Warm Up

In this stage, you will handle two tasks with a simplified 3-DoF robot. The robot is set such that the end-effector will on the height of the table surface. In simulation, the collision between the robot and the table are disabled.

Tasks

Tasks in Warm Up Stage

Hit, 3dof-hit	Defend, 3dof-defend

Environment Specifications

Here we list the some useful information about the environment.

Important

In the constraint, the joint position and velocity limits for constraint computation is 95% of the actual limits. For example, the upper bound of the position limit for joint 1 is 2.967. In the Evaluation and Constraints, we check if the joint position exceeds 2.967 * 0.95 = 2.818707.

Robot Specifications
Robot Position Upper Limit (rad)	[ 2.967060, 1.8, 2.094395]
Robot Position Lower Limit (rad)	[-2.967060, -1.8, -2.094395]
Robot Velocity Limit (rad/s)	+/- [1.570796, 1.570796, 2.094395]
Robot Link Length (m)	[0.55, 0.44, 0.44]
Environment Specifications
Environments	3dof-hit, 3dof-defend
Initial Robot Position (fixed)	[-1.156, 1.300, 1.443]
Initial Robot Velocity	0
Range of Puck’s Initial Position [x, y] (robot’s base frame)	Hit: [[0.81, 1.31], [-0.39, 0.39]] Defend: [[1.80, 2.16], [-0.4, 0.4]]
Range of Puck’s Initial Velocity	Hit: 0 Defend: speed (m/s): [1, 3] angle: [-0.5,0.5] + \(\pi\)
Termination Criterion	Hit: puck is moving back or score Defend: puck return to the opponent’s side or score

Evaluation

To evaluate your agent in the cloud server, please follow the Solution Submission instruction. In the warm up stage, the environment for evaluation is the same as the public available one.