Clarification: Robot Spawn Position and Initial Joint Angles

Competitions AI for Industry Challenge
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Hey @Yadunund !
I am sorry to bother you, but I would like to get some clarifications about the robot’s spawn position and the initial joint angles for the qualification phase.

Here is what I understand:

  1. The robot’s spawn position (in the world frame) is fixed: robot_x = -0.2, robot_y = 0.2, and robot_z = 1.14.
  2. The initial joint angles will be such that the target_port (which is randomized) will always be in the camera’s view.

Here are my questions:

  1. Are the initial joint angles for the robot fixed? Will they be the same as the home_joint_positions specified in sample_config.yaml?
  2. The Qualification Phase: Technical Overview document says the robot will start from a few centimeters from the target. Is there a quantitative limit for this?
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I’d appreciate it if anyone who has clarity on this can help me out!

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I would also really appreciate an answer to this question… @Yadunund thanks!