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final_spring2024.yaml
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final_spring2024.yaml
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# Trial Name: final_spring2024.yaml
# ENVIRONMENT SETUP
time_limit: -1 # options: -1 (no time limit) or number of seconds
gazebo_state_logging: false # options: true or false
kitting_trays: # Which kitting trays will be spawn
tray_ids: [1, 1, 2]
slots: [1, 4, 6]
parts:
bins: # bin params - 8 total bins each bin has nine total slots (1-9)
bin2:
- type: 'sensor'
color: 'green'
slots: [3, 7]
- type: 'battery'
color: 'orange'
slots: [1, 9]
bin6:
- type: 'sensor'
color: 'purple'
slots: [2, 4]
rotation: 'pi/2'
bin5:
- type: 'battery'
color: 'purple'
slots: [1, 9]
rotation: 'pi/4'
bin1:
- type: 'regulator'
color: 'green'
slots: [4]
rotation: 'pi/3'
- type: 'pump'
color: 'orange'
slots: [5]
rotation: 'pi/6'
challenges:
- faulty_part:
order_id: 'KITTING03'
quadrant4: true
# - dropped_part:
# robot: 'floor_robot'
# type: 'sensor'
# color: 'green'
# drop_after: 0
# delay: 5
orders:
# - id: 'KITTING01'
# type: 'kitting'
# announcement:
# time_condition: 0
# priority: false
# kitting_task:
# agv_number: 1
# tray_id: 1
# destination: 'warehouse'
# products:
# - type: 'pump'
# color: 'orange'
# quadrant: 1
# - type: 'battery'
# color: 'purple'
# quadrant: 2
# - id: 'KITTING02'
# type: 'kitting'
# announcement:
# time_condition: 10
# priority: true
# kitting_task:
# agv_number: 2
# tray_id: 1
# destination: 'warehouse'
# products:
# - type: 'sensor'
# color: 'purple'
# quadrant: 2
# - type: 'sensor'
# color: 'purple'
# quadrant: 3
# - type: 'regulator'
# color: 'green'
# quadrant: 4
- id: 'KITTING03'
type: 'kitting'
announcement:
submission_condition:
order_id: 'KITTING02'
priority: false
kitting_task:
agv_number: 4
tray_id: 2
destination: 'warehouse'
products:
- type: 'battery'
color: 'orange'
quadrant: 1
- type: 'sensor'
color: 'green'
quadrant: 4