EuRoC Forum

[AM-Robotics]

I have a question regarding the starting conditions of the scene.
Can we asume that the pan/tilt camera unit and the robot will be located in the same spot and start in the same configurations as in all other scenes so far?
If not, can we at least assume that the mast_of_cam position will always be the same?
Thanks and regards

[fschmidt]

the yaml field mast_of_cam/base_pose (T_CM of figure4 page 8 technical annex) and mast_of_cam/pan_tilt_base (T_{PT_Base}) is fixed and will not change.

the robot base (of two linear axes + LWR), yaml field robot/pose (T_{LA_Base}) will always be close to the world origin.
in task1 it will be exactly 5mm above the world origin (robot/pose: [0, 0, 0.005, 0, 0, 0]) as reported by the returned yaml description.
in task2, 3, 4 & 5 it will deviate a little bit from this pose as described in the technical annex section 3.X.4: Uncertainties.

the LWR, two linear axes and gripper will always start with a commanded joint position of 0. the pan/tilt unit will always start with a commanded position of [0, 0.785] [rad].