Updates for Challenge 1




Updates for Challenge 1

Postby fabrizio.caccavale » Sat 19. Jul 2014, 14:22

This topic states the latest version of the simulator software supplied for EuRoC Challenge 1 Stage I. Please subscribe to this topic in order to be notified of updates.


Download:

You can download the latest versions at:
url: http://projects.laas.fr/euroc/euroc_qualif_c1/
with the username and the password provided via e-mail.


Version History:
- 02.09.2014: Update of the Track 1 simulator and the tech annex

- 18.07.2014: Update of the Track 2 simclient VM (EuRoC C1 Track 2 simclient.tar.gz) and of the technical annex (EuRoC_Call4Challengers_TechnicalAnnex_C1_18_07_2014.pdf). See EuRoC_ChangeLog_C1_18_07_2014.pdf for
a detailed descriptions of changes.

- 14.07.2014: Initial release.


Don't forget to use the forum to get help and technical support. Use the support-challenge01@robotics-challenges.eu address only in the case the forum is not available or if you have special problems or questions which should not be publicly discussed.
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by Advertising » Sat 19. Jul 2014, 14:22

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Re: Updates for Challenge 1

Postby admin » Wed 10. Sep 2014, 17:17

Dear Challengers,

Please note that the track 1 simulator and the technical annex have been updated recently.

The files can be downloaded as usually from http://projects.laas.fr/euroc/euroc_qualif_c1/

Changes for the simulator:
 more robust version of collision detection (human/workpiece <-> robot)
 additional logging functionallity on simulator side
 topic time_budget now with 1 sec resolution
 example client: returns now positional results on dedicated topics as stated in technical annex (Please note that the example client on the client virtual machine is not being updated)

Changes for the tech annex (track 1):
 Added specification of reference frame id when returning a PoseStamped Message
 Correction of kinect sensor names to be used for tasks 1.1, 1.2 and 1.3

Best Regards,
Your Challenge Host
admin
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Re: Updates for Challenge 1

Postby fabrizio.caccavale » Sat 20. Sep 2014, 16:02

Dear Contestants,

We have just released a new version of the technical annex and of the simulation VM for Track 2. They are both available at http://projects.laas.fr/euroc/euroc_qualif_c1/

CHANGELOGS :

What is new in the Track 2 simserver VM (changelog doc available on the download site) :
1) Commands to robots are enabled only after calling start_t3_1, start_t3_2 or solve_t4
2) The rosbag reindex function is changed: reindex now is not skipped if _c1t1.orig is not deleted from the last run

What is new in the Technical annex (Track 2):
1) Clarified various important issues related to the final evaluation (Section 4.2)

Thanks for your patience.

The EuRoC Team.
fabrizio.caccavale
 
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Re: Updates for Challenge 1

Postby Frank » Thu 16. Oct 2014, 16:44

Dear Contestants,

Please note that a bug regarding the evaluation of Task 1.1 was fixed. Consequently, all previous results in the ranking of that task were reset.

The scoring of task 1.1 should now fit the technical annex description. For more information, see:
20112706nx57588/challenge-1-f3/about--intermediate-evaluation-service-t40.html
Frank
 
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Joined: Tue 7. Oct 2014, 10:15

Re: Updates for Challenge 1

Postby admin » Mon 27. Oct 2014, 14:54

Dear Challengers,

Please note that the track 1 simulator and the technical annex have been updated recently.

The files can be downloaded as usually from http://projects.laas.fr/euroc/euroc_qualif_c1/

Changes for the simulator:
    - collision free reachable workpiece holes
    - more reliable robot movements (robot was sometimes waiting for no reason before returning from movement)
    - more reliable human movements (reduced swinging in some cases)
    - stereo camera optical frames now accessible through 'right_camera_optical_frame' and 'left_camera_optical_frame' in tf
    - stereo camera images are available exclusively under topic /simulation_ur5/multisense_sl/* (topic /stereo_camera is no longer available)
Changes for the tech annex (track 1):
    - Correction of stereo topics to be used for task 2 (Section 2.6, System Interaction: Task 2). Explicit statement of the tf frames for the individual cameras of the stereo camera.

Best Regards,
Your Challenge Host
admin
Administrator
 
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Re: Updates for Challenge 1

Postby admin » Tue 28. Oct 2014, 18:42

Dear Challengers,

Please note that the track 1 simulator has been updated recently.

The files can be downloaded as usually from http://projects.laas.fr/euroc/euroc_qualif_c1/

Changes for the simulator:
  • fix: tf frames for holes of workpiece were incorrect leading to stall of load_rivet call
Best Regards,
Your Challenge Host
admin
Administrator
 
Posts: 51
Joined: Fri 27. Jun 2014, 12:22

Re: Updates for Challenge 1

Postby admin » Mon 3. Nov 2014, 15:59

Dear Challengers,

Please note that the track 1 simulator has been updated recently.

The files can be downloaded as usually from http://projects.laas.fr/euroc/euroc_qualif_c1/

Changes for the simulator:
  • fix: mixed up true/false trajectory count in task 1.1
  • fix: fake collisions between workpiece and robot in task 2
  • fix: sporadic jumps of workpiece in task 2

Best Regards,
Your Challenge Host
admin
Administrator
 
Posts: 51
Joined: Fri 27. Jun 2014, 12:22

Re: Updates for Challenge 1

Postby admin » Wed 5. Nov 2014, 13:50

Dear Challengers,

Please note that the track 1 simulator has been updated recently.

The files can be downloaded as usually from http://projects.laas.fr/euroc/euroc_qualif_c1/

Changes for the simulator:
fix: holes and corresponding frames were not aligned

Best Regards,
Your Challenge Host
admin
Administrator
 
Posts: 51
Joined: Fri 27. Jun 2014, 12:22

Re: Updates for Challenge 1

Postby admin » Mon 10. Nov 2014, 08:10

Dear Challengers,

Please note that the track 1 simulator has been updated recently.

The files can be downloaded as usually from http://projects.laas.fr/euroc/euroc_qualif_c1/

Changes for the simulator:
  • fix: possible sporadic hang when calling load_rivet service
  • fix: after collision between robot and workpiece the workpiece is now being reset when robot reaches rivet_home to avoid oscillations between the robot and the workpiece
  • fix: the collision detection now only detects collisions that occur while the robot has not reached its goal yet (thus is being moved by command)
  • fix: the topic collision_workpiece_robot is now present as specified in the tech annex and has the identical content of the already present topic /gazebo/collision_ur_workpiece
  • fix: the mesh of the tool was inaccurately aligned disallowing correctly inserted rivets to get corresponding score

Best Regards,
Your Challenge Host
admin
Administrator
 
Posts: 51
Joined: Fri 27. Jun 2014, 12:22

Re: Updates for Challenge 1

Postby admin » Tue 11. Nov 2014, 12:58

Dear Challengers,

Please note that the track 1 simulator has been updated recently.

The files can be downloaded as usually from http://projects.laas.fr/euroc/euroc_qualif_c1/

Changes for the simulator:
  • fix: the service trigger_rivet was testing the tcp pose against the hole pose (in front of the worpiece surface) and not against the hole pose shifted a certain distance into the hole. Now the rivet has to be inserted at least 1 mm into the hole to be counted as "correctly mounted". Please note that for accuracy scoring in task 2.1 the tcp position is still evaluated against the hole frame shifted 8 mm deep into the hole as stated in the technical annex.
  • fix: potential bug leading to service load_rivet hang when resetting the workpiece pose after a robot workpiece collision


Best Regards,
Your Challenge Host
admin
Administrator
 
Posts: 51
Joined: Fri 27. Jun 2014, 12:22



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