Deus ex machina penalties discourages team from doing graspping (even though their robots are fully capable)

[SJ-YI]

Is your idea/suggestion related to a problem? Please describe.

DEM penalty for handling object over to the robot is set way too low, and this actually ENCOURAGES team to skip the graspping.

Case :1 Serve Breakfast task

1. Team A handles every objects to the robot, and robot only does placing. It succeds pouring cereal into the bowl (with some spilling). Total score: 4x60 (placing items) + 4x-15 (DEM penalties) + 300 (pouring cereal) - 100 (spilling cereal)= 380 points

2. Team C let robot does both pickup and release. The robot picks up 3 out of 4 objects, but fails to pick up the cereal. Total score: 3x15 (picking up items) + 3x60 (placing items) = 225 points

Case 2: Clean the table task

1. Team A handles every objects to the robot, and robot only does placing. It succeds placing all the tableware and dishwasher tab Total score: 5x180 (placing) + 5x40 (placing correctly) + 300 (placing dishwasher tab) - 5x60 (DEM penalties) = 1100 points

2. Team B's robot does both pickup and release. The robot successfully picks up and places 4 out of 5 objects. Total score: 4x60 (picking) + 4180 (placing) + 440 (placing correctly) + 300 =1120 points

Although the grasping is the hardest part of the manipulation tasks, in most cases it is actually desirable to skip the grapping part aand get more points (unless your perception/grasping is 100% reliable) which is downright absurd.

Describe the solution you'd like

Use different score sheets between leagues. Don't give any handling object penalty for SSPL robots, and penalize OPL/DSPL robots A LOT.

[MatthijsBurgh]

This should be postponed till after RoboCup 2023