Thu 23. Oct 2014, 07:50
Thu 23. Oct 2014, 07:50
Thu 23. Oct 2014, 09:34
AM-Robotics wrote:Do we get a list of 6 scene files in the final evaluation and solve each of the task in one sequence? Or do you start our program for each task?
AM-Robotics wrote:Concerning this we have some problems with the reset of the ros time variable (which resets to 0).
AM-Robotics wrote:What happens exactly with our score when the simulator runs longer than the time limit or the simulator gets red? Do we receive 0 points?
Thu 23. Oct 2014, 16:39
Peter Lehner wrote:In the final evaluation you can query the list of scene tasks just as now with the list_scenes service. You can then identify the task number from the 'name' field of the task description. You are expected to automatically start and solve each task by calling your solution application in /opt/euroc_c2s1/startup as specified in the technical annex, Section 4.2.
Fri 24. Oct 2014, 11:40
lrubio wrote:So, are task 'names' going to be different from now?
Mon 27. Oct 2014, 10:41
Mon 27. Oct 2014, 15:17
#!/usr/bin/python
import rospy
import yaml
from euroc_c2_msgs.msg import *
from euroc_c2_msgs.srv import *
list_scenes = rospy.ServiceProxy("/euroc_c2_task_selector/list_scenes", ListScenes)
list_resp = list_scenes()
list_resp.scenes.sort(key=lambda scene: scene.name)
for scene in list_resp.scenes:
print "scene: %-20.20s" % scene.name,
data = yaml.load(scene.description_yaml)
print "task name: %r" % data["task_name"]
scene: task1_v1 task name: 'task 1'
scene: task1_v2 task name: 'task 1'
scene: task1_v3 task name: 'task 1'
scene: task2_v1_1 task name: 'task 2/1'
scene: task2_v1_2 task name: 'task 2/2'
scene: task2_v1_3 task name: 'task 2/3'
scene: task2_v2_1 task name: 'task 2/1'
scene: task2_v2_2 task name: 'task 2/2'
scene: task2_v2_3 task name: 'task 2/3'
scene: task2_v3_1 task name: 'task 2/1'
scene: task2_v3_2 task name: 'task 2/2'
scene: task2_v3_3 task name: 'task 2/3'
scene: task3_v1 task name: 'task 3'
scene: task3_v2 task name: 'task 3'
scene: task3_v3 task name: 'task 3'
scene: task4_v1_1 task name: 'task 4/1'
scene: task4_v1_2 task name: 'task 4/2'
scene: task4_v1_3 task name: 'task 4/3'
scene: task4_v2_1 task name: 'task 4/1'
scene: task4_v2_2 task name: 'task 4/2'
scene: task4_v2_3 task name: 'task 4/3'
scene: task4_v3_1 task name: 'task 4/1'
scene: task4_v3_2 task name: 'task 4/2'
scene: task4_v3_3 task name: 'task 4/3'
scene: task5_v1 task name: 'task 5'
scene: task5_v2 task name: 'task 5'
scene: task5_v3 task name: 'task 5'
scene: task6_v1 task name: 'task 6'
scene: task6_v2 task name: 'task 6'
scene: task6_v3 task name: 'task 6'
list_scenes = rospy.ServiceProxy("/euroc_c2_task_selector/list_scenes", ListScenes)
list_resp = list_scenes()
for scene in list_resp.scenes:
data = yaml.load(scene.description_yaml)
task_name = data["task_name"]
if task_name == "task 1":
solve_simple_pick_and_place(scene.name)
elif task_name.startswith("task 2/"):
solve_simple_pick_and_place_bad_calib(scene.name)
elif task_name == "task 3":
solve_mobile_pick_and_place(scene.name)
elif task_name.startswith("task 4/"):
solve_mobile_pick_and_place_obstacles(scene.name)
elif task_name == "task 5":
solve_puzzle(scene.name)
elif task_name == "task 6":
solve_conveyor_belt(scene.name)
list_scenes = rospy.ServiceProxy("/euroc_c2_task_selector/list_scenes", ListScenes)
list_resp = list_scenes()
scene_names = {}
for scene in list_resp.scenes:
data = yaml.load(scene.description_yaml)
task_name = data["task_name"]
scene_names[task_name] = scene.name
def solve_simple_pick_and_place(scene_name):
start_sim = rospy.ServiceProxy("/euroc_c2_task_selector/start_simulator", StartSimulator)
resp = start_sim("C2TXX#YYYYYY", scene_name)
data = yaml.load(resp.description_yaml)
print "solving simple pick and place..."
# ...
# ...
solve_simple_pick_and_place(scene_names["task 1"])
solve_simple_pick_and_place_bad_calib(scene_names["task 2/1"]))
solve_simple_pick_and_place_bad_calib(scene_names["task 2/2"]))
solve_simple_pick_and_place_bad_calib(scene_names["task 2/3"]))
solve_mobile_pick_and_place(scene_names["task 3"]))
solve_mobile_pick_and_place_obstacles(scene_names["task 4/1"]))
solve_mobile_pick_and_place_obstacles(scene_names["task 4/2"]))
solve_mobile_pick_and_place_obstacles(scene_names["task 4/3"]))
solve_puzzle(scene_names["task 5"]))
solve_conveyor_belt(scene_names["task 6"]))
Thu 30. Oct 2014, 15:27
Thu 30. Oct 2014, 16:42
Fri 31. Oct 2014, 07:49
Fri 31. Oct 2014, 09:30
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