v1.5

Changes in v1.5

• Removed the ocrtoc_materials_patch folder.
• Added a launch file for MoveIt (/ur5_e_robotiq_2f_85_moveit_config/launch/all.launch).
• Added kinect/realsense/ur5e calibration files (/ocrtoc_task/config)
• Updated urdf files for the real robot stage (description/ur_e_description/urdf). The "ur5e_joint_limited_robot.urdf.xacro" file will load the calibration files.
• Updated all models for the real robot stage (/ocrtoc_materials_real_stage/models).
• Updated the kinect/realsense launch files, improved the image quality.
• Added a FAQ document about the issues we encountered in the trial period (/docs).
• Added a document about the detail information of camera topics (/docs).
• Added documents about the topic lists (/docs).
• Extended README.md with "Differences between the real robot stage and the simulation stage" and "Sample data collected from the real robot".

v1.4 real robot stage

Changes in v1.4

• Added ROS drivers (/drivers).
  • Kinect DK driver.
  • UR5E driver.
  • Robotiq-2F85 driver.
  • Realsense D435i driver.
• Added models and scenes for the real robot stage (/ocrtoc_materials_real_stage).
• Added moveit config (/ur5_e_robotiq_2f_85_moveit_config).
• Added launch files and shell scripts (/ocrtoc_task/launch).
• Updated Dockerfile. Added install dependencies.
• Extended README.md with "Information about the real robot stage".

v1.3 patch 1

• Fixed frame id (OCRTOC/OCRTOC_software_package#21)

v1.3

Changes in v1.3

• Added Dockerfile and build script (/docker). You can rebuild the docker image as you wish using the Dockerfile.
• Upgraded docker image. Follow the instructions in the readme file to download the new docker image. However this is not a MUST, if the previous docker image already fulfiled your development requirement.
  -- Replaced cuda-runtime with cuda-devel.
  -- Added models and scenes released in v1.1.
  -- Fixed the Sapien controller issue (OCRTOC/OCRTOC_software_package#10)
• Fixed the Sapien camera_info timestamp issue (OCRTOC/OCRTOC_software_package#14)
• For those of you who want to do some fixings (such as gripper or urdf models) on your own, we allow the modifiction in the following folders "/description", "/gazebo_simulator", "/sapien_simluator".

v1.2

Changes in v1.2

• Updated the method for task evaluation. For each task we calculate the average distance error of all objects instead of their sum.
• Fixed the Sapien object inertia issue (OCRTOC/OCRTOC_software_package#6)
• Fixed the Sapien GUI issue (OCRTOC/OCRTOC_software_package#8)
• Fixed the Gazebo gripper issue (OCRTOC/OCRTOC_software_package#9)

v1.1

Changes in v1.1

• Added 20 object models and 100 trial scenes (available at ocrtoc_materials_patch). You can use the script ocrtoc_materials_patch/patch.sh to copy the new models and scenes into your docker image. The new object models will be re-used in the simulation contest and in the real robot stage.
• Added the task evaluation module (search "Trigger task and evaluation" in readme). Your solution will be evaluated by the same software module in the simulation contest.
• Changed ambient light strength from 0.3 to 0.7 in all trial scenes.
• Fixed camera_info of the Kinect camera for the Sapien simulator.
• Fixed gripper issues for the Sapien simulator. Now the robotiq 2f-85 gripper model uses an explicitly-built prismatic joint. Before the fix, the gripper model relied on the kinematics constraints of three revolute joints, which sometimes failed to maintain the mimic joint status due to certain external forces.

Known issues in v1.1

• The gripper model in the Gazebo simulator is not fixed. If you experience any weird problems while using Gazebo, please use Sapien instead.