I try to sum up all the information provided in the forum concerning the puzzle. Just to verify if i got all the informations correct.
1) all parts are 2 dimensional and composed of equally sized cubes (boxes)
2) the color of the parts is chosen from one of the following: 0000ff - blue, 00ff00 - green, 00ffff - cyan, ff0000 - red, ff00ff - magenta, ffff00 - yellow
3) objects might have the same color but will then be clearly distinguishable because of their shape
4) no touching parts have the same color
5) minimum size of the boxes is 60% (~ 0.03 m) of the current v1 size for task 5: The boxes will not be smaller than the width of the gripper jaws
6) the order of placement is not important
7) the origin of the first box will be in the origin of the part
8) Parts will always lie flat on the table. Nevertheless they will still have a z position offset depending on the size of the object.
9) rotation of parts is possible around all axis (but only in steps of 90 degree) Later on it was stated that only rotations around z-axis are possible. --> i assume here we are talking about the relative_puzzle_part_target_poses, see code below
10) maybe the parts have to be flipped over (rotated by 180 around an inplane axis) --> this is due to the initial position (start_pose) of the parts
11) the puzzle fixture is fixed to the table and cannot be moved
12) the fixed sides of the fixture are always on top of the x-axis and the y-axis in the local frame of the puzzle fixture.
Especially concerning (9) it would be very helpful to get a file for testing.
Up to now both provided puzzles were defined without any rotations:
- Code: Select all
relative_puzzle_part_target_poses:
part...: [..., ..., 0.5*boxsize , 0.0, 0.0, 0.0]
Somewhere (unfortunatelly i can't find it anymore) it was written, that the provided scenes will give us a range of to be expected variations of the tasks. So up to now NO rotations in the relative_puzzle_part_target_poses.
Thanks for your replies!
Edit on 30.10.2014: clarification of my point concerning (9) and (10)
Last edited by red on Thu 30. Oct 2014, 10:29, edited 3 times in total.