Task Board Pose Randomization: What is the yaw rotation range?

Competitions AI for Industry Challenge
1

Hi,

The qualification phase doc mentions that “the task board is spawned with a randomized pose (position and yaw angle)”, but I couldn’t find the actual numerical range for the task board’s own yaw randomization anywhere in the documentation.

I’ve been going through the documentation and the task board description, and I could find the orientation limits for the components on the board, but not the task board itself.

Could you clarify what the yaw rotation range for the task board itself is during evaluation trials? This is important for us to properly scope our data collection and ensure our policy is trained on a representative distribution.

Thanks!

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Hi. @kaniakazemi
I was wondering about the yaw limits for the task board as well, but I don’t think they’ve mentioned any limits for it. We decided to go ahead and sample from the full 360° rotation range.
On a side note, the translation for the task board does have implicit limits keeping the manipulator’s reachable and dexterous workspace. Happy to discuss if you’ve found any implicit restrictions on the task board’s yaw.

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There are no limits for the rotation of the task board. We will ensure that task board and components are spawned such that insertion targets are kinematically feasible by the robot arm.

4

But what about position limits? The docs say the target always’s stays within camera view. Is that correct?

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