HW2 - Gaze

The goal of this task is to implement gaze controller for the iCub robot that is able to follow a ball moving on a table. The task is simplified to 2D case. The task will be run with GUI off.

Submit to BRUTE

Implement gaze() function in hw2.py that will control the gaze of the robot to follow the ball.

• the function takes one argument:
  • client - instance of pycub class that controls the simulation
• the function should control the robot to follow the ball
  • do not move the eyes
  • the move must non-blocking, i.e., parameter wait=False
• you must not call `update_simulation()` in this function

• the ball will be moving for N seconds and each step the error in degrees will be calculated
• The score is calculated based on head-view direction and head-to-ball direction
• maximum number of points is M and you will lose points based on the following:
  • if the mean absolute error is:
    • less than 0.55 degree - 0% of points
    • more than 0.55 and less than 1 degree - 50% of points
    • more than 1 and less than 5 degrees - 75% of points
    • more than 5 - 100% of points
  • if the max error is:
    • less than 1.25 degrees - 0% of points
    • more than 1.25 and less than 5 degrees - 25% of points
    • more than 5 and less than 10 degrees - 50% of points
    • more than 10 - 100% of points
• the test will be done 10 times and the final score will be the average of 8 best results
• If you have all 10 correct, you will get 1 bonus point
• the timeout in BRUTE is 15minutes. But all tests should end under ~5 mins.
• After deadline, the penalization will be -1 point after each 24 hours

• do not create new client instance, use the one that is passed as an argument
  • 0 points be will be given otherwise
• do not rename the function or file
  • 0 points be will be given otherwise
• do not call `update_simulation()` in the function
  • 0 points be will be given otherwise
• must use non-blocking move, i.e., parameter wait=False
  • 0 points be will be given otherwise
• have “nice” coding style
  • use understandable variable names
  • use comments to explain more complicated things
  • -1 points otherwise
• Have a general code, i.e., no if/else (switch) statements for every possible case that can happen
  • you can of course still use if/else when needed, but should not be used, for example, based on every possible position of the ball etc.
  • -1 points otherwise
• do not move the eyes. The head must follow the ball
  • no point will be reduced for this, but the automatic evaluation will most probably give you almost no points as it requires the head to “look”, not the eyes