Hi all,
Apologies if this question is already answered somewhere, but I can’t find it.
All my trails have a total duration, max jerk, insertion/distance to insertion that looks valid to me and I get a score. However, the trajectory efficiency always gives me the full points, because the end-effector path length is always 0.00m. (I’ve apparently developed a teleporter 
).
I was wondering if others have experienced the same, or there is something going wrong in my submission? I can’t find any errors in my part, it looks to me like the scoring evaluation has a bug. If everyone has the same that is fine of course, I just one to make sure I’m not cheating on accident 
.
Thanks for the help!
Alex
Submission scores:
Submission1:
total: 49.893120376479665
trial_1:
tier_1:
score: 1
message: Model validation succeeded.
tier_2:
score: -9.9105828588418046
message: Scoring succeeded.
categories:
contacts:
score: -24
message: Contacts detected (only first reported) between entity named [ur5e::gripper/hande_finger_link_l::gripper/hande_finger_link_l_fixed_joint_lump__finger_collider_box001_collision_1] and [task_board::nic_card_mount_2::nic_card_mount_link::v1015085006_collider_box]. Penalty applied.
duration:
score: 3.1143272727272726
message: “Task duration: 45.73 seconds.”
insertion force:
score: 0
message: No excessive force detected
trajectory efficiency:
score: 6
message: “Total end-effector path length: 0.00 m, initial plug-port distance: 0.17 m”
trajectory smoothness:
score: 4.9750898684309224
message: “Average linear jerk magnitude of the end effector: 8.54 m/s^3”
tier_3:
score: 24.495821918683443
message: “No insertion detected. Final plug port distance: 0.05m.”
trial_2:
tier_1:
score: 1
message: Model validation succeeded.
tier_2:
score: 19.307881316638024
message: Scoring succeeded.
categories:
contacts:
score: 0
message: No contact detected.
duration:
score: 7.5861818181818172
message: “Task duration: 25.23 seconds.”
insertion force:
score: 0
message: No excessive force detected
trajectory efficiency:
score: 6
message: “Total end-effector path length: 0.00 m, initial plug-port distance: 0.18 m”
trajectory smoothness:
score: 5.7216994984562062
message: “Average linear jerk magnitude of the end effector: 2.32 m/s^3”
tier_3:
score: 25
message: “No insertion detected. Final plug port distance: 0.03m.”
trial_3:
tier_1:
score: 1
message: Model validation succeeded.
tier_2:
score: -12
message: Scoring succeeded.
categories:
contacts:
score: 0
message: No contact detected.
duration:
score: 0
message: Task not completed.
insertion force:
score: -12
message: “Insertion force above 20.00 N, detected for a time of 5.37 seconds. Max detected force: 56.25N. This is above the threshold of 1.00 seconds. Penalty applied.”
trajectory efficiency:
score: 0
message: Task not completed.
trajectory smoothness:
score: 0
message: Task not completed.
tier_3:
score: 0
message: Task not completed.
Submission2:
total: 102.32258946359715
trial_1:
tier_1:
score: 1
message: Model validation succeeded.
tier_2:
score: -8.6863164517739673
message: Scoring succeeded.
categories:
contacts:
score: -24
message: Contacts detected (only first reported) between entity named [ur5e::gripper/hande_finger_link_l::gripper/hande_finger_link_l_fixed_joint_lump__finger_collider_box001_collision_1] and [task_board::nic_card_mount_2::nic_card_mount_link::v1015085006_collider_box]. Penalty applied.
duration:
score: 4.2776727272727282
message: “Task duration: 40.39 seconds.”
insertion force:
score: 0
message: No excessive force detected
trajectory efficiency:
score: 6
message: “Total end-effector path length: 0.00 m, initial plug-port distance: 0.17 m”
trajectory smoothness:
score: 5.0360108209533028
message: “Average linear jerk magnitude of the end effector: 8.03 m/s^3”
tier_3:
score: 24.851827450685743
message: “No insertion detected. Final plug port distance: 0.05m.”
trial_2:
tier_1:
score: 1
message: Model validation succeeded.
tier_2:
score: 19.262152642872401
message: Scoring succeeded.
categories:
contacts:
score: 0
message: No contact detected.
duration:
score: 7.591418181818181
message: “Task duration: 25.21 seconds.”
insertion force:
score: 0
message: No excessive force detected
trajectory efficiency:
score: 6
message: “Total end-effector path length: 0.00 m, initial plug-port distance: 0.18 m”
trajectory smoothness:
score: 5.6707344610542201
message: “Average linear jerk magnitude of the end effector: 2.74 m/s^3”
tier_3:
score: 24.554647782349047
message: “No insertion detected. Final plug port distance: 0.05m.”
trial_3:
tier_1:
score: 1
message: Model validation succeeded.
tier_2:
score: 18.870827160903428
message: Scoring succeeded.
categories:
contacts:
score: 0
message: No contact detected.
duration:
score: 7.5791999999999993
message: “Task duration: 25.26 seconds.”
insertion force:
score: 0
message: No excessive force detected
trajectory efficiency:
score: 6
message: “Total end-effector path length: 0.00 m, initial plug-port distance: 0.32 m”
trajectory smoothness:
score: 5.2916271609034284
message: “Average linear jerk magnitude of the end effector: 5.90 m/s^3”
tier_3:
score: 20.469450878560501
message: “No insertion detected. Final plug port distance: 0.04m.”
Submission3:
total: 191.77448787507933
trial_1:
tier_1:
score: 1
message: Model validation succeeded.
tier_2:
score: 19.104847983105955
message: Scoring succeeded.
categories:
contacts:
score: 0
message: No contact detected.
duration:
score: 7.5979636363636365
message: “Task duration: 25.18 seconds.”
insertion force:
score: 0
message: No excessive force detected
trajectory efficiency:
score: 6
message: “Total end-effector path length: 0.00 m, initial plug-port distance: 0.17 m”
trajectory smoothness:
score: 5.5068843467423179
message: “Average linear jerk magnitude of the end effector: 4.11 m/s^3”
tier_3:
score: 75
message: Cable insertion successful.
trial_2:
tier_1:
score: 1
message: Model validation succeeded.
tier_2:
score: 19.030293995853633
message: Scoring succeeded.
categories:
contacts:
score: 0
message: No contact detected.
duration:
score: 7.3880727272727258
message: “Task duration: 26.14 seconds.”
insertion force:
score: 0
message: No excessive force detected
trajectory efficiency:
score: 6
message: “Total end-effector path length: 0.00 m, initial plug-port distance: 0.18 m”
trajectory smoothness:
score: 5.6422212685809097
message: “Average linear jerk magnitude of the end effector: 2.98 m/s^3”
tier_3:
score: 38.02926819665322
message: Partial insertion detected with distance of 0.05m.
trial_3:
tier_1:
score: 1
message: Model validation succeeded.
tier_2:
score: 17.794576566155676
message: Scoring succeeded.
categories:
contacts:
score: 0
message: No contact detected.
duration:
score: 6.9412363636363636
message: “Task duration: 28.19 seconds.”
insertion force:
score: 0
message: No excessive force detected
trajectory efficiency:
score: 6
message: “Total end-effector path length: 0.00 m, initial plug-port distance: 0.32 m”
trajectory smoothness:
score: 4.8533402025193144
message: “Average linear jerk magnitude of the end effector: 9.56 m/s^3”
tier_3:
score: 19.81550113331086
message: “No insertion detected. Final plug port distance: 0.05m.”