Merge pull request #216 from usnistgov/release_1.1_staging

Release 1.1

.github/workflows/build_ariac.yml

@@ -1,6 +1,10 @@
 name: ARIAC Build
 
-on: [push, pull_request, pull_request_review]
+on:
+  push:
+    paths: ["ariac_description/**","ariac_gazebo/**","ariac_gui/**","ariac_human/**","ariac_moveit_config/**","ariac_msgs/**","ariac_plugins/**","ariac_sensors/**","test_competitor/**"]
+  pull_request:
+  pull_request_review:
 
 jobs:
   build:

.readthedocs.yml

@@ -10,4 +10,9 @@ python:
     - requirements: requirements.txt
 
 sphinx:
-  fail_on_warning: false
+  fail_on_warning: false
+
+# formats: 
+#   - htmlzip
+#   - epub
+#   - pdf

ariac_gazebo/config/trials/assembly.yaml

@@ -46,7 +46,6 @@ orders:
     announcement:
       time_condition: 0
     priority: false
-    assembly_task:
     assembly_task:
       agv_number: [1, 2]
       station: 'as1'

ariac_gazebo/config/trials/human_assembly.yaml

@@ -0,0 +1,79 @@
+# Trial Name: assembly.yaml
+# ARIAC2023
+
+# ENVIRONMENT SETUP
+
+time_limit: -1 # options: -1 (no time limit) or number of seconds (max 500)
+
+kitting_trays: # Which kitting trays will be spawn
+  tray_ids: [1] 
+  slots: [1]
+
+# GLOBAL CHALLENGES
+challenges:
+  # - human:
+  #     behavior: 'helpful'
+  #     time_condition: 5.0
+  - human:
+      behavior: 'antagonistic'
+      time_condition: 5.0
+
+parts:
+  agvs:
+    agv1:
+      tray_id: 0
+      parts:
+        - type: 'pump'
+          color: 'red'
+          quadrant: 1
+          rotation: 0
+        - type: 'regulator'
+          color: 'red'
+          quadrant: 2
+          rotation: 0
+    agv2:
+      tray_id: 0
+      parts:
+        - type: 'sensor'
+          color: 'red'
+          quadrant: 1
+          rotation: 'p1/2'
+        - type: 'battery'
+          color: 'red'
+          quadrant: 2
+          rotation: 'pi/2'
+
+orders:
+  - id: '2IZJP127'
+    type: 'assembly'
+    announcement:
+      time_condition: 0
+    priority: false
+    assembly_task:
+      agv_number: [1, 2]
+      station: 'as1'
+      products:
+        - type: 'regulator'
+          color: 'red'
+          assembled_pose: 
+            xyz: [0.175, -0.223, 0.215]
+            rpy: ['pi/2', 0, '-pi/2']
+          assembly_direction: [0, 0, -1]
+        # - type: 'battery'
+        #   color: 'red'
+        #   assembled_pose: 
+        #     xyz: [-0.15, 0.035, 0.043]
+        #     rpy: [0, 0, 'pi/2']
+        #   assembly_direction: [0, 1, 0]
+        - type: 'pump'
+          color: 'red'
+          assembled_pose: 
+            xyz: [0.14, 0.0, 0.02]
+            rpy: [0, 0, '-pi/2']
+          assembly_direction: [0, 0, -1]
+        - type: 'sensor'
+          color: 'red'
+          assembled_pose: 
+            xyz: [-0.1, 0.395, 0.045]
+            rpy: [0, 0, '-pi/2']
+          assembly_direction: [0, -1, 0]

ariac_gazebo/config/trials/human.yaml → ariac_gazebo/config/trials/human_kitting.yaml

@@ -9,6 +9,10 @@ kitting_trays: # Which kitting trays will be spawn
   tray_ids: [3, 8] 
   slots: [1, 4]
 
+
+
+
+
 parts:  
   bins: # bin params - 8 total bins each bin has nine total slots (1-9)
     bin2:
@@ -23,9 +27,15 @@ parts:
 
 # GLOBAL CHALLENGES
 challenges:
+  # - human:
+  #     behavior: 'helpful'
+  #     time_condition: 5.0
   - human:
-      behavior: 'helpful'
-      time_condition: 10.0
+      behavior: 'antagonistic'
+      part_place_condition:
+        color: 'blue'
+        type: 'battery'
+        agv: 4
 
 # ORDERS
 orders:
@@ -44,4 +54,20 @@ orders:
           quadrant: 1
         - type: 'pump'
           color: 'purple'
-          quadrant: 2
+          quadrant: 2
+  - id: 'MMB30H57'
+    type: 'kitting'
+    announcement:
+      time_condition: 60
+    priority: false
+    kitting_task:
+      agv_number: 1
+      tray_id: 8
+      destination: 'warehouse'
+      products:
+        - type: 'battery'
+          color: 'blue'
+          quadrant: 3
+        - type: 'pump'
+          color: 'purple'
+          quadrant: 4

ariac_gazebo/config/trials/kitting_assembly.yaml

@@ -47,7 +47,7 @@ orders:
   - id: '2IZJP127'
     type: 'assembly'
     announcement:
-      time_condition: 30
+      time_condition: 0
     priority: false
     assembly_task:
       agv_number: [1, 2]
@@ -80,7 +80,7 @@ orders:
   - id: 'MMB30H56'
     type: 'kitting'
     announcement:
-      time_condition: 0
+      time_condition: 10
     priority: false
     kitting_task:
       agv_number: 4

ariac_gazebo/config/trials/tutorial.yaml

@@ -1,22 +1,70 @@
-# Trial Name: qc.yaml
+# Trial Name: tutorial.yaml
 # ARIAC2023
 
 # ENVIRONMENT SETUP
 
 time_limit: -1 # options: -1 (no time limit) or number of seconds (max 500)
 
 kitting_trays: # Which kitting trays will be spawn
-  tray_ids: [3, 8] 
-  slots: [1, 4]
+  tray_ids: [3, 5, 8, 0] 
+  slots: [1, 3, 5, 6]
 
 parts:
+  agvs:
+    agv1:
+      tray_id: 0
+      parts:
+        - type: 'pump'
+          color: 'red'
+          quadrant: 1
+          rotation: 0
+        - type: 'regulator'
+          color: 'red'
+          quadrant: 2
+          rotation: 0
+    agv2:
+      tray_id: 0
+      parts:
+        - type: 'sensor'
+          color: 'red'
+          quadrant: 1
+          rotation: 'p1/2'
+        - type: 'battery'
+          color: 'red'
+          quadrant: 2
+          rotation: 'pi/2'
+
+  bins: # bin params - 8 total bins each bin has nine total slots (1-9)
+    bin2:
+      - type: 'pump'
+        color: 'purple'
+        slots: [1, 3, 7, 9]
+    bin6:
+      - type: 'battery'
+        color: 'blue'
+        slots: [1, 3, 7, 9]
+    bin5:
+      - type: 'battery'
+        color: 'orange'
+        slots: [7, 8]
+      - type: 'sensor'
+        color: 'orange'
+        slots: [9]
+    bin8:
+      - type: 'pump'
+        color: 'orange'
+        slots: [7, 8]
+      - type: 'sensor'
+        color: 'orange'
+        slots: [9]
+
   conveyor_belt: # population params for conveyor belt
     active: true
     spawn_rate: 3.0 # seconds between spawn
     order: 'sequential' # random or sequential
     parts_to_spawn:
-      - type: 'battery'
-        color: 'red'
+      - type: 'regulator'
+        color: 'orange'
         number: 5
         offset: 0.5 # between -1 and 1
         flipped: false
@@ -29,13 +77,68 @@ parts:
         rotation: 'pi'
 
 orders:
+  - id: '2IZJP127'
+    type: 'assembly'
+    announcement:
+      time_condition: 0
+    priority: false
+    assembly_task:
+      agv_number: [1, 2]
+      station: 'as1'
+      products:
+        - type: 'regulator'
+          color: 'red'
+          assembled_pose: 
+            xyz: [0.175, -0.223, 0.215]
+            rpy: ['pi/2', 0, '-pi/2']
+          assembly_direction: [0, 0, -1]
+        - type: 'battery'
+          color: 'red'
+          assembled_pose: 
+            xyz: [-0.15, 0.035, 0.043]
+            rpy: [0, 0, 'pi/2']
+          assembly_direction: [0, 1, 0]
+        - type: 'pump'
+          color: 'red'
+          assembled_pose: 
+            xyz: [0.14, 0.0, 0.02]
+            rpy: [0, 0, '-pi/2']
+          assembly_direction: [0, 0, -1]
+        - type: 'sensor'
+          color: 'red'
+          assembled_pose: 
+            xyz: [-0.1, 0.395, 0.045]
+            rpy: [0, 0, '-pi/2']
+          assembly_direction: [0, -1, 0]
+
+  - id: '2IZJP320'
+    type: 'combined'
+    announcement:
+      time_condition: 0
+    priority: false
+    combined_task:
+      station: 'as3'
+      products:
+        - type: 'pump'
+          color: 'orange'
+          assembled_pose: 
+            xyz: [0.14, 0.0, 0.02]
+            rpy: [0, 0, '-pi/2']
+          assembly_direction: [0, 0, -1]
+        - type: 'sensor'
+          color: 'orange'
+          assembled_pose: 
+            xyz: [-0.1, 0.395, 0.045]
+            rpy: [0, 0, '-pi/2']
+          assembly_direction: [0, -1, 0]
+
   - id: 'MMB30H56'
     type: 'kitting'
     announcement:
-      time_condition: 0
+      time_condition: 1
     priority: false
     kitting_task:
-      agv_number: 4
+      agv_number: 1
       tray_id: 3
       destination: 'warehouse'
       products:
@@ -44,4 +147,33 @@ orders:
           quadrant: 3
         - type: 'pump'
           color: 'purple'
-          quadrant: 1
+          quadrant: 1
+
+  - id: 'MMB30H57'
+    type: 'kitting'
+    announcement:
+      time_condition: 5
+    priority: false
+    kitting_task:
+      agv_number: 2
+      tray_id: 5
+      destination: 'warehouse'
+      products:
+        - type: 'regulator'
+          color: 'orange'
+          quadrant: 2
+
+
+  - id: 'MMB30H58'
+    type: 'kitting'
+    announcement:
+      time_condition: 10
+    priority: false
+    kitting_task:
+      agv_number: 3
+      tray_id: 8
+      destination: 'warehouse'
+      products:
+        - type: 'sensor'
+          color: 'green'
+          quadrant: 4

ariac_gazebo/models/battery/model.sdf

@@ -82,13 +82,13 @@
         </surface>
       </collision>
 
-      <collision name="pins_collision">
+<!--       <collision name="pins_collision">
         <geometry>
           <mesh>
             <uri>model://battery/meshes/battery_pins.stl</uri>
           </mesh>
         </geometry>
-      </collision>
+      </collision> -->
     </link>
   </model>
 </sdf>

ariac_gazebo/models/human/model.sdf

@@ -453,7 +453,8 @@
 
     <plugin name="mobile_robot_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
       <ros>
-        <remapping>~/out:=/ariac_human/joint_states</remapping>
+        <namespace>ariac_human</namespace>
+        <!-- <remapping>~/out:=/ariac_human/joint_states</remapping> -->
       </ros>
       <update_rate>30</update_rate>
       <joint_name>wheel_left_joint</joint_name>