Rotate Valve

Rotate Valve#

Success#

Rotate each valve handle by at least 90◦ (joint value ≥ 0.10) about its axis. The robot may still touch the handle once the target angle is achieved.

Stages#

Stage 1#

Left valve is being held by a gripper

Stage 2#

Left valve is rotated by ???

Stage 3#

Right valve is being held by a gripper

Stage 4#

Right valve is rotated by ???

Stage 5#

Complete success

Variations#

Static#
../../_images/rotate_valve.png

Valves appear in the same spot with the same orientation every time.

Position Randomization#
../../_images/rotate_valve_p.png

Position of each valve will vary by up to 0.35m in the X-direction and up to 0.6cm in the Y-direction.

Position and Orientation Randomization#
../../_images/rotate_valve_p_o.png

Position of each valve will vary as specified above, and orientation of each valve will vary by up to 30 degrees in either direction about the Z-axis.

Obstacle#
../../_images/rotate_valve_obstacle.png

Position and orientation of each valve will vary as specified above, and an obstacle will be randomly generated beteween the edge of the table and the valves.

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