Incorrect Task generation for BMT (and possibly other tasks)

[marcomasa]

I tried to generate BMT tasks (i already modified the launchfile to only contain the two workstations with 10cm as discussed at VRC AP) and got this task:

execute_on: []
arena_start_state: 
  - 
    objects: 
      - 
        object: 18
        target: 0
    workstation_name: "WS3"
  - 
    objects: 
      - 
        object: 22
        target: 0
      - 
        object: 15
        target: 0
      - 
        object: 21
        target: 0
      - 
        object: 21
        target: 0
    workstation_name: "WS4"
  - 
    objects: 
      - 
        object: 53
        target: 0
      - 
        object: 41
        target: 0
      - 
        object: 50
        target: 0
      - 
        object: 57
        target: 0
      - 
        object: 56
        target: 0
    workstation_name: "PP1"
arena_target_state: 
  - 
    objects: 
      - 
        object: 15
        target: 0
      - 
        object: 21
        target: 0
      - 
        object: 21
        target: 0
    workstation_name: "WS3"
  - 
    objects: 
      - 
        object: 18
        target: 0
      - 
        object: 22
        target: 0
    workstation_name: "WS4"
  - 
    objects: 
      - 
        object: 53
        target: 0
      - 
        object: 41
        target: 0
      - 
        object: 50
        target: 0
      - 
        object: 57
        target: 0
      - 
        object: 56
        target: 0
    workstation_name: "PP1"
prep_time: 
  secs: 180
  nsecs:         0
exec_time: 
  secs: 300

as you can see, one object is already placed on the target workstation somehow. in addition, the final state of the arena states that this object shall be moved from the target table (WS3) to the source table (WS4).

one object from WS4 is not even moved at all, resulting in only 4 manipulation objects...

any suggestions?

param files:

BMT.yaml

BMT:
  prep_time: 3
  exec_time: 5
  objects: 5
  ref_position: true
  tables: 2
  normal_table_types: [ "10" ]

Arena.yaml

# BMT config
arena:
  workstations:
    #WS1: "00"
    #WS2: "00"
    WS3: "10"
    WS4: "10"
    #WS5: "05"
    #WS6: "05"
    #WS7: "15"
    #WS8: "15"
    #WS9: "0"
    #WS10: "05"
    #WS11: "10"
    #WS12: "10"
    #WS13: "0"
    #WS14: "15"

    PP1: "PP"

    #TT1: "TT"
    #TT2: "TT"
    #SH1: "SH"
    #SH2: "SH"

  objects:
    F20_20_G      : 10
    F20_20_B      : 10
    S40_40_B      : 0
    S40_40_G      : 0
    M20           : 10
    M30           : 10
    M20_100       : 10
    R20           : 10
    AXIS          : 10
    BEARING       : 10
    BEARING_BOX   : 10
    DISTANCE_TUBE : 0
    MOTOR         : 0
    CONTAINER_RED :  0
    CONTAINER_BLUE:  0
  cavities: [ "F20_20_H", "S40_40_H", "M20_H", "M30_H", "M20_100_H", "R20_H", "F20_20_V", "S40_40_V", "M20_V", "M30_V", "R20_V" ]

[steup]

This bug is fixed in the new mathematical task generator. I am currently still in the process of integration and cleanup.

[steup]

Solved through integration of new task generator in a0bd5ba