Re: webots contest

Joel Chestnutt wrote:

>Olivier Michel wrote:
>  
>
>>I tryed to fix the "last updated" column of the hall of fame. Now, it is 
>>a bit better (it looks at all the files in the robot's directory and not 
>>only the *.class files as it used to do), but not perfect (as it doesn't 
>>yet go recursively into sub directories to perform this check).
>>    
>>
>Looking at it now, there's a whole bunch of robots that claim to have 
>been modified Mar.19, at 16:12.  This seems rather... odd.
>  
>
Now it seems it look better..

>>>- How exactly does the distance sensor work in the simulation?  It seems 
>>>to vary wildly during test matches.  I've been assuming that it is the 
>>>distance to whatever is at the center pixel in the camera's image.  Is 
>>>that true?
>>>
>>>
>>>      
>>>
>>No. You should go to the Preferences of Webots and check the box that 
>>display the range of the distance sensor, then you will understand that 
>>it is not necessarily the center of the image.
>>
>>    
>>
>
>Wow, that's pretty cool.  I missed that option before.  Next question:
>Do the camera and distance sensor originate from the same place?
>
No, see the scene tree for details (you have to open every Servo on the 
path to the Camera and DistanceSensor (throughout the head) to get the 
precise coords of the Camera and DistanceSensor).

>  What I 
>care about is can I depend on the sensor beam always hitting the same 
>pixel in the image?  I'll probably just assume that's the case and hope 
>that any offset will be fairly small and not cause too much error.
>  
>
Yes, this is probably the case, as the Camera and DistanceSensor are set 
on the same Servo.

>>>- The legs are mirror images in configuration, but that's not how it 
>>>appears in the diagram here: http://roboka.org/images/judoka_servos.png
>>>The hip servo order doesn't match between the left and right hips.  I 
>>>believe the right hip order is the correct one.
>>>
>>>
>>>      
>>>
>>Do you mean that some rotation arrows need to be fixed on the image ? 
>>Actually I am not the author of it, I believe it was contributed by 
>>Frans Klip <[email protected]>. I would be glad to publish a 
>>fixed version of it if anyone can contribute it.
>>    
>>
>
>It's not the rotation arrows, it's there servo labels for the left hip. 
>    Maybe when I have some free time, I'll fix it.
>  
>
Ok, that would be nice. Thanks.

>>>- How noisy is the GPS measurement in the online matches?  It's 
>>>perfectly accurate offline.  We've started using it for some things 
>>>recently, which seem to work fine online as well.  The documentation 
>>>says the the position measurements are noisy online, but I haven't seem 
>>>it seeming to affect anything in the online matches.
>>>
>>>
>>>      
>>>
>>Actually, it is not noisy online either. We never implemented this noise 
>>for contest matches... Shall we do it before the end of the contest ?
>>    
>>
>
>Here I'd disagree with Robotman, for reasons of personal preference.  We 
>have a vision system for toddler, and it works quite well.  However, I 
>really have no interest in vision.  For me, reliable GPS allows us to do 
>extra things that we wouldn't be able to do with just vision.
>
Yes, but real robots don't have such perfect GPS (especially indoors). 
We want to program realistic robots, so that you  could port your 
algorithm to a real robot. We want to avoid pure free simulation...

>  Actually, 
>I would be perfectly happy to have GPS data for the opponent available 
>as well.  That would allow us to do even more things that just aren't 
>reliable at all with vision.
>  
>
No doubt that would be useful, but again, real robots don't have access 
at such information. Hence it is necessary to perform image processing 
to compute this information. It's a difficult task, but it is something 
we are doing every day in our brain and this something we would like to 
see in real humanoid robots as well...

-Olivier


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