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…ing in changes made to position refiners
…finer's constructor
…ored classes, added new datasets
…e testing utilities
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Pull request overview
This PR implements FIR (Finite Impulse Response) filtering for noise reduction in robot position tracking from vision data. The implementation includes a new filter module, comprehensive unit tests validating MSE reduction, and integration into the position refinement pipeline with support for both friendly and enemy robot tracking.
Key Changes:
- New FIR filter implementation with configurable parameters for position smoothing
- Unit tests demonstrating filter effectiveness across 6 robots using real simulation data
- Updated PositionRefiner API to accept team color and robot count parameters for filter initialization
- Added visualization and analysis dependencies (scipy, seaborn, pyqtgraph, pyside6)
Reviewed changes
Copilot reviewed 17 out of 24 changed files in this pull request and generated 11 comments.
Show a summary per file
| File | Description |
|---|---|
utama_core/run/refiners/filters.py |
New FIR filter implementation with position and orientation filtering support |
utama_core/tests/refiners/noise_filter_test.py |
Comprehensive unit tests validating MSE reduction for x, y, and vector positions |
utama_core/run/refiners/position.py |
Integration of filters into position refiners (not shown in diff) |
utama_core/tests/refiners/position_unit_test.py |
Updated test signatures to match new PositionRefiner constructor |
utama_core/tests/refiners/position_refiner_integration_test.py |
Updated integration test with new PositionRefiner parameters |
utama_core/run/strategy_runner.py |
Updated PositionRefiner instantiation with team and robot count parameters |
utama_core/entities/data/vision.py |
Added Gaussian noise injection method for testing |
pixi.toml |
Added scipy, seaborn, pyqtgraph, and pyside6 dependencies |
vision_data/*.csv |
Test data files for filter validation |
vision_data/.jupyter/* |
Jupyter workspace configuration (should not be committed) |
main.py |
Changed mode from "rsim" to "grsim" |
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…ned off filtering by default with a flag to PositionRefiner
…-SSL/Utama-Core into position_filtering_2
…-SSL/Utama-Core into position_filtering_2
energy-in-joles
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Feb 21, 2026
valentinbruehl
pushed a commit
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Feb 22, 2026
* Added extracted vision data with varying degrees of vanishing and noise * Attempt to store past raw game frames; starting work on test cases * added Andrew's filter * Integrated filters into position refiner * bad example test * Refined filter weights, added vision data for testing * Updated test data * Noise now added manually, updated test data * Amended test cases to address CI failure due to changes to PositionRefiner's constructor * Refinements to filters based on empirical data * Added some references for building tests * First pass unit tests * Some issues with unit tests. Working on fix * Added live testing utilities, conducted analytics for filters, refactored classes, added new datasets * Finalised analysis of filters, unit tests are working, added more live testing utilities * Deleted redundant files * Minor refinements to the live testing utilities * fixed formatting issues * Commented out utilities for testing and exporting data * Addressed comments on PR * Removed redundant utility function * cleanup * Added back error handling for imports when run from Jupyter * Moved unused testing/debugging utilities to a separate text file, turned off filtering by default with a flag to PositionRefiner * Further cleanup * Removed all testing utilities, will create a testing branch * Cleaned up test suite * Removed data analysis * Removed data analysis * Removed data analysis * Final cleanup * revert position_refiner_integration_test * update test * fixes and formatting * remove unncessary comments * update readme --------- Co-authored-by: Fred Huang <fredhuang122106@gmail.com> Co-authored-by: Joel <nzmjoel@gmail.com>
energy-in-joles
added a commit
that referenced
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Apr 9, 2026
* the dwa is cooked it runs in sim but the robots are undergoing brownian motion * Fast Path PLanning * fixing * cleaning up * test: write simple straight line test * test: uncomment straight line test with obstacles * test: moving robots obstacle course, also added separate motion controller for opponents for testing * test: implement unit test of 12 robots dashing straight at each other * test: implement test with 6 robots moving randomly in a half court * fixing a bug * increased safety * revert dwa config and planner * rename test file * fixing slowing down at sugoals + linting * recursion error fix * fix: index out of order bug * updates to fastpathplanning * updates * updating * adding test * random movement test succeeds with fpp (5 robots) * diagonal robot movement test pass with fpp * make number of robots in random_movement_test adjustable * use fpp in all tests * reduce to 3 robots in random_movement_test * compute distance between two line segments * g * Lined Based obstacles and Config Files Updates * fixed issues concerning new functions in math_utils * updating * Removing extra libraries * Update utama_core/motion_planning/src/fastpathplanning/planner.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Adding snake eye convention and removing unwanted code * Removed target from collide function * Updating checksegment function * Including Joel's suggestions * snake_case and parameter error fix * Update utama_core/motion_planning/src/controllers/fastpathplanning.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Fix/goalkeeping (#92) * dribbling * improved logic * bug fix * updates * improvements * typing * optimizations to rsim * Update utama_core/rsoccer_simulator/src/ssl/envs/standard_ssl.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * bug fixes + updates * linting * test bug fix * test_fix * undo * undo * reverted params * bug fixes * improved dribbler logic * Update utama_core/team_controller/src/controllers/real/real_robot_controller.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * updates * update fix * updates * updates * fixes * removed prints * feat: change goalkeep * feat: fix bug * add change * Fix: fix the bug run toward enemy * Fix: add a barrier to the forbiden square * Fix: goal keep * simplification of similar codes * simplification * minor: improve in algo * minor: improve in algo * fix: algorithm problem * Fix: write the algorithm that let goalkeeper go between predict line and other robo * Feat: add the third defender * Fix: better tribble defender * chore: linting * Update utama_core/skills/src/goalkeep.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update utama_core/skills/src/defend_parameter.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update utama_core/skills/src/defend_parameter.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Remove unused imports from defend_parameter.py (#100) * Initial plan * Remove unused imports face_ball and move Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> * Fix goalkeep to handle teams with more than 3 robots (#99) * Initial plan * Fix: handle cases with more than 3 friendly robots in goalkeep Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> * Remove dead code file goal_keep.py (#98) * Initial plan * Remove dead code file goal_keep.py Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> * Remove unused math import from standard_ssl.py (#97) * Initial plan * Remove unused math import from standard_ssl.py Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> * Fix hardcoded goal coordinates in defend_parameter.py for bidirectional play (#96) * Initial plan * Fix hardcoded goal x-coordinates in defend_parameter.py Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> Co-authored-by: Fred Huang <60901360+fred-huang122@users.noreply.github.com> --------- Co-authored-by: Fred Huang <fredhuang122106@gmail.com> Co-authored-by: Fred Huang <60901360+fred-huang122@users.noreply.github.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Isaac Yong <72080621+isaac0804@users.noreply.github.com> Co-authored-by: Yangping Li <lynfe@LAPTOP-JJF6AK12.localdomain> Co-authored-by: Ningchaun <1311856651@qq.com> Co-authored-by: Copilot <198982749+Copilot@users.noreply.github.com> Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> * chore(release): bump version to v1.5.20 * Real/extend kick transmission (#93) * chore(release): bump version to v1.5.21 * Add DeepWiki badge to README Add badge for DeepWiki to README * Feature/rsim noise (#89) * Implemented a flag to add Gaussian noise in rsim. Added another more hackish implementation for comparison. * Cleaned up implementation, removed hackish alternative * Working on adding noise to each component independently * Completed implementation of noise addition * Addressed comments on PR, got orientation to work * Addressed comments in PR, added vanishing, added support for ball * Minor linting * Moved utility functions for adding Gaussian noise from classes representing balls/robots to the SSLStdenv class. Learned about this best practice in this week's lecture * Turned off a flag used for testing --------- Co-authored-by: Joel <42647510+energy-in-joles@users.noreply.github.com> * chore(release): bump version to v1.6.0 * Fix/defence parameter (#103) * Fix: fix the goalkeeper and defencer * fix: the robot will not move if it block the ball * Fix: the robot will not move if it block the path * Update utama_core/skills/src/defend_parameter.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Fix goalkeeper defender position logic for left goal defense (#104) * Initial plan * Fix defender position logic for left/right goal defense Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> * Fix side-aware defender position check in goalkeeper logic (#105) * Initial plan * Fix: Make defender position check side-aware Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> --------- Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> --------- Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> Co-authored-by: Fred Huang <60901360+fred-huang122@users.noreply.github.com> * Feature/kalman (#101) * Added extracted vision data with varying degrees of vanishing and noise * Attempt to store past raw game frames; starting work on test cases * added Andrew's filter * Integrated filters into position refiner * bad example test * Refined filter weights, added vision data for testing * Updated test data * Noise now added manually, updated test data * Amended test cases to address CI failure due to changes to PositionRefiner's constructor * Refinements to filters based on empirical data * Added some references for building tests * First pass unit tests * Some issues with unit tests. Working on fix * Added live testing utilities, conducted analytics for filters, refactored classes, added new datasets * Finalised analysis of filters, unit tests are working, added more live testing utilities * Deleted redundant files * Minor refinements to the live testing utilities * fixed formatting issues * Commented out utilities for testing and exporting data * Analysed vanishing problem, created sample datasets * Position refiner now has access to the last game frame and command map. Imputing feature is coming along , but there are unexplained spikes that are preventing it from working properly * Fixed issues, now imputes correctly based on last gameframe * Completed work on vanishing * Incorporated some suggestions from copilot regardign style * Addressed comments on PR * Removed redundant utility function * Factored out static method into global utility * cleanup * Added back error handling for imports when run from Jupyter * Renamed datasets to include the control mode, filtering only turned on during run mode together with vanishing * Fixed bug in tests due to renaming of files * Created working Kalman filter. Working on analytics * Working on analytics * Implemented a flag to add Gaussian noise in rsim. Added another more hackish implementation for comparison. * Analysing Kalman filter performance; need to merge new rsim utilities first * Cleaned up implementation, removed hackish alternative * Working on adding noise to each component independently * Completed implementation of noise addition * Addressed comments on PR, got orientation to work * Performed benchmarking on kalman filters * Performed benchmarking on kalman filters * More benchmarking * Kalman filter performance validated * Kalman filters now handle vanishing * Removed non-performing implementations * Rejigged analytics for Kalman filter * Addressed comments in PR, added vanishing, added support for ball * Minor linting * Merge branch 'feature/rsim_noise' into feature/kalman * Added filter for ball, added support for orientation * Now able to run analytics for orientation * Moved utility functions for adding Gaussian noise from classes representing balls/robots to the SSLStdenv class. Learned about this best practice in this week's lecture * Turned off a flag used for testing * Minor bug fix * Analysing data for orientation, plus some minor fixes * Completed work with Kalman filters, will now work on PR * Removed some redundant files * Renamed folder to ease merging with testing * Renamed folder to ease merging with testing * Cleanup, getting ready for PR * Small fix to satisfy linter * Final cleanup after reviewing PR diff * Improved filter docs * add docstring to math_utils.py * remove unused get_displacement_vector * remove unused import * [chore] formatting * chore: formatting * fix matrix inversion numerical instability and formatting of class name * remove improper static method use * improper use of tuple[float] type hint and mix bug referencing self.covariance_mat_xy instead of self.covariance_mat in KalmanFilterBall * removed references of .cmd_map not used position.py * fix test failure * Made non-global constant variable lower-cased * Using matrix transpose attribute instead of function call * update test cases * Removed redundant last_game_frame attribute * separate my and opp refiners * update running attribute for opposite refiner too * Minor formatting and naming changes to Kalman filter * fix incorrect assumption about robot id numbering in position refiner tests * corrected direct imputation of None values into vision data. Fix bug causing test fail * improve reset functionaity of position refiner * Fixed bugs introduced when removing assumption about numbering * fix dictionary logic in position refiner * update optional typing for KalmanFilterBall filter * fix typing in KalmanFilterBall * fix point cycle strat * Fixed issues in test due to filters no longer having ids, and now taking Robot instead of Dict[Int, Robot] * Kalman filter now has id attribute * label vision data using kalman id instead of last frame id * add comment about treating substitution as vanishing * remove unncessary imports * add authors --------- Co-authored-by: Fred Huang <fredhuang122106@gmail.com> Co-authored-by: Joel <nzmjoel@gmail.com> * chore(release): bump version to v1.7.0 * FIR filters (#81) * Added extracted vision data with varying degrees of vanishing and noise * Attempt to store past raw game frames; starting work on test cases * added Andrew's filter * Integrated filters into position refiner * bad example test * Refined filter weights, added vision data for testing * Updated test data * Noise now added manually, updated test data * Amended test cases to address CI failure due to changes to PositionRefiner's constructor * Refinements to filters based on empirical data * Added some references for building tests * First pass unit tests * Some issues with unit tests. Working on fix * Added live testing utilities, conducted analytics for filters, refactored classes, added new datasets * Finalised analysis of filters, unit tests are working, added more live testing utilities * Deleted redundant files * Minor refinements to the live testing utilities * fixed formatting issues * Commented out utilities for testing and exporting data * Addressed comments on PR * Removed redundant utility function * cleanup * Added back error handling for imports when run from Jupyter * Moved unused testing/debugging utilities to a separate text file, turned off filtering by default with a flag to PositionRefiner * Further cleanup * Removed all testing utilities, will create a testing branch * Cleaned up test suite * Removed data analysis * Removed data analysis * Removed data analysis * Final cleanup * revert position_refiner_integration_test * update test * fixes and formatting * remove unncessary comments * update readme --------- Co-authored-by: Fred Huang <fredhuang122106@gmail.com> Co-authored-by: Joel <nzmjoel@gmail.com> * chore(release): bump version to v1.8.0 * reverting mistake This reverts commit ba83a96. * planner.py naming convention fixes * addressed pull request comments * Updating * Updating * Updating * Updating * Updating * Added Field Bounds to FastPathPlannig * Added field bounds as an obstacle * Added boundaries are as obstacle, updated how the point of closesnt obstacle is calculated. * Added a project feature, to increase the speed * ignore DS_Store * optimise fastpathplanner --------- Co-authored-by: Jawad <jawad.olavian@gmail.com> Co-authored-by: wowthecoder <wengloo135@gmail.com> Co-authored-by: Sarthak Agarwal <sarth@Sarthaks-Macbook.local> Co-authored-by: Sarthak Agarwal <132744408+Vortex4627@users.noreply.github.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: maimaicircle <lynfevian@outlook.com> Co-authored-by: Fred Huang <fredhuang122106@gmail.com> Co-authored-by: Fred Huang <60901360+fred-huang122@users.noreply.github.com> Co-authored-by: Isaac Yong <72080621+isaac0804@users.noreply.github.com> Co-authored-by: Yangping Li <lynfe@LAPTOP-JJF6AK12.localdomain> Co-authored-by: Ningchaun <1311856651@qq.com> Co-authored-by: Copilot <198982749+Copilot@users.noreply.github.com> Co-authored-by: NingchuanIC <212761386+NingchuanIC@users.noreply.github.com> Co-authored-by: utama-release-manager[bot] <232491996+utama-release-manager[bot]@users.noreply.github.com> Co-authored-by: Joel <42647510+energy-in-joles@users.noreply.github.com> Co-authored-by: Sze Yoong Low <low.szeyoong@gmail.com> Co-authored-by: Sze Yoong Low <sy8low@gmail.com> Co-authored-by: Joel <nzmjoel@gmail.com>
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Finite Impulse Response (FIR) filters for noise filtering
Results achieved
When testing with grSim using the PID controller under random noise with standard deviation of 10 cm, we achieved a 45% improvement in robot positioning accuracy.
However, under the DWA controller, it creates random oscillations. We suspect it is due to the phase delay that FIR filters inherently caused. As such, we have since focused on developing a Kalman filter.
Note:
Kindly keep the additional unused parameters to the Position Refiner. It is required for Kalman filters, and removing it will require double work.
Completed by @szeyoong-low and @JiamingLiu5