The aim of Task 5 is to get you glimps of mini theme implementation of eYRC Cosmo Logistics. Get hands on with remote hardware to work towards full theme implementation.

This task is combination of two parts:

A) Remote Hardware Task - eBot navigation and docking

Attach and detach two racks present in the arena

B) Remote Hardware Task - Pick and Place single package

Pick and place the aruco box from three racks using remote hardware and camera

Formula:

The team's total score is calculated using the following formula

Total_marks = (900-T) * 0.4 + ACI * 10 + ACP * 50 + ACD * 50 + ECN * 50 + ECP * 20 + ECD * 50 - P * 25 + B * 300

The abbreviation details are as follows:

T: Total time taken for the run. If it is found to be greater than 900 seconds or no valid run, then the marks for the time will be made zero.

Valid Run: A run is considered valid if the team is able to place at least one box on the drop table.

ACI: Arm Correct Identification, parameter is increased when the TF is correctly published pointing to the Aruco marker's centre position. The maximum value of this parameter is 3.

ACP: Arm Correct Position, parameter increases when the package is picked up using the magnetic gripper on the arm. The maximum value of this parameter is 3.

ACD: Arm Correct Drop, parameter increases when the package is dropped on the table kept behind the arm. The maximum value of this parameter is 3.

ECN: eBot Correct Navigation, parameter increases when the eBot is within the desired perimeter of the rack. Repeated attempts to enter into the area of the same rack will not yield to any additional marks. The maximum value of this parameter is 2.

ECP: eBot Correct Pick, parameter increases when the eBot has correctly docked and attached the rack with the eBot using magnet. The maximum value of this parameter is 2.

ECD: eBot Correct Drop, parameter increases when the eBot has correctly dropped the rack in front of the arm. The maximum value of this parameter is 2.

P: Penalty, parameter increases for any point given in the theme rules penalty section.

B: Bonus, is a binary parameter. It will be considered as one, if the team completes the given task of navigation and placing specified boxes on the drop table without any penalty.

NOTE:

• Detection and recognition of package boxes other than the specified ones will yield no marks.
• This score will be evaluated and assigned during slots. While, the marks will be converted to a mark out of 100 at the end of task 5 for final elimination. The grading will be relative therefore the highest scored team will be having 100 marks.