ROSConDemo/docs/design/apple_tree_function_requirements.md

Apple Tree Functional Requirements

Goal

The goal for the Apple Tree environment is to simulate realistic physical behavior of simulated apples on apple trees when they are picked by a robotic device (i.e. arm).

Apple Tree Setup/Configuration

• For phase one, each apple in the apple tree prefab will be its one individual prefab
• The apples will be randomly placed as design time for the level
• The apple trees will be manually layed out on the apple orchard

Handling picking apples

• Apple Prefabs are pre-attached to the Apple Tree Prefab. (No dynamic random spawning)
• Apple Tree Prefabs will be instantiated in a set/fixed row of apple trees
• The Apple Prefab entity will add a PhysX rigid body, with gravity initially disabled
• During runtime of the level, the robotic arm will define a volume box to query for entities that fit inside the box
  • The volume box to query must be slightly larger than the apples
• The robot script will act upon any apple that triggers the volume box query
• The robot script will detach the apple through the manipulator and collect it into a basket