ARIAC Docs
⏩ Getting Started
Installation
Configuring the ARIAC Environment
Starting the Simulation
Default
Launch Options
Running the NIST Competitor
Changelog
2024.5.0, (2024-6-10)
2024.4.1, (2024-5-8)
2024.4.0, (2024-4-30)
2024.3.0, (2024-3-28)
2024.2.0, (2024-3-14)
2024.1.1, (2024-2-1)
2024.1.0, (2024-1-30)
Updates relevant to competitors:
Other Updates
Registration
Calendar of Events
⏩ Competition
Terminology
Competition Overview
Start-Up Commands
Program Flow
Environment
Parts
Kit Trays
Robots
Floor Robot
Ceiling Robot
Automated Guided Vehicles (AGVs)
Part Locations
Part Bins
Conveyor Belt
AGV Parts
Kit Tray/Tool Changer Station
Assembly Stations
Warehouse
Part Disposal Bins
Orders
Manufacturing Tasks
Kitting Task
Assembly Task
Combined Task
Conditions
Agility Challenges
Faulty Parts Challenge
Faulty Part Detection
Flipped Parts Challenge
Flipped Parts Setup
Flipped Part Detection
Dropped Part Challenge
Dropped Part Detection
Robot Malfunction Challenge
Robot Malfunction Detection
Sensor Blackout Challenge
Sensor Blackout Detection
High Priority Order Challenge
High Priority Order Detection
Insufficient Parts Challenge
Insufficient Parts Detection
Sensors
Sensor Costs
Static sensors
Breakbeam sensor
Proximity sensor
Laser profiler
LIDAR
RGB camera
RGBD camera
Basic logical camera
Advanced logical camera
Robot Cameras
Configuration Files
Sensor Configuration
Trial Configuration
Fields
Trial Generator GUI
ROS Communication
Competition Topics
Sensor Topics
Services
Message Definitions
Service Definitions
TF Frames
List of TF Frames
⏩ Evaluation
Automated Evaluation Overview
Instructions for creating the configuration file
Instructions for Testing the Evaluation System
Playing back the Gazebo State Log
Scoring
Cost Factor
Efficiency Factor
Task Scores
Kitting Task Score
Assembly Task Score
Combined Task Score
Trial Score
Launch File Setup
⏩ Tutorials
Introduction to Tutorials
List of Tutorials
Creating a Competition Package
Package Structure
List of Files
Testing the Package
Tutorial 1: Starting the competition
Starting the environment for Tutorial 1
Running tutorial 1
Expected output of tutorial 1
Code explanation for Tutorial 1
Tutorial 2: Reading data from a break beam sensor
Starting the environment for Tutorial 2
Running tutorial 2
Expected output of tutorial 2
Code explanation for Tutorial 2
Tutorial 3: Processing Data from an RGBD Camera
Starting the environment for Tutorial 3
Running tutorial 3
Expected output of tutorial 3
Output Visualization
Code explanation for Tutorial 3
Collecting and Handling Image Data
Image Processing
Reporting Results
Tutorial 4: Read an order
Starting the environment for Tutorial 4
Running tutorial 4
Expected output of tutorial 4
Code explanation for Tutorial 4
Tutorial 5: Move AGVs to stations
Starting the environment for Tutorial 5
Running tutorial 5
Expected output of tutorial 5
Code explanation for Tutorial 5
Tutorial 6: Picking a part
Starting the environment for Tutorial 6
Running tutorial 6
Moveit_py requirements
Code explanation for Tutorial 6
Tutorial 7: Picking and placing a kitting tray
Starting the environment for Tutorial 7
Running tutorial 7
Code explanation for Tutorial 7
Tutorial 8: Completing a kitting task
Starting the environment for Tutorial 8
Running tutorial 8
Code explanation for Tutorial 8
ARIAC Docs
Index
Index
A
|
C
|
I
|
K
|
O
|
P
|
S
|
T
A
Agility Challenge
ARIAC Manager (AM)
ariac_msgs/msg/AdvancedLogicalCameraImage
ariac_msgs/msg/AGVStatus
ariac_msgs/msg/AssemblyPart
ariac_msgs/msg/AssemblyState
ariac_msgs/msg/AssemblyTask
ariac_msgs/msg/BasicLogicalCameraImage
ariac_msgs/msg/BinInfo
ariac_msgs/msg/BinParts
ariac_msgs/msg/BreakBeamStatus
ariac_msgs/msg/CombinedTask
ariac_msgs/msg/CompetitionState
ariac_msgs/msg/ConveyorBeltState
ariac_msgs/msg/ConveyorParts
ariac_msgs/msg/HumanState
ariac_msgs/msg/KittingPart
ariac_msgs/msg/KittingTask
ariac_msgs/msg/KitTrayPose
ariac_msgs/msg/Order
ariac_msgs/msg/Part
ariac_msgs/msg/PartLot
ariac_msgs/msg/PartPose
ariac_msgs/msg/QualityIssue
ariac_msgs/msg/Robots
ariac_msgs/msg/Sensors
ariac_msgs/msg/VacuumGripperState
ariac_msgs/srv/ChangeGripper
ariac_msgs/srv/GetPreAssemblyPoses
ariac_msgs/srv/MoveAGV
ariac_msgs/srv/PerformQualityCheck
ariac_msgs/srv/SubmitOrder
ariac_msgs/srv/VacuumGripperControl
Assembly Task
Automated Guided Vehicle (AGV)
C
Combined Task
Competitor
Competitor Control System (CCS)
I
Insert
K
Kitting Task
O
Order
P
Part
S
sensor_msgs/msg/Image
sensor_msgs/msg/LaserScan
sensor_msgs/msg/PointCloud
sensor_msgs/msg/Range
std_srvs/srv/Trigger
T
Trial