How to define the position of the tray on AGV?

[Ruofan Zang]

In the order detail in Qualify1 .yaml file, it says that we should put the specific part in the specific place in the tray on AGV, for example: "pose: xyz: [0.1, -0.2, 0]". My question is that, how do I know that where is xyz [0.1, -0.2, 0] in the tray. Thank you very much!!!

[Deanna Hood]

Thank you for the question. For qual1, although the poses are specified in the Orders, the part poses will not be evaluated when evaluating team submissions. Still, https://bitbucket.org/osrf/ariac/wiki/frame_specifications should clarify your question on the pose of parts and how to determine it programmatically.

Note that you can spawn a model in the tray of AGV1 with a specified position (x, y, z) and orientation (roll, pitch, yaw) with:

rosrun gazebo_ros spawn_model -sdf -x 0.0 -y 0.15 -z 0.1 -R 0 -P 0 -Y 0 -file `catkin_find osrf_gear --share`/models/piston_rod_part/model.sdf -reference_frame agv1::kit_tray::kit_tray::tray -model piston_rod_part_1

Hope that helps!

[Ruofan Zang]

Thank you very much, d_hood! Does it mean that, in Qual1 part 1, I only need to move the tools in specific order to the tray and put them down on the tray, no matter where I put the tools in the tray will be OK?

[Deanna Hood]

that is correct, for qual1 (part 1 and part 2) you can put the parts anywhere on the tray. I have updated https://bitbucket.org/osrf/ariac/wiki/qualifiers/qual1 to make this clearer. Thank you again for your question.

[Ruofan Zang]

Thank you very much again!

[Deanna Hood]

you're welcome