The zero horizontal > > > > degree points backwards. > > > > > > Yes, you are right. > > > After quick check, I found that while the agent initialize ( in > > > InitEffector::PrePhysicsUpdateInternal ), > > > the initial position is request from GameState, but the rotation is not! > > > In the Vision::DynamicAxisPercept the flags are flipped for the right team. > > > > > > I'll try to work it out. > > > > > > > > > -- > > > Best wishes! > > > > > > Xu Yuan > > > School of Automation > > > Southeast University, Nanjing, China > > > > > > mail: xuy...@gm... > > > xy...@ya... > > > web: http://xuyuan.cn.googlepages.com > > > -------------------------------------------------- > > > > > > > > > -- Best wishes! Xu Yuan School of Automation Southeast University, Nanjing, China mail: xuy...@gm... xy...@ya... web: http://xuyuan.cn.googlepages.com -------------------------------------------------- |
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From: Joschka B. <jbo...@un...> - 2007-06-16 09:45:10
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Hey Yuan, On Sat, 2007-06-16 at 17:19 +0800, Yuan Xu wrote: > Hi Joschka, > > I have work it out, and solve the beam effector problem. I think. > In my test, our agent can start walk after 20 beams. Terrific! :-) > I will commit changes to the HEAD, right? Yes, I merged the branches, so please commit to the HEAD. Thank you! Joschka > 2007/6/16, Yuan Xu <xuy...@gm...>: > > Hi Hedayat and Joschka, > > > > > It seems that the horizontal degrees are incorrect. The zero horizontal > > > degree points backwards. > > > > Yes, you are right. > > After quick check, I found that while the agent initialize ( in > > InitEffector::PrePhysicsUpdateInternal ), > > the initial position is request from GameState, but the rotation is not! > > In the Vision::DynamicAxisPercept the flags are flipped for the right team. > > > > I'll try to work it out. > > > > > > -- > > Best wishes! > > > > Xu Yuan > > School of Automation > > Southeast University, Nanjing, China > > > > mail: xuy...@gm... > > xy...@ya... > > web: http://xuyuan.cn.googlepages.com > > -------------------------------------------------- > > > > |
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From: Yuan X. <xuy...@gm...> - 2007-06-16 09:19:14
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Hi Joschka, I have work it out, and solve the beam effector problem. I think. In my test, our agent can start walk after 20 beams. I will commit changes to the HEAD, right? 2007/6/16, Yuan Xu <xuy...@gm...>: > Hi Hedayat and Joschka, > > > It seems that the horizontal degrees are incorrect. The zero horizontal > > degree points backwards. > > Yes, you are right. > After quick check, I found that while the agent initialize ( in > InitEffector::PrePhysicsUpdateInternal ), > the initial position is request from GameState, but the rotation is not! > In the Vision::DynamicAxisPercept the flags are flipped for the right team. > > I'll try to work it out. > > > -- > Best wishes! > > Xu Yuan > School of Automation > Southeast University, Nanjing, China > > mail: xuy...@gm... > xy...@ya... > web: http://xuyuan.cn.googlepages.com > -------------------------------------------------- > -- Best wishes! Xu Yuan School of Automation Southeast University, Nanjing, China mail: xuy...@gm... xy...@ya... web: http://xuyuan.cn.googlepages.com -------------------------------------------------- |
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From: Yuan X. <xuy...@gm...> - 2007-06-16 08:08:22
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Hi Hedayat and Joschka,
> It seems that the horizontal degrees are incorrect. The zero horizontal
> degree points backwards.
Yes, you are right.
After quick check, I found that while the agent initialize ( in
InitEffector::PrePhysicsUpdateInternal ),
the initial position is request from GameState, but the rotation is not!
In the Vision::DynamicAxisPercept the flags are flipped for the right team.
I'll try to work it out.
--
Best wishes!
Xu Yuan
School of Automation
Southeast University, Nanjing, China
mail: xuy...@gm...
xy...@ya...
web: http://xuyuan.cn.googlepages.com
--------------------------------------------------
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From: Hedayat V. <hed...@ai...> - 2007-06-16 07:09:30
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<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html> <head> </head> <body dir="ltr" bgcolor="#ffffff" text="#000000"> <p style="margin-bottom: 0cm; margin-top: 0pt;"><small><font size="+1"><small>Hi,</small></font></small></p> <p style="margin-bottom: 0cm; margin-top: 0pt;"><small>I think that the vision percepts for the agent is wrong when he is in the right team. I've run two agents from two different teams, this is the vision percept of the second agent (which is in the right team and with the initial orientation):</small></p> <p style="margin-bottom: 0cm; margin-top: 0pt;"><span style="font-size: 13px;">(See (F1L (pol 96.29 -94.13 -2.76)) (F2L (pol 113.78 -57.52 -1.97)) (F1R (pol 10.41 134.63 -17.79)) (F2R (pol 61.49 6.61 -2.30))<br> </span><span style="font-size: 13px;"></span></p> <p style="margin-bottom: 0cm; margin-top: 0pt;"><span style="font-size: 13px;"><br> </span><span style="font-size: 13px;"></span></p> <p style="margin-bottom: 0cm; margin-top: 0pt;"><span style="font-size: 13px;">It seems that the horizontal degrees are incorrect. The zero horizontal degree points backwards. <br> </span><span style="font-size: 13px;"></span></p> <p style="margin-bottom: 0cm; margin-top: 0pt;"><span style="font-size: 13px;"><br> </span><span style="font-size: 13px;"></span></p> <p style="margin-bottom: 0cm; margin-top: 0pt;"><span style="font-size: 13px;">Good luck,<br> </span><span style="font-size: 13px;"></span></p> <p style="margin-bottom: 0cm; margin-top: 0pt;"><span style="font-size: 13px;">Hedayat</span><br> </p> <p style="margin-bottom: 0cm; margin-top: 0pt;"><span style="font-size: 13px;"></span></p> <p style="margin-bottom: 0cm; margin-top: 0pt;"><span style="font-size: 13px;"></span></p> </body> </html> |
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From: Joschka B. <jbo...@un...> - 2007-06-16 06:18:08
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Hi Yuan, On Sat, 2007-06-16 at 11:29 +0800, Yuan Xu wrote: > Hi Joschka, > > > Which version are you using, current CVS or the 0.5.6-preview? > > 0.5.6-preview > > > > (1) see http://picasaweb.google.com/xuyuan.cn/RCS/photo#5076361988020790178 > > > * Situation: after beam action > > > * Problem: the lower torso rotation is not correct > > > > Does this happen everytime? I have never observed this as of yet... > > Yes, everytime. Since it is corrected by ODE quickly, you can got the > screen shot frame by frame with the logfile. And it is reasonable > according to the codes, all body rotations are set to only Z rotation. I'm sorry, I somehow thought you were referring to the movement that the InitEffector performs. You are right, of course, the BeamEffector only sets Z-Rotation. Since the rotation feature doesn't reliably work right now (at least not when used several times, cf. messages on the Sserver3D ML), I think I'll comment out the code for the rotation for the final release. I won't have time to fix this issue, so teams will have to turn by themselves :-( > > > > Could you please try to comment out the joint stops in the soccerbot.rsg > > file? I suspect them to have something to do with this problem. > > Yes, it works after comment out the joint stops. OK, thank you for the confirmation. > > The joint stops were easy to implement, but I'm afraid that some ODE > > parameters might have to be adjusted to be able to use them in a stable > > way. If this is the case, I have to remove the joint stops again for > > now, since we don't have much time to find good parameters currently :-( > > Well, doing is usually harder than thinking. > Maybe human referee can take this responsibility ;-) Yes, I think so, too. We'll have to have some kind of statement in the rules that forbids, e.g. using the feet as wheels, but it's difficult to formulate it to be "non-fuzzy". It seems certain, though, that we can not use joint stops reliably right now. I will comment out the joint stops for the final release. Thanks again for doing these tests, Joschka |
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From: Yuan X. <xuy...@gm...> - 2007-06-16 03:42:40
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Hi Hedayat,
Sorry for my mistake,
our agent do not clear the old FRP while updating the sense.
Thanks!
2007/6/16, Hedayat Vatankhah <hed...@ai...>:
>
> Hi,
> Thank you for your feedback on FRP. When the foot does not touch any thing,
> FRP should not be sensed. In my own tests (normal cases, not flying!), it is
> the case. FRP is sensed only when a foot is on the ground. I've not tested
> it, but if the agent is flying, and his feet doesn't touch anything (even
> it's own body), FRP should not be sensed.
> I've checked my code again, and I think that if there is any FRP sense, so
> certainly ODE has reported at least one collision. Please check it a little
> more to see if FRP is sensed when there is no collision and let me know the
> results.
> Hopefully, it should be OK. And the output you've provided could be really
> correct! As the output shows, all the applied force are from sides.
>
> Thanks a lot,
> Hedayat
>
> "Yuan Xu" <xuy...@gm...> wrote on 06/15/2007 08:35:08 PM:
> Hi Joschka and Hedayat,
>
> I have a doubt about Force Resistance Perceptor:
> It provides information about collision,
> however in my test, the agent receive such perception:
> (FRP (n lf) (c 0.04 0.12 -0.05)(f 12.61 10.39 0))(FRP (n rf) (c -0.48
> -0.02 -0.06)(f -11.01 17.48 0))
> while the agent is 'flying'!
> In my opinion, if the foot does not touch any other thing, the force
> should be zero or the FRP should not be sensed.
>
>
--
Best wishes!
Xu Yuan
School of Automation
Southeast University, Nanjing, China
mail: xuy...@gm...
xy...@ya...
web: http://xuyuan.cn.googlepages.com
--------------------------------------------------
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From: Yuan X. <xuy...@gm...> - 2007-06-16 03:29:58
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Hi Joschka, > Which version are you using, current CVS or the 0.5.6-preview? 0.5.6-preview > > (1) see http://picasaweb.google.com/xuyuan.cn/RCS/photo#5076361988020790178 > > * Situation: after beam action > > * Problem: the lower torso rotation is not correct > > Does this happen everytime? I have never observed this as of yet... Yes, everytime. Since it is corrected by ODE quickly, you can got the screen shot frame by frame with the logfile. And it is reasonable according to the codes, all body rotations are set to only Z rotation. > > Could you please try to comment out the joint stops in the soccerbot.rsg > file? I suspect them to have something to do with this problem. Yes, it works after comment out the joint stops. > The joint stops were easy to implement, but I'm afraid that some ODE > parameters might have to be adjusted to be able to use them in a stable > way. If this is the case, I have to remove the joint stops again for > now, since we don't have much time to find good parameters currently :-( Well, doing is usually harder than thinking. Maybe human referee can take this responsibility ;-) -- Best wishes! Xu Yuan School of Automation Southeast University, Nanjing, China mail: xuy...@gm... xy...@ya... web: http://xuyuan.cn.googlepages.com -------------------------------------------------- |
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From: Joschka B. <jbo...@un...> - 2007-06-16 00:32:20
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Hi Hedayat, I'll CC this to the devel list, just to have it documented. On Fri, 2007-06-15 at 19:00 +0330, Hedayat Vatankhah wrote: > Hi again, > Fortunately, I found my problem too! I'm glad you did :-) > The problem is that there are two different files with the same name: > app/monitorspark/soccersim.rb and app/simspark/soccersim.rb! My > monitor crashed because it was using soccersim.rb of simspark. > app/monitorspark/soccersim.rb must be renamed to something else such > as soccersimmon.rb because both of these files should be installed. > Currently, one of these will be overwritten with the other one in the > installation (app/simspark/soccersim.rb will be written over > app/monitorspark/soccersim.rb in the installation directory > (e.g. /usr/local/share/rcssserver3d/) which will cause a crash for > monitorspark. > (Also, there are two copies of bindings.rb file which are the same. > One of them should be removed I think (or may be renamed or ....!)) > It's interesting that so far, nobody else had problems with this. Anyways, thanks a lot, we should definitely rename the files then. > And about the results: > I've not tested much, but I get the same results using agentspark in > both simspark and monitorspark: > With 4 agents, the simulation runs smoothly, but after running the 5th > agent, the simulation becomes unstable, some agents jump high in the > air and simulation hangs completely. I get similar results on my laptop. Currently, I can only run 4 agents reliably on my laptop (with the 0.5.6-preview). Anybody tried with connecting agents over the network? Does it make a difference? Also, does anybody have a machine close to the specs in Atlanta to test? My laptop is too weak to be used as a reference (only for a lower baseline maybe). > Jan Murray <mu...@un...> wrote on 06/15/2007 05:32:46 PM: > > Hedayat Vatankhah wrote: > > > Hi, > > > Sorry, the monitorspark crashes for me for other reasons too. > > > Currently, in the latest spark.rb, this line is missing for > > > monitorspark: > > > simulationServer.setMultiThreads(false); > > > > > > so it is running in multi thread mode which causes a crash on my > > > computer. when I add this line, monitorspark doesn't crash for > > > this reason. (It still has the other problem I mentioned in my > > > previous mail.) > > > > Woo Hoo, that did it for me. :-D > > > > monitorspark is now running for me. I just overlooked that it was > > the *logplayer* that was set to singlethread mode. > > > > I can drop the ball and move the agent and start the game now. But > > in the external monitor most of the time only the agent's forearms > > are moved. Sometimes the body follows a little later, sometimes it > > doesn't. But in the internal monitor this is rendered correctly. > > > > > > Thanks, > > Jan |
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