TIAGo arrived late and partly broken
We had a lot of trouble yesterday and the day before regarding the transport of TIAGo. It didn’t arrive in time, even so TIAGo was traveling already for the last three weeks. We were not the only team that didn’t get their robot in time. The first sad news received us when we arrived. TIAGo was not there then after contacting the cargo company they told us to deliver it by lunch time. At lunch time we got the news that they could not locate the robot. After approximately three more hours they located the robot but instead of moving from the airport to the ICC (where the RoboCup World Championship is held) it went straight to Canberra (another city in Australia, which is about 3.5 hours away from Sydney). Seems like they just mixed up boxes. Ok … waiting, waiting, waiting, emails, emails, emails later we received that TIAGo could not be transported back on the same day. So we just missed the first preparation day with TIAGo completely and hat to tremble to get it in time for the robot inspection. Robots that are not inspected are not allowed to take part in the competition. Ok further waiting waiting waiting … TIAGo arrived. We were smiling happy about the fact that we had one more hour to make it working for the robot inspection so we brought the box to our team area opened it and boom. The box was opened in between, our poster was missing, which we put inside. The head got a huge crack. The case had been opened during the transportation, most probably during the customs and closed improperly. The head is used to be fixed in the transport case. After somebody opened the transport box it was not any longer in place. Further the clear signs that the transport box should face upwards was ignored, at least when it arrived finally at the ICC. These combinations lead to a cracked head. Calibrations and stability were gone. All that are problems that you really don’t like to have when attending a world championship and do best in advance to avoid those occurrences. We had a lot luck that we got Lisa in our suitcases and our time was not completely wasted for the first two preparation days. Further we want to give a huge thanks to the CATIE team from france which repaired the head for us. They were a lot more experienced and equipped than us for handling this issue. Thanks a lot you helped us so much and this support will stay in our memories.
The rest will be summarized quite shortly now. Even so everything was quite tight in the end we managed to pass the robot inspection on the first trial and even could test the Take out the trash and storing groceries task. First thing this morning we will calibrate the hand against the camera which is quite handy. TIAGo grabs a calibration pattern and automatically move it’s arm and camera to acquire calibration data and later on optimize the transformations for alignment. That’s a really handy tool provided by PAL!
We are now leaving into direction of the ICC to start preparation.