Task 1B - Submission

Submission instructions for task 1B:

  • NOTE: All your tasks will be checked using a plagiarism software. If any submitted file is found to be plagiarised, e-Yantra reserves the right to disqualify the team.

  1. Upgrade your eyantra-autoeval package by running the command given below

    pip3 install -U eyantra-autoeval

  2. First launch the robot in gazebo as instructed before ros2 launch ur_description ur5_gazebo_launch.py and ros2 launch ur5_moveit spawn_ur5_launch_moveit.launch.py keep it running (Replace the package name of ur5_moveit if you have named it differently) .

  3. Then open a new terminal and execute the auto eval script eyantra-autoeval evaluate --year 2023 --theme CL --task 1B.

  4. Wait for DATA COLLECTION STARTED INFO to be shown on the terminal.

  5. Now, run your Python script to manipulate arm, and once the task is completed go to the autoeval terminal and use Ctrl + c key once which will generate a my_bag/my_bag_0.db3 bag file in the same directory (inside a folder named my_bag).

NOTE: You can verify the bag file duration by using the command ros2 bag info my_bag_0.db3 by navigating to the directory containing .db3 bag file. This is not the run time of your task but the bag file recording time.

  1. Now add your python script and rename it as task1b.py to the same directory and create a .zip file by selecting all three files i.e. Python, yaml and bag file . Take a look at the below .GIF to understand it better. (Note: Do not compress the whole folder)

  1. Once the zip is created, rename it as <CL#team_id_1B> (For example, if your team id is 1679, rename file as CL#1679_1B.zip) and submit on eYRC Portal - Task 1 by selecting option 1B.

Grading

This task will be graded out of 35

Maximum Marks - Marks: 35.00
Failed Task - Marks: 0.00

Formula

Task_1B_Marks = ([180 - T] / 24) + ([CPP1 + CPP2] * 10) + ([CDP1 + CDP2] * 5)

T: Time for execution of manipulation -

  • Maximum Time: 180 sec (or 3 mins)
  • T = End time - Start time
  • Start time: First movement of arm from its initial position after the start of eyantra-autoeval.
  • End time: Time of pressing Ctrl + c (to be pressed only once) on the terminal which is running autoeval.
  • Conditions:
    • if T < 60: T = 60
    • if T > 180: T = 180

CPP: Correct Pick Pose -

  • The pick pose correspondes to the two given poses which is in front of boxes in the task instruction.
  • The value for CPP1 and CPP2 will be in binary format and corresponds to front and right boxes position respectively (as given in the instructions page).
  • Allowed deviation from actual given pose: 0.02 meter (error range)
  • For example: if the arm reaches CPP1 within error range but does not attempt CPP2 or has not reached within the range, the the value of CPP1 and CPP2 will be 1 and 0 respectively.

CDP: Correct Drop Pose -

  • The drop pose correspondes to the drop pose given in the task instruction.
  • CDP1: The drop pose reached after executing CPP1.
  • CDP2: The drop pose reached after executing CPP2.
  • The value of CDP is in binary format, similar to CPP.
  • Allowed deviation from actual given pose: 0.1 meter (error range)