Q/A on Setup

Please could you let me know if we could bring our own objects bought from the amazon list in order to ensure that we realize the competition with the same objects that we trained with?
- No. We provide objects in the competition. But, you can bring your own objects, kits for practice. 

Also, for the manufacturing track do we need to bring the gear set that you sent us? Or will the gear set will be provided in the competition site for each team?
- The gear set will be provided for the competition. You can bring your the pre-provided gear set for practice. 

Do we have certain kind of light conditions and setup during the competion?
- You can setup your own light.

Can we modify the table, such as drill a hole in it?
- No, you cannot. 

Can we cover the table with our own cloth?
- Yes.

What is the shipping address and instruction?
- Weblink page 29 contains instruction and all of the forms relating to shipping their equipment and materials to show site.
You have three options:
1. Advance Shipment to Warehouse, where the materials will be stored for up to a month prior to the show, and will be delivered from there to show site. 
2. Doing the Direct to Show Site option, where the shipper will deliver the items to the loading dock, and GES will deliver the items directly to the areas in question.
Please make sure that they complete all of the Customs documents, to avoid any equipment being stopped at the border.

Since the competitin is not exhition, please use Hall , not “Booth #.”

What is the table size?
- I still don't know the height, width of the table for sure. It could be two 3x8' tables arranged in L shape. 

What is my team number?
- Your team number is on the competition's website. 

What is the color of the tables?
- Need to find out.

The available booth size of each team.
- The layout is on the competition's website

The assigned number of desks and chairs of each team. (Each team
have to order them to GES?)
- No. 

Do we have a brand name or model number
- Not yet.


Q&A on tasks:

Can we change the gripper between tasks?
- In the service track, the robot can only change the gripper between tasks automatically. In the manufacturing tasks, you can change the gripper in between the two tasks manually. 

Can we change software between tasks?
- No. But you can start and stop your execution between tasks. You can use different scripts. 

About the 10 tasks in service track, can we rearrange the order of doing the tasks?
- Yes

Task 1: How is the target area defined? Can we define it? How big does it need to be?
- No you cannot. We will provide the target location during the preparation time before the competition. It will be in your robot's workspace. It is a target location, not an area.

Task 2: Will the knife and fork be arranged in a known way around, and how is the position set and they stacked or losely placed in the tray? Will the same implement always be in the same slot?
- The same utensils would be in the same slot. They will be loosely place in the tray. 

Task 2: it says "Grasp a spoon, a knife, and a fork from the draw". What's the meaning of draw?
- "draw" is the white tray.


Task 3: Is the location and the orientation of the spoon defined, or can this be set by the team?
- No. The location and the orientation of the spoon is random. You would need perception to estimate them.

Task 3. Use a spoon to stir water in a cup:
- Is the location of second cup (with water for stirring) defined(fixed) by us? Can we get bonus points for using independent vision?
- No. It is random. You would need a perception system. 



Task 4: THere is mention of 90 and 80 percent - just to clarify - it must be over 80 percent full?
- Yes. We don't really check the 90% mark if no water overspills. If water spills out, we would check the 90% mark. 

Task 5: Is the location of the power distribution board pre-determined? Can each of the plugs be extracted and then pluged back in, or must they both be extracted and plugged in?
- The location of the power strip is predefined. 
- Yes, the robot can plug and then unplug one and then the other.

Task 5. Grasp a plug and insert it into a socket:
Are usb night light and AC night light randomly pluged across 4 USB ports and 4 AC ports? 
- Yes

Task 5. Once we unplugged each of lights, where do we place them in the desk surface? Do we place them at fixed location which are predifned by us?  Do we place them in random locations? 
- Wherever you like.

Task 5. If we place AC night light on the table surface, there are several poses for it(two plug metal pieces can land on the surface in diffrent ways). So, is the pose for AC night fixed or random?

Task 5. Once we unplugged each of lights, can the robot arm directly plug it back into the specified port without releasing them and placing them on the table? 
- Yes. 

Task 5. Can we plug them back into the original ports? Are they random or defined?
- Yes. 


Task 6: Can the orientation of the free end be set by the team or is this random?
- The free end is vertical. It is random. But its rough position will be provided before the competition.

Task 7: Is the location of the board fixed and pre-determined?
- You will only know the rough position of the board. Basically the Velcro location is fixed. But putting the board on the Velcro will introduce uncertainty. 

Task 9: Are the location of the two cups pre-determined or random?
- The same thing, the Velcro location is fixed. But there will be uncertainty when we place the cup on the Velcro mount. 

Task 10: Can the location of the bottle be pre-determined or must it be random?
- The same thing, the Velcro location is fixed. But there will be uncertainty when we place the bottle on the Velcro mount.