EuRoC Forum

All rotations and some positions of the parts in task 5 are [0,0,0] in the provided example.

Especially:
- The rotation of the parts in the "relative_puzzle_part_target_poses"
- The rotation of all objects (public_description)
- The position of the first box of all parts (public_description)

Can we assume, that this will also be the case in the final test?

red wrote: - The rotation of the parts in the "relative_puzzle_part_target_poses"

We would like to keep this parameter variable as it is important for general assembly scenarios. Nevertheless you can assume that these will only be rotations in the plane of 90 [deg] steps.

red wrote: - The rotation of all objects (public_description)

If you mean the rotation of the object shapes/boxes, you can safely assume that these will be zero.

red wrote: - The position of the first box of all parts (public_description)

You can safely assume that the origin of the first box will be in the origin of the part.

The example below is for clarification. All fields denoted by X can change in the final task.

Code: Select all

objects:
  part1:
    color: X
    shape:
      - pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
        size: [X, X, X]
        type: box
      - pose: [X, X, X, 0.0, 0.0, 0.0]
        size: [X, X, X]
        type: box
      - ...
  ...
relative_puzzle_part_target_poses:
  part1: [X, X, X, X, X, X]
  ...


with rotations in the plane of 90 [deg] steps you mean around the Z axis?
so parts will always be declared without z position offset?

proprentnerl wrote:with rotations in the plane of 90 [deg] steps you mean around the Z axis?

Yes, around the Z axis.

proprentnerl wrote:so parts will always be declared without z position offset?

Parts will always lie flat on the table. Nevertheless they will still have a z position offset depending on the size of the object.

thank you, I only wanted to clarify this because the handle in task 1-4 is declared standing instead of lying flat.