How to define multiple mounts per rail?

Competitions AI for Industry Challenge
1

I noticed that on some images i can see mutliple mounts per rail. Buw how do you define that there is no example in the sample scenarios? Something like this? But that would not work

        lc_mount_rail_0:
          entity_present: true
          entity_name: lc_mount_0
...
        lc_mount_rail_0:
          entity_present: true
          entity_name: lc_mount_1
2

For the Qualification phase, it’ll just be limited to one mount per rail. However, note that this will change in Phase 1.

1 Like
3

You can try this command - it won’t randomize the mount poses, but will spawn all the mounts:

ros2 launch aic_bringup aic_gz_bringup.launch.py spawn_task_board:=true spawn_cable:=true cable_type:=sfp_sc_cable attach_cable_to_gripper:=true lc_mount_rail_0_present:=true sfp_mount_rail_0_present:=true sc_mount_rail_0_present:=true lc_mount_rail_1_present:=true sfp_mount_rail_1_present:=true sc_mount_rail_1_present:=true sc_port_0_present:=true sc_port_1_present:=true nic_card_mount_0_present:=true nic_card_mount_1_present:=true nic_card_mount_2_present:=true nic_card_mount_3_present:=true nic_card_mount_4_present:=true ground_truth:=true

4

in the docs/task_board_description.md, it says there could be at most 5 SC ports distributed over two rails. But when I was looking at aic_description/urdf/task_board.urdf.xacro, and I only see two SC ports (instead of 5)
So for qualification phase, would we only have at most 1 SC port on each rail? Thanks!!