Adaptation according to Magdeburgs feedback

technical_challenges/CP.tex

@@ -1,6 +1,8 @@
 \newpage
 \section{Cluttered Pick Test}
 
+\szug{Who defines the requested objects?}
+
 \subsection{Purpose and Focus of the Test}
 The purpose of the \iaterm{Cluttered Pick Test}{CPT} is to evaluate the perception
 and manipulation of the robots in a cluttered scenario. The scenario is motivated by
@@ -11,10 +13,10 @@ \subsection{Scenario Environment}
 The arena used for this test contains basically all elements as for the Basic
 Manipulation Test. Two service areas with a height of 10cm are involved in the test,
 most probably near to each other. The objects mentioned by the referee box will be placed
-on both the service areas.(see Fig.~\ref{fig:clutter})  
-All geometrical definitions given in Fig.~\ref{fig:manipulation_zone} are considered here \textbf{except 
+on both the service areas.(see Fig.~\ref{fig:clutter})
+All geometrical definitions given in Fig.~\ref{fig:manipulation_zone} are considered here \textbf{except
 for the rule of min 0.02m distance between objects} . The objects here can be placed near to each other,
-or on top of each other. 
+or on top of each other.
 
 \begin{figure} [h!]
 \begin{center}
@@ -28,12 +30,12 @@ \subsection{Scenario Environment}
 
 \subsection{Variation}
 A slight variation in the competition will be to run with 2 robots simultaneously competing with each other.
-For fairness of the competition the organizers should ensure that the distance between the robot starting 
+For fairness of the competition the organizers should ensure that the distance between the robot starting
 point and the corresponding service station be equal.
- 
+
 \subsection{Task}
 The robot starts at the defined start position outside the arena.
-The task consists of navigating to the specified service area containing all the 
+The task consists of navigating to the specified service area containing all the
 requested object. The robot localizes and identifies the object and picks.
 The task consists of a sequence of grasp operations. The objective is to pick up all 3 instance of the requested type and avoid picking other objects.
 \par

technical_challenges/PFD.tex

@@ -3,6 +3,10 @@ \section{Pick from Drawer Test}
 
 \szug{Should we think about additional rules for collisions?}
 
+\szug{I think an individual drawer avoids unpredictable configurations but generates of course additional effort. Probably we think about a "standard drawer construction" for 2021?}
+
+\szug{Should we include one or two decoy objects that are placed by a referee to avoid scripted solutions.}
+
 \subsection{Purpose and Focus of the Test}
 The collection of freely available objects lying on a manipulation zone is the core capability of \RCAW-robots. The \iaterm{Pick from Drawer Test}{PFD} goes beyond this level and considers objects stored in drawers too. In this way, the challenge
 extends the idea of the shelf where the robot has to plan the grasping operation in a limited space but it is not necessary to interact with the environment.
@@ -12,33 +16,32 @@ \subsection{Scenario Environment}
 
 \par
 Robot's movements must open the drawer directly. Self-driven, automatic solutions integrated into the drawer system are not allowed.
-The rules do not define the handling mechanism itself, the teams are completely free to design an appropriate concept. Any handle, knob, hole, or connector mounted to the drawer is permitted. Based on this interaction, the drawer has to be moved at least 25 cm.
+The rules do not define the handling mechanism itself, the teams are completely free to design an appropriate concept. Any handle, knob, hole, or connector mounted to the drawer is permitted. Based on this interaction, the drawer has to be moved at least \textcolor{red}{15 cm}.
 
 \subsection{Task}
 The drawer setup is located at an arbitrary position. The drawer contains at least one but not more than three  manipulation objects described in Table~\ref{tab:Instances}. It is stored directly on bottom of the drawer. Any other content is not permitted!
 
 The team configures the objects and the drawer during preparation phase.
 
-The robot starts from outside, moves directly to the drawer, open it, grasps the objects and place them in robot`s repository.
+\textcolor{red}{This test does not adress navigation capabilities. Hence the robot can start the run everywhere.} It moves directly to the drawer, open it, grasps the objects and place them in robot`s repository.
 
 \subsection{Rules}
 The following rules have to be obeyed:
 
 \begin{itemize}
 \item A single robot is used.
 \item The test runs for 5 minutes.
-\item The robot has to start from outside the arena and to end in the final.
+\item \textcolor{red}{The robot can start at an arbitrary position inside or outside the arena.}
 \item The order in which the teams have to perform will be determined by a draw.
-\item Each team is responsible for preparing the drawer system.
-\item The drawer is opened by at least 25cm.
-\item A manipulation object counts as successfully grasped as specified in Section~\ref{ssec:GraspingObjects}.
-\item The run is over when the robot reached the final place or the designated time has expired.
+\item Each team is responsible for preparing the drawer system. The team selects the objects and places them within the drawer.
+\item The drawer is opened by at least \textcolor{red}{15cm}.
+\item A manipulation object counts as successfully grasped as specified in Section~\ref{ssec:GraspingObjects}. \textcolor{red}{It is not necessary to place the objects at another manipulation zone.}
+\item The run is over when the designated time has expired.
 \end{itemize}
 
 \subsection{Scoring}
 \begin{itemize}
 \item 100 points for opening the drawer
 \item 100 points are awarded for each correctly and successfully picked object
-\item 25 points for reaching the final position
 \item Time bonus of one point per second after collecting 3 objects successfully.
 \end{itemize}