Changes between Initial Version and Version 1 of robocupLogisticsLeague/2021RCAP/rulebook

Timestamp:

11/22/21 22:53:16 (3 years ago)

Author:

Wataru UEMURA

Comment:

--

robocupLogisticsLeague/2021RCAP/rulebook

@@ +1 @@
+[[TracNav]][[TOC]]
+= Introduction =
+This rulebook addendum provides a competition in the RoboCup logistics
+league domain, where the main tasks of the league are captured in isolated
+challenges.
+The objectives of this new competition are:
+ * to provide a framework that allows teams to show and evaluate their progress in the individual tasks of the RCLL
+ * to ease the preparation for the main competition through providing a simplified cost- and space-efficient setup suitable for replication in local labs
+ * to be attractive for both RoboCup live events and online competitions, where teams can participate remotely from all over the world
+This document is not self-sufficient, instead all the rules from the main
+rulebook\footnote{\url{https://github.com/robocup-logistics/rcll-rulebook/releases}} % chktex ignore-long-line
+apply, unless stated otherwise.
+The proposed format is carried out at RoboCup 2021, which is held remotely.
+Hence the remainder of this document establishes the rules around the online
+competition.
+
+= Qualification =
+In addition to the regular Qualification process, teams have to participate
+in a RefBox workshop\footnote{\url{https://fh-aachen.sciebo.de/s/Qkm7VfIIEIIJk1d}} % chktex ignore-long-line
+To complete the workshop, a game report dump of at least two Challenges
+has to be submitted to the \acf{OC}.
+
+= Requirements to score points =
+\label{sec:scoring}
+For your challenges to count as completed and score points you need to submit
+ 1. the recorded video footage
+ 1. your game reports from the MongoDB
+to the \ac{OC}.
+Your submission will not be counted if the footage shows human
+interference with the field, machines or robots outside of
+the specified rules in Section~\ref{sec:operators}.
+
+= Competition Area =
+== Field Layout ==
+The competition area for the main challenges consists of a \SI{5 x 5}{\metre}
+area divided in square zones of \SI{1 x 1}{\metre}. Additional challenges that
+are not counting towards the scoring of the competition are carried out on
+a \SI{7 x 8}{\metre} field instead (corresponding to half the field of the
+regular \ac{RCLL} field).
+The field is a subset of the magenta-half of the regular field as depicted
+in \reffig{fig:challenge-field}.
+
+\begin{figure}
+        \centering
+        \begin{tikzpicture}[x=-1cm,y=1cm]
+        \fill[gray!50!white] (2,0) rectangle (5,1);
+        \node at (3.5,0) [anchor=south, font=\tiny, inner sep=1pt] {Insertion Zone};
+        \foreach \i in {0,...,5} {
+                \draw (0,\i) -- (5,\i);
+                \draw (\i,0) -- (\i,5);
+        }
+        \foreach \i in {1,...,3} {
+                \node at (1.5+\i,0.5) [circle,fill=magenta, draw=black,inner sep=0.2cm] {};
+        }
+        \foreach \x in {1,...,5} {
+                \foreach \y in {1,...,5} {
+                        \node[font=\tiny,anchor=north west, inner sep=1pt] at (\x,\y) {M\_Z\x\y};
+                }
+        }
+        \node at (0,0) [circle,fill,inner sep=1.5pt,
+                label={[font=\scriptsize]-45:$(0,0)$}]{};
+        \node at (5,0) [circle,fill,inner sep=1.5pt,
+                label={[font=\scriptsize]225:$(-5,0)$}]{};
+        \node at (5,5) [circle,fill,inner sep=1.5pt,
+                label={[font=\scriptsize]135:$(-5,5)$}]{};
+        \node at (0,5) [circle,fill,inner sep=1.5pt,
+                label={[font=\scriptsize]45:$(0,5)$}]{};
+        \draw[line width=2pt,red,->] (0,0) -- node[above left,pos=1] {$x$} (-1.5,0);
+        \draw[line width=2pt,red,->] (0,0) -- node[below left,pos=1] {$y$} (0,1.5);
+\end{tikzpicture}
+        \caption{The \SI{5 x 5}{\metre} playing field.}
+        \label{fig:challenge-field}
+\end{figure}
+
+The entire area belongs to a single team. The bottom left-most
+\SI{1 x 3}{\metre} area is called the insertion zone and provides the starting
+positions for up to three robots.
+Contrary to the full RCLL field, it is not necessary to build partial walls
+around the insertion zone and robots may be move freely in and out of the
+insertion zone.
+
+Teams can play as either cyan or magenta, but the field is always the magenta
+one depicted in \reffig{fig:challenge-field}. Machine positions published by
+the refbox place the machines of both teams on the same location (e.g., M-BS
+and C-BS are both placed at $\texttt{M\_Z12}$ in the field of
+\reffig{fig:grasping-field}).
+
+== Mockup Machines ==
+In case no real \ac{MPS} stations are available, replications
+(so called \emph{mockup machines}) may be used, that do not need to
+physically perform the respective production steps. Instead, that work may
+be carried out by a human supervisor (see \refsec{sec:operators}).
+The minimum requirements for a mockup machine are specified in the following.
+
+Mockup machines are required to have the same box-like base shape as specified
+in the RCLL rulebook.
+Additionally, the following parts need to be mounted:
+\begin{itemize}
+        \item a model of the conveyor belt
+        \item a shelf on the front right side of the box on stations replicating a
+                \ac{CS}
+        \item either a shelf, a slide or a conveyor belt on the front right side
+of the box, such that it is accessible from the front on stations replicating a
+                \ac{RS}
+\end{itemize}
+Models for a conveyor belt, shelf and slides can be found in the RCLL rulebook
+repository\footnote{\url{https://github.com/robocup-logistics/rcll-rulebook/tree/common/challenges/mock_up_models}}. % chktex ignore-long-line
+
+The building materials for the models must be opaque, but may have any color.
+
+In order to compete in all main challenges, a minimum number of 3 mockup
+machines are required. On higher difficulty some challenges may require
+4 mockup stations and some secondary challenges require 7 stations.
+
+== Remote Setup ==
+In case a competition is carried out remotely, a proper local setup has to
+be established and approved by the \ac{OC}.
+Requirements include a proper camera setup that covers the field sufficiently,
+such that external viewers can verify the integrity of each challenges,
+as well as an approval for every mockup machine and robot that is used.
+After registration the \ac{OC} will verify the field setup in a video call.
+The validation call will be scheduled individually for each team
+to account for timezones.
+
+When challenges are played remotely, a video recording of the live-streams
+hast to be sent to the \ac{OC}.
+
+= Game Play =
+== Competition Scope ==
+Each team can attempt a challenge by specifying a 30 minute time slot along
+with the challenge in advance of the respective competition day.
+The announcement procedure is managed by the \ac{OC}.
+Each slot can be used to do at most one challenge and is split in two phases:
+ 1. In the \texttt{SETUP} phase the participants ensure that
+    * the video stream is setup via Zoom,
+    * the RefBox is started with the appropriate settings for the challenge,
+    * the machines and robots are placed on the field according to the rules
+    * and the robots are started.
+The setup must be completed within 10 minutes, otherwise the attempt is counted
+as a failure.
+ 1. Then the \texttt{PRODUCTION} phase starts by instructing the RefBox
+                accordingly. During the production phase the team has 20 minutes to solve
+                the challenge.
+
+A team may retry the challenge by
+ 1. setting the RefBox back to the setup phase
+ 1. reesetting the field setup accordingly
+ 1. and then starting the production phase again.
+Only the last attempt in each slot can be counted. A team may decide to count
+no attempt at all. Once a challenge is counted, it
+may not be retried again, unless the difficulty is increased.
+In order to complete an attempt, the RefBox needs to be set to phase
+\texttt{POST\_GAME}.
+
+All challenges are conducted while measuring the execution time of the
+corresponding attempt, starting from the begin of the \texttt{PRODUCTION} phase
+and ending at the begin of \texttt{POST\_GAME}.
+The fastest team to complete a challenge on the selected difficulty gains $5$
+additional points. A challenge is only completed if the full score is achieved,
+so getting only partial credits for a challenge disqualifies from getting the
+bonus points for the fastest completion.
+
+== Changes compared to the Main Competition ==
+The tasks covered in the various challenges have to be executed following the
+regular rules for the \ac{RCLL}, unless stated otherwise.
+However, some aspects are altered to simplify the setup.
+The changes are not affecting existing machine communication and processing
+steps, such that the challenges can be carried out on real machines as well as
+on mockup versions obeying the requirements outlined in \refsec{sec:machines}.
+
+=== Product Delivery ===
+The delivery procedure for finished products is altered compared to the
+\ac{RCLL} rule set. In order to reduce the amount of machines required
+for participation, Deliveries are made by bringing the finished product
+to the insertion zone and dropping it there.
+
+=== Ring Payments ===
+Easing the setup of mockup machines, it is not required to have a slide
+on ring stations. Instead, a shelf or additional conveyor may be mounted on the
+machine to place payments at the corresponding station.
+
+=== Ring Color Assignment ===
+The cost for mounting each ring color are fixed, the assignment of ring colors
+is semi-fixed as teams can choose between two different options for each
+challenge (\texttt{option1} or \texttt{option2} according to
+\reftab{tab:ring-costs}).
+The RefBox settings default to \texttt{option1}, but teams may change this
+accordingly.
+
+\newcommand{\colconfig}{\mathcal{RC}}
+\begin{table}[!htb]
+ \centering
+ \begin{tabular}{l|l|l||l|l||l|l}
+  & \multicolumn{4}{c||}{Ring Costs}
+  & \multicolumn{2}{c}{\multirow{2}{*}{Color Assignment }}\\\cline{2-5}
+  & Color  & Price & Color  & Price & \multicolumn{2}{c}{}\\\cline{2-7}
+  & Yellow & 0 & Green & 0
+  & RS1: $\colconfig_1$ & RS1: $\colconfig_2$ \\
+  & Blue  & 1 & Orange & 2
+  & RS2: $\colconfig_2$ & RS2: $\colconfig_1$ \\\hline\hline
+  Configuration & \multicolumn{2}{c||}{$\colconfig_1$}
+  & \multicolumn{2}{c||}{$\colconfig_2$}
+  & $\texttt{option1}$ & $\texttt{option2}$\\
+ \end{tabular}
+ \caption{Materials}
+ \label{tab:ring-costs}
+\end{table}
+
+=== Materials ===
+The available material that can be used per challenge is restricted
+(unless stated otherwise) per machine according to the information in
+\reftab{tab:materials}.
+\begin{table}[!htb]
+ \centering
+  \begin{tabularx}{\linewidth}{l|l}
+   Machine & Available Material  \\\hline
+   \ac{BS} & 2 bases of each color \\
+   \ac{CS} & 3 cap-carriers (cap color choices up to each team)  \\
+   \ac{RS} & 4 rings of each assigned color (8 in total)  \\
+  \end{tabularx}
+ \caption{Materials}
+ \label{tab:materials}
+\end{table}
+
+=== Orders ===
+Unless specified otherwise, orders that have to be fulfilled in challenges
+are entered through the web shop
+(see the RefBox workshop in \refsec{sec:qualification})
+by any member of the team.
+
+In challenges where only one \ac{RS} is present, teams are responsible to
+order products which can be assembled using the available stations only.
+
+=== Scoring ===
+While the RefBox may assign points during challenges according to the
+regular RCLL rules, those points do not count towards this competition.
+Instead, the point scoring for each challenge is listed in
+\refsec{sec:challenges}.
+
+== Field Operators ==
+In challenges where mockup machines are used, the actual assembly steps have
+to be performed by human supervisors. Whenever a machine is instructed,
+the RefBox operator announces the required interaction. One field operator may
+proceed to enter the field in order to perform the interaction. Afterwards the
+field has to be left immediately.
+The usual rules for replenishing resources (respecting the limited materials
+\refsec{sec:materials}) apply.
+
+== Available Challenges for the Primary Competition ==
+Challenges have different types and variations (difficulty levels).
+The overall score of the competition is calculated by summing up the score
+in the highest difficulty achieved in each of the challenge types.
+The challenge types of the competition are described in
+\refsec{sec:challenge-navigation}-\ref{sec:challenge-markerless}.
+
+The RefBox is used to log the progress and data for each challenge.
+Participating teams are required to send the corresponding game report dumps
+to the \ac{OC}.
+Once the competition is finished, $5$ bonus points are awarded each time a
+team solved a challenge on a difficulty in the shortest amount of time.
+
+== Navigation Challenge ==
+Basic navigation task with known obstacles.\\
+\textbf{Task:} Drive to 12 randomly generated target zones. A target zone is
+reached, if any robot remains in that zone for at least 5 consecutive seconds.
+The pose of each robot must be set in the beacon message
+for the RefBox to properly register the zones as visited. The robot may move
+within the zone during the 5 second period.\\
+Variations of this challenge depend on the number of available machines
+(see \reftab{tab:challenge-navigation}).
+Multiple robots may be used to simultaneously to reach multiple target zones.
+Partial points may be awarded in case only a subset of target zones were
+reached, which are accumulated if the challenge is completed fully.
+
+\begin{table}[!htb]
+ \centering
+ \begin{tabular}{l|l|l|l|l}
+  \multirow{2}{*}{Machines}
+  & \multicolumn{4}{c}{Scoring} \\\cline{2-5}
+        & $\geq$ 4 zones  & $\geq$ 8 zones & all 12 zones  & combined \\\hline\hline
+         2 & +2 & +4 & +9 & 15 \\
+         3 & +3 & +6 & +14 & 23 \\
+         4 & +4 & +8 & +18 & 30 \\
+ \end{tabular}
+ \caption{Navigation Challenge}
+ \label{tab:challenge-navigation}
+\end{table}
+
+== Exploration Challenge}\label{sec:challenge-exploration ==
+Replicate the RCLL exploration phase.
+Machine Marker detection as well as navigational skills are required to solve
+this challenge.\\
+\textbf{Task:} Find and report all machines on the field (type and orientation)
+according to the rules of a regular exploration phase.
+\\
+Variable in the number of machines
+(see \reftab{tab:challenge-exploration}).
+\begin{table}[!htb]
+ \centering
+ \begin{tabular}{l|l}
+  Machines & Scoring \\\hline
+  2   & 10 \\
+  3   & 20 \\
+  4   & 30 \\
+ \end{tabular}
+ \caption{Exploration Challenge}
+ \label{tab:challenge-exploration}
+\end{table}
+This challenge needs to be run by setting the RefBox to phase
+\texttt{EXPLORATION}.
+
+=== Grasping Challenge}\label{sec:challenge-grasping ===
+Simple grasping task.
+Each Machine has a base at output.
+Robots start at the zone in front of a machine output.\\
+\textbf{Task:} A robot brings a base from one machine's output back to its
+input. A human supervisor places it back to the output. Repeat until all
+products were placed at the respective machines input 3 times and all robots
+returned to their starting positions. \\
+Variations differ by number of machines, see
+\reftab{tab:challenge-grasping}. The $i$-th repetition is considered to be
+successful, once all bases were placed at the respective machine input
+at least $i$ times.
+The placement of the machines on the field is fixed according to
+\reffig{fig:grasping-field}.
+
+In order to load the fixed field shown in \reffig{fig:grasping-field}, a
+corresponding game report\footnote{\url{https://github.com/robocup-logistics/rcll-refbox/blob/tviehmann/challenges-2021/benchmarks/grasping_challenge.gz}} % chktex ignore-long-line
+can be restored in the RefBox using the supplied script.\footnote{\url{https://github.com/robocup-logistics/rcll-refbox/blob/tviehmann/challenges-2021/etc/scripts/restore_reports.bash}} % chktex ignore-long-line
+In order to load the field setup, specify tha report to laod from and
+disable field randomization in the RefBox configuration as shown in
+\reflst{lst:restore-field}.
+ \begin{lstlisting}[language=yaml,basicstyle=\small,
+ caption={RefBox configuration to load grasping challenge field},
+ captionpos=b,
+ label={lst:restore-field}, frame=single]
+ random-field: false
+ ...
+ # load data from latest game report with a given name
+ # leave empty to always load from latest stored report
+ load-from-report: "GraspingChallenge"
+\end{lstlisting}
+\begin{table}[!htb]
+\centering
+ \begin{tabular}{l|l|l}
+  \multirow{2}{*}{Machines}
+  & \multicolumn{2}{c}{Scoring} \\\cline{2-3}
+  & first repetition
+  & each subsequent repetiton  \\\hline\hline
+  1 & +10 & +2 \\
+  2 & +20 & +2 \\
+  3 & +25 & +2 \\
+ \end{tabular}
+ \caption{Grasping Challenge}
+ \label{tab:challenge-grasping}
+\end{table}
+
+\begin{figure}
+        \centering
+        \begin{tikzpicture}[x=-1cm,y=1cm]
+        \fill[gray!50!white] (2,0) rectangle (5,1);
+        \node at (3.5,0) [anchor=south, font=\tiny, inner sep=1pt] {Insertion Zone};
+        \foreach \i in {0,...,5} {
+                \draw (0,\i) -- (5,\i);
+                \draw (\i,0) -- (\i,5);
+        }
+        \foreach \x in {1,...,5} {
+                \foreach \y in {1,...,5} {
+                        \node[font=\tiny,anchor=north west, inner sep=1pt] at (\x,\y) {M\_Z\x\y};
+                }
+        }
+                \node at (4.5,1.5) [circle,fill=magenta, draw=black,inner sep=0.2cm] {};
+                \node at (4.5,2.5) [rectangle,fill=green!30!white, draw=black,
+                        inner sep=0.1pt,align=center,font=\tiny] {input\\output};
+                \node at (0.5,0.5) [circle,fill=magenta, draw=black,inner sep=0.2cm] {};
+                \node at (0.5,1.5) [rectangle,fill=green!30!white, draw=black,
+                        inner sep=0.1pt,align=center,font=\tiny] {input\\output};
+                \node at (0.5,4.5) [circle,fill=magenta, draw=black,inner sep=0.2cm] {};
+                \node at (1.5,4.5) [rectangle,fill=green!30!white, draw=black,
+                        inner sep=0.1pt,align=center,font=\tiny,rotate=90] {input\\output};
+
+\end{tikzpicture}
+\caption{Starting configuration for the grasping challenge.
+        BS is placed at $\texttt{M\_Z12}$, CS1 is placed at $\texttt{M\_Z53}$
+and RS1 is placed at $\texttt{M\_Z25}$.}
+        \label{fig:grasping-field}
+\end{figure}
+
+=== Product Challenges ===
+This section covers four types of challenges, which all can be individually
+completed.
+Each challenge corresponds to the production of a product with one of the
+available complexities (C0, C1, C2, C3) in the \ac{RCLL} using either
+one or two \ac{RS}.\\
+For complexities C1, C2 and C3 the accumulated cost for mounting the required
+rings must be equal to 1, 2 and 3, respectively.
+\textbf{Task:} Produce all posted orders.\\
+\begin{table}[!htb]
+ \centering
+ \begin{tabular}{l|l|l}
+  Machines & Challenge type & Scoring \\\hline
+  2 & C0 & 30 \\
+  3 & C1 & 50 \\
+  4 & C1 & 50 \\
+  3 & C2 & 70 \\
+  4 & C2 & 70 \\
+  3 & C3 & 100 \\
+  4 & C3 & 100 \\
+ \end{tabular}
+ \caption{CX Challenge}
+ \label{tab:challenge-cx}
+\end{table}
+
+=== Exploration + Production Challenges ===
+The same challenge as in \refsec{sec:challenge-cx} but without receiving the
+machine positions. Hence exploration and production takes place concurrently.
+The same point scores as in \reffig{tab:challenge-cx} apply with an additional
+$+20$ per challenge
+
+=== Markerless Detection Challenge ===
+Image recognition challenge to classify different machine types.\\
+\textbf{Task:} Autonomously label the machines shown in a set of pictures
+by their type.
+A picture may contain more than one machine, which all count towards the
+total number of machines to detect. Labels must be placed on the machines
+within the picture. Machines are distinguished by their types
+(BS, CS, RS, DS, SS).\\
+As a preparation for this challenge, a data set will be supplied to
+all participants which may be used for training and testing
+purposes\footnote{\url{https://fh-aachen.sciebo.de/s/MRghypMQSMhTYaC}}.
+The evaluation set for the challenge consists of a set of separate images that
+is encrypted and distributed in advance of attempting the challenge.
+The password to decrypt the evaluation set is given out when the challenge
+is attempted.
+This challenge can only be attempted once to avoid improper use of the
+evaluation set.
+The points scored are calculated based on the relative amount of correctly
+and wrongly classified machines (across all types) according to
+\reftab{tab:challenge-markerless}. So a total amount of 30 points can be scored
+if all machines of all types are correctly classified.
+\begin{table}[!htb]
+ \centering
+ \begin{tabularx}{\linewidth}{l|l|l|l}
+  \% Correctly Classified & \% Wrongly Classified & \% Not Classified
+  & Scoring \\\hline
+  $x$ & $y$ & $z$ & $(x-y)\cdot30$
+ \end{tabularx}
+ \caption{Machine Detection Challenge}
+ \label{tab:challenge-markerless}
+\end{table}
+
+In order to verify the labeling, each team must presents the labeled data
+within the time slot (e.g., via screen-sharing when participating remotely).
+Additionally, the labeled data has to be sent to the \ac{OC}.
+
+== Challenges for the Secondary Competition ==
+=== Full game ===
+Play the production phase of an RCLL game on a field of \SI{7 x 8}{\metre} with
+$7$ machines (no machines from the opposing team).
+The normal RCLL rules apply with the exception that the ground truth for
+machine positions is not sent by the RefBox.