I'm interested to know which simulation feature provides the most information. Sort of a random drop out of features on the scene graph. Include lighting vs.

I'm interested to know which simulation feature provides the most information. Sort of a random drop out of features on the scene graph. Include lighting vs. no lighting, color vs monochrome (brightness only), shadowing vs non, texture vs untextured, monocular vs binocular, etc... You can test what simulation features are informative by measuring the resulting real world accuracy with the arm. How simple can the simulation be? How informative is each feature?