This (bigger than usual) minor update focuses on clarifications, scoring adjustments, consistency improvements, and refinements based on feedback from local competitions, teams, referees, and Technical Committee discussions.
We encourage all teams to carefully review the updated rulebook and changelog before upcoming competitions.
Highlights
Common Competition Objects
A set of commonly available objects has now been explicitly standardized for competition use, allowing teams to prepare without requiring the full YCB object dataset. These objects will be prepared on an additional surface during Pick and Place Challenge Robots may pick these simpler objects with a small scoring penalty.
- Red Bull can
- Pringles can
- Rubik’s Cube
- Colgate toothpaste box
Full details are available in the corresponding pull requests and the updated rulebook repository:
Changelog
- 1048 Clarify ruling on tool use during test
- Starting with tool in hand counts as different robot configuration. This means it counts as a second robot and needs to pass Inspection. The container for Restaurant remains an exception to this.
- #1047 Doing Laundry Add appendix for scoring folding
- #1046 Reduce overall scores in Restaurant
- Add first pick/place bonus to encourage manipulation
- #1038 Adjustments for Finals
- additional task: move laundry basket near the washing machine
- reduce points for closing
- #1037 Add environment change penalty to Doing Laundry
- #1035 #1036 #1042#1043 #1044 #1045 Various rule improvements and clarifications
- #1034 Robot interactions are now always scored by the person interacting with the robot.
- e.g. it is often hard for the referees to understand if the robot says the correct information or held eye contact
- #1033 Time limit for Human Robot Interaction Challenge is now always 7 minutes regardless of door opening.
- #1025 Updates to Pick and Place Challenge
- Added side table with two common items (worldwide available set). Robots may choose to pick these instead of the objects on the dining table and store them in the cabinet with a small penalty (simpler and known in advance).
- Added human assistance penalty for requesting environment changes (move chairs or decorations). Penalty is per item moved (per chair or per set of decorations)
- #1023 Restaurant order is now capped at 2 items. Decreased penalties where robot asked for customer location info (not guided).
- #1021 Doing Laundry improvements
- changes in Doing Laundry procedure and scoring
- No points for simple pick and place: now onetime score for picking a single clothing piece from basket
- Penalties for dropping clothing
- Higher score for first folded item
- Specific HumanAssistance penalty for arranging or flattening the clothing before folding.
- #1021 Improve scoresheets
- remove bonus goal rulings, most objectives can be obtained at any time, unless task specific remarks.
- #1022 Add missing Restaurant restart rulings.
- #1024 Remove cabinet door closing from finals
- Doors no longer requirement for LOC. Will be added as additional goal if available.
- #1017 Added common objects always used during competition
- e.g. red bull can, pringles can, rubiks cube and colgate toothpaste box were selected due to their availability worldwide.
- Explicit mention allows teams to acquire and prepare for these objects without buying the full ycb dataset
- #1018 Updated start signal rulings.
- The manual start signal is now explicitly used during inspection
- #1019 Updated number of teams qualified for Finals
- With the removal of the sub-leagues more teams fit in the schedule of the finals
- Added clarification that Restaurant is only run once
- Added Restaurant may require registration/qualification
- #1010 Add handover rulings to Human Robot Interaction Challenge
- #1008 Fix inconsistencies in scenario description and league requirements
- #1012 Improve following the host description
- #1007 Fix wrong 'not attending penalty' in penalty section
- #1009 Removed some SPL mentions