Open
Conversation
vivi-enne
force-pushed
the
feature_fake
branch
from
b0fda94 to
4254576
Compare
oleflb
requested changes
Jan 11, 2026
Contributor
oleflb
left a comment
oleflb
left a comment
There was a problem hiding this comment.
Looks nice overall, just some remarks
| } | ||
| }, | ||
| "field_dimensions": { | ||
| "ball_radius": 0.05, |
Contributor
There was a problem hiding this comment.
This is not the same ball_radius as we have in mujoco
tools/mujoco-simulator/mujoco-simulator/mujoco_simulator/low_state.py
Outdated
Show resolved
Hide resolved
Comment on lines
+44
to
+45
| let field_of_view_width_angle = 60.0_f32.to_radians(); | ||
| let field_of_view_height_angle = 45.0_f32.to_radians(); |
Contributor
There was a problem hiding this comment.
Don't we already have config for this?
Comment on lines
+47
to
+54
| let x = upper_left_goal_post_in_camera.x(); | ||
|
|
||
| let horizontal_angle_to_object = upper_left_goal_post_in_camera.y().atan2(x); | ||
| let vertical_angle_to_object = upper_left_goal_post_in_camera.z().atan2(x); | ||
|
|
||
| let is_visible = x > 0.0 | ||
| && horizontal_angle_to_object.abs() < field_of_view_width_angle / 2.0 | ||
| && vertical_angle_to_object.abs() < field_of_view_height_angle / 2.0; |
Contributor
There was a problem hiding this comment.
I think the Intrinsic camera matrix already provides functionality for this. If not this would be a great location to put this code. You could then construct an Intrinsic here and use that.
Right now you also ignore the fact that the optical center could be shifted, which would make this math incorrect.
Again, the Intrinsic camera matrix handles all of that (except shear at the moment)
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
4 participants
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.
Why? What?
We need a feature for the SLAM, therefore we decided to take the upper left corner of the goal. This PR also includes the
camera_to_worldtransition, so that future features should be easily included.Fixes #
ToDo / Known Issues
Ideas for Next Iterations (Not This PR)
If there are some improvements that could be done in a next iteration, describe them here.
How to Test
Check in simulator: standing or walking robot should output a vector for
Control.main_outputs.featurethat matches the position of the left upper corner of the goal in the camera image. If it is not visible it should be None.