Hat Trick

WE WON!!!!
WE WON!!!!.

The preparation for todays finals meant a lot of stress for us last evening and also this morning. However, it went quite well in the end. The overall theme for the finals was food – so we came up with the “Lifecycle of Food”. That meant letting Lisa create a semantic map while doing an exploration of her (unknown) environment. So for example she knows where the food is stored.

Our award with the skyline of Sydney at Harbour Side
Our award with the skyline of Sydney at Harbour Side.

In the meanwhile we showed how TIAGo can learn a task — like pouring some water into a cup — by demonstration. Just after showing us what he learned, we ordered TIAGo to clean the toilet like we did for last years World Robot Summit.

Ida is moving TIAGo's arm to train him how to pour water into a bowl
Ida is moving TIAGo's arm to train him how to pour water into a bowl.

Competing against the Pumas from Mexiko in the finals, our performance – and also being already 1170 points ahead – lead us to the first place. Our friends from the new French team Catie achieved the third place. Conclusion: we made a hat-trick and are now the most successful ‘at-home’ team of the whole RoboCup. Yay!

Proud winners... Isabelle Kuhlmann, Patrik Schmidt, Christian Korbach, Mark Mints, Raphael Memmesheimer and Ida Germann
Proud winners... Isabelle Kuhlmann, Patrik Schmidt, Christian Korbach, Mark Mints, Raphael Memmesheimer and Ida Germann.

Scores of the second day and we made it to the finals

This morning we participated in the restaurant game of stage 2 and had a very good run. Lisa reached the maingoal which was finding a calling customer, taking his order and serving it. She even managed to take the order of a second customer but the time for serving this whole order was a bit short. The difficulties in this task was that it took place in a real restaurant area which was completely unknown for the robot. By using depth mapping in combination with our standard navigation, Lisa successfully avoided all tables and chairs even if not detected by the laserscanner.

Lisa serving in a restaurant
Lisa serving in a restaurant.
We also achieved quite some points in Where is This
We also achieved quite some points in Where is This.
We kept leading the scores in stage two
We kept leading the scores in stage two.

To clean or not to clean the table

Todays competition started with the last four rounds of stage 1 and went overall quit well for us and we managed to keep and even overtop our results from yesterday.

Lisa grabbing a drink for a guest during the Serving Drinks task
Lisa grabbing a drink for a guest during the Serving Drinks task.

For the ‘Housekeeper’ part of stage 2 we decided to announce the Clean the Table task. TIAGo had to pick up tableware and store them into the dishwasher.

TIAGo placing a bowl in the dishwasher
TIAGo placing a bowl in the dishwasher.

The time cap with ten minutes sharp was pretty hard for this task. Additionally we hadn’t much time for preparing the game due the late arrival of our robot and some technical issues – that’s why we decided to bypass the placement of the plate and the cup and let the referee place it in the dishwasher instead. Afterwards, TIAGo tried to grasp the cutlery – sadly not successfully. Because of the provided cutlery being very thin, even small misapproaches led to a failed grasp in this case. However TIAGo can detect this event and handle it by asking the operator for a handover, which instructs him to place the item between the grippers of TIAGo. The following placing in the dishwasher worked perfectly. After all objects were handled, TIAGo left the arena autonomously.

At least we are, despite the mentioned issues, on top of the scores.

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First Scores: Team Homer is leading

The tentative first scores are now online. We‘re proud to lead with quite some points difference — but the other teams aren‘t to defeed that easily. Tomorrow there are another four rounds for stage 1 tasks, followed by ‚Partyhost - Stage 2‘. We‘re hoping to keep our current position!

Tentative OPL scores for the first competition day and RIPS
Tentative OPL scores for the first competition day and RIPS.