Merge branch '2019/restructure' into 2019/tasks/HandMeThat

RoboCupAtHome · Feb 21, 2019 · c4f6cfb · c4f6cfb
2 parents 782c4ab + 1cc08f6
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diff --git a/Rulebook.tex b/Rulebook.tex
@@ -55,42 +55,56 @@
 
 \input{Setup}
 
+
+
+
 \chapter{Tests in Stage I}
 \label{chap:stage_I}
 
+% Uncomment to get aesthetic improvement
+\cleardoublepage
+\input{tasks/CarryMyLuggage}
 \newpage
 \input{tasks/CleanUp}
 \newpage
-\input{tasks/TakeOutGarbage}
+\input{tasks/Farewell}
 \newpage
-\input{tasks/Receptionist}
+\input{tasks/FindMyMates}
 \newpage
-\input{tasks/Farewell}
+\input{tasks/GPSR}
 \newpage
-\input{tasks/ServingDrinks}
+\input{tasks/Receptionist}
 \newpage
-\input{tasks/FindMyMates}
-% \newpage
-% \input{tasks/ServingBeverages}
-
+\input{tasks/ServingDrinks}
 \newpage
 \input{tasks/StoringGroceries}
+\newpage
+\input{tasks/TakeOutGarbage}
+
+
+
 
 \chapter{Tests in Stage II}
 \label{chap:stage_II}
 
 \newpage
 \input{tasks/CleanTable}
-
 \newpage
-\input{tasks/SetTable}
-
+\input{tasks/EGPSR}
+\newpage
+\input{tasks/FindMyDisk}
 \newpage
 \input{tasks/HandMeThat}
-
 \newpage
+\input{tasks/SetTable}
+\newpage
+\input{tasks/SticklerForRules}
+
+
+
 \input{tests/Finals}
 
+
 \printabx
 \printidx
 

diff --git a/extra_dict.pws b/extra_dict.pws
@@ -13,7 +13,6 @@ d'Ing
 Dominey
 du
 Ecole
-enierie
 et
 Fariborz
 Gestion
@@ -189,4 +188,9 @@ GPSR
 EEGPSR
 Deus
 Machina
-pts
+pts
+outliers
+OSL
+rulebook
+rulebooks
+EGPSR
diff --git a/general_rules/ExternalDevices.tex b/general_rules/ExternalDevices.tex
@@ -1,15 +1,15 @@
 % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% 
+%
 % External Devices
-% 
+%
 % %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 \section{External devices}
 \label{rule:robot_external_devices}
 Everything which is not part of the robot is considered an \iterm{external device}.
 All external devices must be authorized by the \iaterm{Technical Committee}{TC} during the \iterm{Robot Inspection} test (see~\refsec{sec:robot_inspection}).
 The \iaterm{Technical Committee}{TC} specifies whether an external device can be used freely, under referee supervision, and its impact on scoring.
 In general, external devices must be removed quickly after the test.
-	
+
 \noindent \textbf{Remark:} The use of \iterm{wireless devices} is strictly prohibited. \iterm{External microphones}, hand microphones, and headsets are not allowed in OPL and it use is discouraged in DSPL and SSPL.
 
 \subsection{On-site external computing}
@@ -19,7 +19,7 @@ \subsection{On-site external computing}
 
 External Computing Devices must be placed in the \iaterm{\textbf{E}xternal \textbf{C}omputing \textbf{R}esource \textbf{A}rea}{ECRA} which is announced by the \iaterm{Technical Committee}{TC} during setup days.
 A switch connected to the arena wireless network will be available to teams in the ECRA.
-It is strictly forbidden to connect any kind of device or peripheral (e.g. screens, mouses, keyboards, etc.) to the computers in the ECRA during the competition.
+It is strictly forbidden to connect any kind of device or peripheral (e.g.~screens, mouses, keyboards, etc.) to the computers in the ECRA during the competition.
 
 A maximum of two laptops and two people from different teams is allowed at any time in the ECRA.
 Teams using laptops as External Computing Devices must remove the device immediately after the test.
@@ -45,23 +45,10 @@ \subsection{On-line external computing}
 \subsection{Official Standard Laptop for DSPL}
 \label{rule:osl_dspl}
 
-In the Domestic Standard Platform League, teams may use the \iaterm{Official Standard Laptop}{OSL} connected to the Toyota HSR via Ethernet cable, safely located in the TOYOTA HSR \iterm{Mounting Bracket} provided by TOYOTA for this purpose.
-
-\subsubsection{Technical Specifications}
-The technical specifications for the Official Standard Laptop in the Domestic Standard Platform League are the following:
-
-
- \begin{itemize}
-  \item \textbf{Brand and model:} DELL Alienware 15 or 17
-  \item \textbf{CPU:} Core-i7 series
-  \item \textbf{RAM:} 16GB or 32GB
-  \item \textbf{GPU:} NVIDIA GeForce GTX 1070 or 1080
-  \item \textbf{Storage:} Unrestricted.
-\end{itemize}
-
-No other brands or models will be accepted. There are no constrains regarding the software installed in the OSL but no additional hardware is allowed.
+In the Domestic Standard Platform League, teams must use the \iaterm{Official Standard Laptop}{OSL} connected to the Toyota HSR via Ethernet cable, safely located in the TOYOTA HSR \iterm{Mounting Bracket} provided by TOYOTA for this purpose.
 
-The referees, Technical Committee, and Organizing Committee members may run random checks anytime during the competition prior to the test to verify that the laptop in the TOYOTA HSR \iterm{Mounting Bracket} has no additional hardware plugged in, and matches the authorized specifications.
+Any laptop fitting inside the TOYOTA HSR \iterm{Mounting Bracket} is allowed, regardless of its technical specification.
+All competing robots must have mounted an OSL, whether they use it or not, so all TOYOTA HSRs have the same load restrictions.
 
 
 % Local Variables:

diff --git a/general_rules/Scenario.tex b/general_rules/Scenario.tex
@@ -162,13 +162,16 @@ \subsection{List of Predefined Objects}
 \begin{itemize}
 	\item \textbf{\iterm{Tableware}:} Dish, bowl, cup (or mug), and napkin.
 	\item \textbf{\iterm{Cutlery}:} Fork, knife, and spoon.
+	\item \textbf{\iterm{Trash Bags}:} Big plastic trashbags, preferrably with handle.
 	\item \textbf{\iterm{Bags}:} Lightweight. With stiff, vertical handles.
+	\item \textbf{\iterm{Disks or books}:} A set of 10 discs (LP, CD, DVD, or BluRay) or books, all of the same kind.
+	\item \textbf{\iterm{Coat rack}:} A rack or pole to hang coats and other clothes.
 	\item \textbf{\iterm{Trays}:} A transport object like a tray or basket. Intended for two-handed manipulation.
-	\item \textbf{\iterm{Pourable}:} An object whose content can be poured (e.g. muesli, cereal, etc.).
-	\item \textbf{\iterm{Heavy object}:} Weight between 1.0kg and 1.5kg).
-	\item \textbf{\iterm{Tiny object}:} A lightweight object with no bigger than 5cm (e.g. paper, teabag, pen).
-	\item \textbf{\iterm{Fragile object}:} An easy-to-break object, (e.g. chocolate egg).
-	\item \textbf{\iterm{Amorphous object}:} An flexible object that may take an infinite number of shapes (e.g. cloth, magnetic puzzle, etc.).
+	\item \textbf{\iterm{Pourable}:} An object whose content can be poured (e.g.~muesli, cereal, etc.).
+	\item \textbf{\iterm{Heavy object}:} Weight between 1.0kg and 1.5kg.
+	\item \textbf{\iterm{Tiny object}:} A lightweight object with no bigger than 5cm (e.g.~paper, teabag, pen).
+	\item \textbf{\iterm{Fragile object}:} An easy-to-break object, (e.g.~chocolate egg).
+	\item \textbf{\iterm{Amorphous object}:} An flexible object that may take an infinite number of shapes (e.g.~cloth, magnetic puzzle, etc.).
 	\item \textbf{\iterm{Garbage bag}:} A tie-able garbage bag.
 \end{itemize}
 

diff --git a/images/find_my_disk.png b/images/find_my_disk.png
diff --git a/score_sheets.tex b/score_sheets.tex
@@ -102,97 +102,94 @@
 
 
 %%% STAGE I %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-\renewcommand{\attempts}{3}
-
 %%% STAGE 1 TESTS GO HERE %%%
 
-% Cocktail Party
-\ifSSPL{
-  \renewcommand{\currentTest}{Cocktail Party}
-  \begin{scoresheet}
-  \input{scoresheets/CocktailParty.tex}
-  \end{scoresheet}
-}
+\renewcommand{\currentTest}{Carry my Luggage}
+\begin{scoresheet}
+\input{scoresheets/CarryMyLuggage}
+\end{scoresheet}
 
-% GPSR
-\renewcommand{\currentTest}{General Purpose Robot}
+\renewcommand{\currentTest}{Clean Up}
 \begin{scoresheet}
-\input{scoresheets/GPSR.tex}
+\input{scoresheets/CleanUp}
 \end{scoresheet}
 
-% Help me carry
-\renewcommand{\currentTest}{Help-me-carry}
+\renewcommand{\currentTest}{Farewell}
 \begin{scoresheet}
-\input{scoresheets/HelpMeCarry.tex}
+\input{scoresheets/Farewell}
 \end{scoresheet}
 
-% Speech and Person Recognition
-\renewcommand{\currentTest}{Speech and Person Recognition}
+\renewcommand{\currentTest}{Find my Mates}
 \begin{scoresheet}
-\input{scoresheets/SPR.tex}
+\input{scoresheets/FindMyMates}
 \end{scoresheet}
 
-% Storing Groceries
-\ifNotSSPL{
-  \renewcommand{\currentTest}{Storing Groceries}
-  \begin{scoresheet}
-  \input{scoresheets/StoringGroceries.tex}
-  \end{scoresheet}
-}
+\renewcommand{\currentTest}{General Purpose Service Robot}
+\begin{scoresheet}
+\input{scoresheets/GPSR}
+\end{scoresheet}
+
+\renewcommand{\currentTest}{Receptionist}
+\begin{scoresheet}
+\input{scoresheets/Receptionist}
+\end{scoresheet}
+
+\renewcommand{\currentTest}{Serving Drinks}
+\begin{scoresheet}
+\input{scoresheets/ServingDrinks}
+\end{scoresheet}
+
+\renewcommand{\currentTest}{Storing Groceries}
+\begin{scoresheet}
+\input{scoresheets/StoringGroceries}
+\end{scoresheet}
+
+\renewcommand{\currentTest}{Take out Garbage}
+\begin{scoresheet}
+\input{scoresheets/TakeOutGarbage}
+\end{scoresheet}
 
 
 % %%% STAGE II %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-\renewcommand{\attempts}{2}
 
 %%% STAGE 2 TESTS GO HERE %%%
 
-
-% EEGPSR
-\renewcommand{\currentTest}{EEGPSR}
+\renewcommand{\currentTest}{Clean the Table}
 \begin{scoresheet}
-\input{scoresheets/EEGPSR.tex}
+\input{scoresheets/CleanTable.tex}
 \end{scoresheet}
 
-% THIS IS REMOVED FROM 2019 RULE BOOK
-% Open Challenge
-%\renewcommand{\currentTest}{Open Challenge}
-%\begin{scoresheet}
-%\input{scoresheets/OpenChallenge.tex}
-%\end{scoresheet}
+% EGPSR
+\renewcommand{\currentTest}{Enhanced General Purpose Service Robot}
+\begin{scoresheet}
+\input{scoresheets/EGPSR.tex}
+\end{scoresheet}
 
-% Set a table and clean it up
-\ifNotSSPL{
-  \renewcommand{\currentTest}{Procter \& Gamble Dishwasher Challenge}
-  \begin{scoresheet}
-  \input{scoresheets/PnG.tex}
-  \end{scoresheet}
-}
+% \renewcommand{\currentTest}{Restaurant}
+% \begin{scoresheet}
+% \input{scoresheets/Restaurant.tex}
+% \end{scoresheet}
 
-% Restaurant
-\renewcommand{\currentTest}{Restaurant}
+\renewcommand{\currentTest}{Set the Table}
 \begin{scoresheet}
-\input{scoresheets/Restaurant.tex}
+\input{scoresheets/SetTable.tex}
 \end{scoresheet}
 
-% Tour Guide
-\ifSSPL{
-  \renewcommand{\currentTest}{Tour Guide}
-  \begin{scoresheet}
-  \input{scoresheets/TourGuide.tex}
-  \end{scoresheet}
-}
-
+\renewcommand{\currentTest}{Stickler for Rules}
+\begin{scoresheet}
+\input{scoresheets/SticklerForRules}
+\end{scoresheet}
 
 % %%% FINALS   %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 % Final (Jury)
-\renewcommand{\currentTest}{Final Demonstration -- Jury Evaluation}
+\renewcommand{\currentTest}{Final Demonstration --- Jury Evaluation}
 \begin{scoresheet}
 \input{scoresheets/FinalsJury.tex}
 \end{scoresheet}
 
 % Final (EC)
-\renewcommand{\currentTest}{Final Demonstration -- Executive Committee}
+\renewcommand{\currentTest}{Final Demonstration --- Executive Committee}
 \begin{scoresheet}
 \input{scoresheets/FinalsExec.tex}
 \end{scoresheet}

diff --git a/scoresheets/CarryMyLuggage.tex b/scoresheets/CarryMyLuggage.tex
@@ -0,0 +1,27 @@
+
+The maximum time for this test is 5 minutes.
+
+\begin{scorelist}
+	\scoreheading{Main Goal}
+	\scoreitem{500}{Take the bag to the car}
+	\penaltyitem{200}{Hand-over the bag}
+	\penaltyitem[5]{100}{Regain operator's track by natural interaction}
+	\penaltyitem[5]{200}{Regain operator's track by non-natural interaction}
+	\penaltyitem[5]{400}{Regain operator's track by direct contact}
+
+
+	\scoreheading{Bonus rewards}
+	\scoreitem{100}{Reentering the arena}
+	\scoreitem{100}{Avoid the crowd obstructing path}
+	\scoreitem{100}{Avoid the small object on the ground}
+	\scoreitem{100}{Avoid the hard-to-see 3D object}
+	\scoreitem{100}{Avoid the area blocked with retractable barriers}
+
+	% No longer necessary, computes automatically
+	% \setTotalScore{1000}
+\end{scorelist}
+
+
+% Local Variables:
+% TeX-master: "Rulebook"
+% End:
diff --git a/scoresheets/CleanTable.tex b/scoresheets/CleanTable.tex
@@ -0,0 +1,23 @@
+The maximum time for this test is 10 minutes.
+
+\begin{scorelist}
+	\scoreheading{Main Goal}
+	\scoreitem{1000}{Place all tableware and cutlery inside the dishwasher}
+	\penaltyitem[7]{50}{Pointing at object}
+	\penaltyitem[7]{50}{Handover an object}
+	\penaltyitem[3]{200}{Bypassing tableware storage}
+	\penaltyitem[3]{250}{Bypassing cutlery storage}
+
+	\scoreheading{Bonus rewards}
+	\scoreitem{300}{Opening the dishwasher door}
+	\scoreitem{300}{Pulling out the dishwasher racks}
+	\scoreitem{300}{Placing the Cascade Pod inside the dishwasher}
+	\scoreitem{100}{Autonomously leaving the arena}
+
+	%\setTotalScore{1000}
+\end{scorelist}
+
+
+% Local Variables:
+% TeX-master: "Rulebook"
+% End:
diff --git a/scoresheets/CleanUp.tex b/scoresheets/CleanUp.tex
@@ -0,0 +1,25 @@
+
+The maximum time for this test is 5 minutes.
+
+\begin{scorelist}
+	\scoreheading{Main Goal}
+	\scoreitem[5]{100}{Place an object at the appropriate location}
+	\penaltyitem[5]{-30}{Receiving human help (telling where an object can be found)}
+	\penaltyitem[5]{-40}{Receiving human help (pointing out object to be moved)}
+	\penaltyitem[5]{-20}{Receiving human help (Guiding the robot near an object to be moved)}
+	\penaltyitem[5]{-30}{Receiving human help (telling robot which category an object is or where to place it)}
+	\penaltyitem[5]{-60}{Receiving human help (physically interacting with object)}
+
+	\scoreheading{Bonus rewards}
+	\scoreitem{200}{Opening entrance door without human help}
+	\scoreitem{150}{Moving a \emph{tiny} object}
+	\scoreitem{150}{Moving a \emph{heavy} object}
+
+	% No longer necessary, computes automatically
+	% \setTotalScore{1000}
+\end{scorelist}
+
+
+% Local Variables:
+% TeX-master: "Rulebook"
+% End: