Task 2A - Submission

Submission instructions for task 2A:

(Both video and zip file are compulsory for task 2A.)

  • 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. ZIP FILE

  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 2A.

  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.

(You can add multiple python file, but remember to number it accordingly as given in the below naming convention Example: 1task2a.py, 2task2a.py, ...)

  1. Now add your python scripts and rename it as <number your multiple file>task2a.py to the same directory and create a .zip file by selecting all three files i.e. Python, yaml and bag file.

2. Video Submission

  • You are suppose to submit a youtube video of your Task 2A execution, a simple screen recording in below given window setup. [compulsory]

  • Create a setup as same as shown above (make sure all the scripts (inc. the evaluator) are visble within the terminal) and submit it under the section video upload.

Grading

This task will be graded out of 50

Maximum Marks - Marks: 50.00
Failed Task - Marks: 0.00

Formula

Task_2A_Marks = ([CPD1 + CPD2 + CPD3] * 15) + (Bonus)

  • CPD: Correct Pick and Drop (binary value) for each box placed on the table.
  • Bonus: If you pick and drop all the three boxes, the bonus of 5 marks will be added.

Note: Deadline for the submission of this task is 10th November, 2023