Difference between revisions of "Humanoid Manipulation Challenge 2011"

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==The Competitors==
 
==The Competitors==
  
*[http://www.brynmawr.edu Bryn Mawr College] Team name: TBO, Captain: TBO, Team: TBO, Advisor: DOUG BLANK <dblank@brynmawr.edu>
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*[http://www.brynmawr.edu Bryn Mawr College] Team name: TBO, Captain: TBO, Team: TBO, Faculty Advisor: DOUG BLANK <dblank@brynmawr.edu>
*[http://www.drexel.edu/ Drexel University]: Team name: Team DASL, Captain: Sean Mason <seanmason337@gmail.com>, Team: Alex Alspach, and Duc Nguyen, Advisor: Paul Oh <paul@coe.drexel.edu>
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*[http://www.drexel.edu/ Drexel University]: Team name: Team DASL, Captain: Sean Mason <seanmason337@gmail.com>, Team: Alex Alspach, and Duc Nguyen, PhD Advisor: Kiwon Sohn <skw1125@gmail.com>, Faculty Advisor: Paul Oh <paul@coe.drexel.edu>
*[http://www.upenn.edu/ University of Pennsylvania]: Team name: Team Penn, Captain: Stephen McGill <smcgill3@seas.upenn.edu>, Team: Seung-Joon Yi, Yida Zhang, and Spencer Lee, Advisor: Daniel D. Lee <ddlee@seas.upenn.edu>
+
*[http://www.upenn.edu/ University of Pennsylvania]: Team name: Team Penn, Captain: Stephen McGill <smcgill3@seas.upenn.edu>, Team: Seung-Joon Yi, Yida Zhang, and Spencer Lee, Faculty Advisor: Daniel D. Lee <ddlee@seas.upenn.edu>
*[http://www.colby.edu/ Colby College] Team name: TBO, Captain: TBO, Team: TBO, Advisor: Bruce Maxwell <bmaxwell@colby.edu>
+
*[http://www.colby.edu/ Colby College] Team name: TBO, Captain: TBO, Team: TBO, Faculty Advisor: Bruce Maxwell <bmaxwell@colby.edu>
*[http://www.vt.edu/ Virginia Tech]: Team name: Team RoMeLa, Captain: John Stuart Hunter Jr. <jshunter@vt.edu>, Team: Jack Newton, Sebastien Corner, and Sebastien Corner, Advisor: Hong, Dennis <dhong@vt.edu>
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*[http://www.vt.edu/ Virginia Tech]: Team name: Team RoMeLa, Captain: John Stuart Hunter Jr. <jshunter@vt.edu>, Team: Jack Newton, Sebastien Corner, and Sebastien Corner, Faculty Advisor: Hong, Dennis <dhong@vt.edu>
  
 
==The Rules==
 
==The Rules==

Revision as of 17:30, 21 May 2014

The Humanoid Manipulation Challenge 2011 was issued to Bryn Mawr College and several other schools on June 1, 2011. The Challenge is set for August 15 through August 17 at Drexel University.

Program Manager

Kiwon Sohn, PhD Student, MEM, Drexel University. email: skw1125@gmail.com Drexel Autonomous Systems Lab, 3141 Chestnut Street, Philadelphia, PA, USA, 19104.

The Objective

The objective of this competition is to be able to manipulate the objects on the field. This can be demonstrated by being able to move a box from one table to another, place a box in a basket, use pick and place method to place a box on another table, and pick up a box off of the floor. All of this should be done while avoiding objects such as walls and objects placed on the floor.

- Objective, as explained in the Official HMC Rules


The Challenge

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The layout of the challenge rooms, each separated by what appears to be a speed bump in the road to success.

Field and Obstacle Descriptions

  • The field is smooth and level.
  • The color of field is a checkered pattern of yellow and brown.
  • The field itself has four different obstacles for the competitors to compete in (moving a box from one table to another, putting a box into a basket, using pick and place to place a box on a table, and picking up a box off the floor).
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Individual screenshots of the rooms. Questions will be asked.

Humanoid Requirements

  • Required to use the virtual model on Mini-Hubo to complete all of the tasks on the field.
  • Cannot change or alter the Mini-Hubo model otherwise will be disqualified (Except Camera).

The challenge appears to be to build a virtual model of the field using Mini-Hubo as a model, then to use the virtual Mini-Hubo to guide the real Mini-Hubo around the area.

You can see our newly updated HMC2011 Demo video: http://www.youtube.com/watch?v=HskP_RIwoHo

Webot World File for HMC arena and Tutorials

Webot World File

You can download webots world file: http://wiki.roboteducation.org/Image:HMC2011draft_%281%29.wbt (Original, Not Valid anymore)

1st Updated version of world file for HMC 2011 ARENA: http://wiki.roboteducation.org/Image:HMC2011_updated_1.wbt (Updated in July 6th 2011)

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HMC Arena webot world file is updated at July 6th, 2011

2nd Updated version of world file for HMC 2011 ARENA: http://wiki.roboteducation.org/Image:HMC2011_updated_2.wbt (Updated in July 26th 2011)

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HMC Arena webot world file is updated at July 26th, 2011

3rd Updated version of world file for HMC 2011 ARENA: http://wiki.roboteducation.org/Image:HMC2011_updated_2_2.wbt (Updated in July 27th 2011)

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Error code: 127
HMC Arena webot world file is updated at July 27th, 2011

4th Updated version of world file for HMC 2011 ARENA: http://wiki.roboteducation.org/Image:HMC2011_updated_2_3.wbt (Updated in August 5th 2011)

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Error code: 127
HMC Arena webot world file is updated at August 5th, 2011

Updates of July 26th and 27th include :

1) Discrepancies between bounding boxes and links of MiniHubo are reduced.

2) Physical setting of MiniHubo become little fixed for more realistic simulation.

3) Coulomb Friction forces between foot of miniHubo and floor become increased.

4) Force dependent Slip between floor and miniHubo foot become reduced

5) Width of Bump between 2 walls become increased

6) Length of Bump in left room become decreased

7) Definition of two objects become modified

Updates of August 4th include :

1) Size of Objects (in Task area) become decreased little

Tutorials

If you do not have prior experience with program WEBOTS, we recommend you read a webots User Guide Manual first.

You can download webots user guide: http://wiki.roboteducation.org/Image:Guide.pdf

You can also download reference manual which includes all user-end functions which you can use in webots controller code: http://wiki.roboteducation.org/Image:Reference.pdf

If you want to study webots very quickly, please refer : http://wiki.roboteducation.org/wiki/images/c/c5/Quck_study_Guide_for_Webots.txt

Webot Controller Code(C Language) for mini Hubo

Hello World : http://wiki.roboteducation.org/Image:Hello_World.c

Simple source codes for mini Hubo control in HMC arena.

1) Making a mini Hubo walk a few steps : This controller code controls a minihubo using external trajectroy text file.

Therefore, You should download both files : a) http://wiki.roboteducation.org/Image:MiniHubo.c b) http://wiki.roboteducation.org/Image:Minihubowalking.txt

2) Simple control of mini Hubo's arms for manipulation in task area : This code controls a minihubo without external trajectory file. http://wiki.roboteducation.org/Image:MiniHubo2.c If you want to see demo of this code, you can check in : http://www.youtube.com/watch?v=m7yY7SFKUno or http://www.youtube.com/watch?v=o1dO1k_L2qc

3) Sensor reading : http://wiki.roboteducation.org/Image:Gps.c (GPS)

Replica of HMC2011 Webot World

If you want, you can simulate your trajectory file in Replica of HMC2011 Field. This field has four different task areas like HMC2011 Webot world file and has same geometric parameters.

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Replica of HMC Arena webot world file

Comparison shot between Replica and Webot world

The Competitors

  • Bryn Mawr College Team name: TBO, Captain: TBO, Team: TBO, Faculty Advisor: DOUG BLANK <dblank@brynmawr.edu>
  • Drexel University: Team name: Team DASL, Captain: Sean Mason <seanmason337@gmail.com>, Team: Alex Alspach, and Duc Nguyen, PhD Advisor: Kiwon Sohn <skw1125@gmail.com>, Faculty Advisor: Paul Oh <paul@coe.drexel.edu>
  • University of Pennsylvania: Team name: Team Penn, Captain: Stephen McGill <smcgill3@seas.upenn.edu>, Team: Seung-Joon Yi, Yida Zhang, and Spencer Lee, Faculty Advisor: Daniel D. Lee <ddlee@seas.upenn.edu>
  • Colby College Team name: TBO, Captain: TBO, Team: TBO, Faculty Advisor: Bruce Maxwell <bmaxwell@colby.edu>
  • Virginia Tech: Team name: Team RoMeLa, Captain: John Stuart Hunter Jr. <jshunter@vt.edu>, Team: Jack Newton, Sebastien Corner, and Sebastien Corner, Faculty Advisor: Hong, Dennis <dhong@vt.edu>

The Rules

For the Humans

  1. Only one humanoid is allowed on the field at a time.
  2. Once the start button is pressed the competitor will have 5 minutes to complete as many challenges as they can.
  3. The human handler can start the robot in any position on the field.
  4. The time will be measured immediately after start signal. The total competition time can be up to 5 minutes.
  5. If the robot falls or is stuck during the completion the handler is allowed to reposition the robot one time (Note: the clock will not stop during this time).

For the humanoids

  1. Any types of movement are allowed to manipulate objects.
  2. If the humanoid touches the walls or falls over the bars on the floor they will have a 5 point deduction each time.
  3. The humanoid can fall down and stand up again or crawl during the game but if it does not move for 2 minutes, it will be removed and scored in place.


Scoring

  1. The time limit for this challenge is 7 minutes (2 minutes for setup, 5 minutes runtime).
  2. Each team has 3 rounds where their highest score will be used as their final score.
  3. When entering the arena the humanoid can be placed in any starting location.
  4. Each obstacle can be manipulated as the competitor chooses as long as the overall goal is complete.
  5. Each obstacle complete will give the team 10 points for up to a total of 40 points possible.
  6. Partial points can be rewarded (up to 5 points) for being able to pick up an object but not place it in the correct location.
  7. At the end of the 5 minutes the points will be counted out of a possible 40 points.
  8. Each competitor is given three different runs. The highest score out of these three runs will count as the teams score.
  9. The winner will be chosen based off of the team who has the highest overall score.


Ladies and Gentlemen, may the best programmers win.

Questions posed to Drexel

Bryn Mawr

  • Will mini-hubo have a camera attached?

Answer: No, however you can attach a camera if necessary. You are also able to change the view in Webots between perspective and orthographic.

  • What are the weights of the objects?

Answer: The weights are given in the webots world and vary for each obstacle.

  • What are the dimensions of the field?

Answer: Dimensions are provided in the webots world.

  • Resources/Tutorials to learn about Orocos.

Answer: http://www.orocos.org/stable/documentation/rtt/v1.12.x/doc-xml/orocos-components-manual.html

  • Floor texture?

Answer: The floor should be a smooth even surface. However, the finalized floor will be a solid color rather than patterned.

  • Is there a specified position to pick the object up?

Answer: The goal of this competition is to allow the competitors to manipulate the objects the way that they think is best.

  • Can the human handler step in to prevent the robot from falling over (while still assuming the penalty)?

Answer: During the competition if the robot falls over they will be able to step in once to prevent it from falling over.

  • What is the standard software/OS to run the virtual model?

Answer: The virtual model runs on Webots which has a 30 day trial on the website. Additionally, it runs on Ubuntu using commands from ACES.

  • Will the model of the field/course be given in advance or do we build it ourselves (if so, need more resources for building the model)?

Answer: The course will be provided within the next few weeks to allow the competitors to work on it.

  • Height/location/color of the object (because limited camera mobility)?

Answer: All of these are be provided in the Webots world file given to you.

  • Height of the speed bumps?

Answer: We do not want to make it a challenge to walk over. The heights are provided in the attached webots world as well.

Colby College

  • Does the robot have a camera? If so, does it have one camera or two?

Answer: No, however you can attach a camera if necessary. You are also able to change the view in Webots between perspective and orthographic.

  • Does the robot have any other sensors (laser, sonar, IR)?

Answer: Robot has a GPS, Foot touch sensor, IMU Gyro and Accelerometer.

  • Are there any force/touch sensors available on the arms/hands?

Answer: Currently, No.

  • How will the field be lighted? In the Webots simulator, objects will appear black if their surfaces are not turned towards a light source.

Answer: As you can see in provided World file, all of objects appear bright in arena.

  • Will the lighting be specified ahead of time, or is there just a guarantee that it will be sufficiently lighted?

Answer: You can check in provided World file.

  • Will we be given the world file for the competition ahead of time?

Answer: Yes. we attached.

  • If not, will we be given variations on the world file in which the competition will take place?

Answer: Yes. We issued a sample world (Webot file) and the rules have finalized. The world that will actually be used in the Challenge will be a slight variant. We won't change properties of the environment and/or obstacles. Rather, object and perhaps obstacle locations may change.

  • If not, can we get any specifications for the size/color/aspect ratio of the box we need to move?

Answer: Refer attached World file.

  • Will the obstacles be particular colors or have texture? If so, will we be given those ahead of time?

Answer: Refer attached World file.

  • Will there be any variations of the world file that have more realistic object appearances?

Answer: We updated our HMC field and you can download from above link.

  • Can the robot actually step over obstacles? If I recall from last summer, the mini-hubo was not particularly stable when taking big steps.

Answer: Drexel has demonstrated stair-climbing with both mini- and virtual-Hubo. While challenging, stepping over objects is indeed possible. For obstacles to be stepped over, HMC 2011 will limit their height. Exact height limitations are not known yet.

  • You might want to make the floor a more realistic color. If we're going to try and run stuff on the real mini-hubo, you want the floor and obstacles to be shapes and colors that are easy to physically manufacture and put together. A simple grey floor with mild texture is easy to create with plywood and spray paint. You could even spray paint a board and take a picture of it, then map the picture onto the floor in the virtual world.

Answer: We updated our HMC field and you can download from above link.

  • Is there anything novel about the tasks we're supposed to be doing? Having some set of optional novel tasks, for which we could score points, would make the competition more interesting.

Answer: Currently, we require basic tasks that minihubo move objects from original spot to other spot in 4 different rooms(moving a box from one table to another, putting a box into a basket, using pick and place to place a box on a table, and picking up a box off the floor). Moving between different rooms while balancing by itself and avoiding onstacles in a limited time will be chellenging for all teams.

  • Are there technical tasks in the competition about which we could write a paper if we do them well?

Answer: It depends on how novel and georgeous your tasks will be. And your advisor might give you a good research idea.

  • I would suggest making the field of play larger and putting walls around the edges.

Answer: We finalized our HMC field and you can download from above link.

  • The four different objectives are not clear. It would be good to have initial/final conditions shown explicitly.

Answer: Refer attached World file.

  • Given the speed of mini-hubo, I would suggest increasing the run time to 8-10 minutes.

Answer: I will post after discussion. However, goal is 5 minutes currently.

  • Are there any limitations on processing speed?

Answer: Currently, No. There is just a limitation in total setup and run time(2+5 = 7 minutes).

  • Will we bring out own computers for running the competition or will we just submit code?

Answer: Teams can certainly bring their own computers if they choose to. We hope to open up future HMCs to the greater robotics community. Thus if HMC 2011 can demonstrate that one can simply show up live or remotely, then we might lower the barrier for both cost and participation.

  • If the latter, what will be the setup of the competition machine and what packages will be available (e.g. opencv, ROS)?

Answer: We can re-visit this question 2-weeks before HMC. I imagine most teams, by then, should know what software they are using for HMC. They might have configured their software and would rather not do so again on a different PC.