Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Reset - End of the Year Challenge 2022 Final Submission #140
base: master
Are you sure you want to change the base?
Reset - End of the Year Challenge 2022 Final Submission #140
Changes from 1 commit
be8eab2
aac9f36
a55b264
File filter
Filter by extension
Conversations
Jump to
There are no files selected for viewing
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Why is the time step reduced to 8? Did 32 cause any problems?
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Hello @Adman,
Yes, since the physics computation is now a lot more complicated than before, changing the value for the basic time step of the world would drastically affect the way that robots move and perform. After testing, we found that setting the basic time step of the world to 8 is the most ideal. When we set the basic time step to a value greater than 8, Webots would have trouble computing the physics correctly when collision between robots happen (the physics-related warning message
WARNING: The current physics step could not be computed correctly. Your world may be too complex. If this problem persists, try simplifying your bounding object(s), reducing the number of joints, or reducing WorldInfo.basicTimeStep.
appeared more frequently). On the other hand, when we set the basic time step to a value lower than 8, the robots no longer moved as we expected and the simulation ran slower.Let us know if you have any other questions regarding this issue!
Team Reset
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
@resetteam2023 is there any reason for the exact value of
0.042
in here?There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Hello @mrshu,
Yes, the value of 0.042 here represents the furthest position that the kicker could move to without moving beyond the frame of the robot (the greater the value, the further the center of the kicker is away from the center of the robot).
When we were making the kicker in the Webots world, we only made sure that the kicker position had to be between 0 and 0.042. While this means that the kicker could be moved to positions between 0 and 0.042, the kicker would not be kicking rthe ball as hard in those cases.
If you would like, we could add a parameter to the
kick_ball
function that would allow the kicker to be moved to specific positions between 0 and 0.042.Thank you!
Team Reset
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
@resetteam2023 just out of curiosity, what would happen if this call wasn't made (i.e.
kick_ball
would never be executed withstate=0
)?There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Hello @mrshu,
If
kick_ball
is never executed withstate = 0
, afterkick_ball
is executed withstate = 1
, the kicker would remain in the "outward" position (the center of the kicker would be at a position of 0.042). This means that the robot would not be able to kick the ball again and would not be able to dribble the ball.Let us know if you have any further questions!
Team Reset