Is the information given in docs in task_board_description.md correct?:
“Card translation limits: [0, 0.062] meters”
The values for this in the given test scenarios are different and allow for negative offset since it defines offset along the nic_rails from center along axis. Specifically the range is 0.062 vs 0.084…
Could you clarify the limits or should we derive them ourselfes from the spacial restrictions of the board/ card?
@cmd-vel-villain thanks for pointing out the discrepancy. The values in task_board_description.md were not updated. The actual limits can be inferred from aic/aic_engine/config/sample_config.yaml at 8bdadb06eeac3609f0cd716a5508abb51b6bb819 · intrinsic-dev/aic · GitHub. These are min/max deltas from the centre of each rail. The aic_engine which spawns the task board during eval trials will clamp the components to within these limits aic/aic_engine/src/aic_engine.cpp at 8bdadb06eeac3609f0cd716a5508abb51b6bb819 · intrinsic-dev/aic · GitHub
I’ll open a PR to update the documentation.
Edit: PR opened Update component lmits in task_board_description.md by Yadunund · Pull Request #445 · intrinsic-dev/aic · GitHub