EuRoC Forum

Hello!

I got 2 Questions:
1. is it possible to add dampening to the Simulation?
When placing the cylinder upright but not perfectly aligned with the floor, it can happen that it starts to oscillate and eventually fall over after some time.

2. Which part of the handle has to be in the target zone?
The coordinate frame origin in the .yaml file is in one of the cubes, but there is no way to detect that. Does it matter which cube is in the target zone or do we have to place it upright standing?

Regards
Lukas

proprentnerl wrote:1. is it possible to add dampening to the Simulation?
When placing the cylinder upright but not perfectly aligned with the floor, it can happen that it starts to oscillate and eventually fall over after some time.

Currently it is not possible to add extra dampening to the simulation through the challenger interface. We are aware of the numeric instabilities of the simulation and have to tuned the dampening beforehand. We were able to place each object safely repeatedly.

proprentnerl wrote:2. Which part of the handle has to be in the target zone?
The coordinate frame origin in the .yaml file is in one of the cubes, but there is no way to detect that. Does it matter which cube is in the target zone or do we have to place it upright standing?

Yes, there is no direct way of determining which box is to be placed in the target zone from the task description.

Hi,

Peter Lehner wrote: proprentnerl wrote:2. Which part of the handle has to be in the target zone?
The coordinate frame origin in the .yaml file is in one of the cubes, but there is no way to detect that. Does it matter which cube is in the target zone or do we have to place it upright standing?


Yes, there is no direct way of determining which box is to be placed in the target zone from the task description.

So, does that mean that at least one cube must be on the circle of the target zone ?

chloesdaddy wrote:So, does that mean that at least one cube must be on the circle of the target zone ?

No, the xy-origin of the object must be in the target zone and the origin lies currently inside one particular cube.

So, there is no way to differentiate the origin cube, but it must be in the target zone.

The only way I see is that the target zone is wide enought to get both cubes.

Is it the case ?

cloesdaddy wrote:The only way I see is that the target zone is wide enought to get both cubes.

No the target zone is not wide enough for both cubes. Nevertheless, we are certain the problem is solvable - but the solution is part of the challenge.