sc_port_2 target fails: frame does not exist

[Priest123-stack]

Description

According to the task board documentation, Zone 2 supports up to five SC ports distributed across two rails, which motivated us to build a more diverse SC dataset with >2 SC targets.

Reference:

• task_board_description.md states: “Supports up to five SC ports...” (Zone 2).

When using an SC data collection config that sets task_1.target_module_name: sc_port_2 and defines sc_rail_0..sc_rail_4, the task board still spawns only sc_port_0 and sc_port_1.
During task execution/scoring, aic_engine fails because TF frame task_board/sc_port_2/sc_port_base_link is missing.

Expected: sc_port_2 should be spawned (or config should be rejected early with a clear validation error).
Actual:

Runtime error during scoring: Transform between aic_world and task_board/sc_port_2/sc_port_base_link not found ... Invalid frame ID ... frame does not exist.

This indicates a mismatch between documented task-board capacity (up to 5 SC ports) and the currently exposed simulator/evaluation SC target modules.

Setup method

Docker + Distrobox + Pixi (recommended)

OS

Ubuntu 24.04.3 LTS

System specs

CPU: 12th Gen Intel(R) Core(TM) i9-12900KF (24 CPUs reported)
RAM: 31 GiB
GPU: NVIDIA GeForce RTX 3090 (24576 MiB)
GPU driver: 580.126.09

Steps to reproduce

1. Generate expanded trial config from the SC five-port template.

trial_variations:
- name: trial_bug_sc_five_ports_target_2
  overrides:
    scene.task_board.pose.x: 0.17
    scene.task_board.pose.y: 0.0
    scene.task_board.pose.z: 1.14
    scene.task_board.pose.roll: 0.0
    scene.task_board.pose.pitch: 0.0
    scene.task_board.pose.yaw: 3.0

    scene.task_board.sc_rail_0.entity_present: true
    scene.task_board.sc_rail_0.entity_name: sc_mount_0
    scene.task_board.sc_rail_0.entity_pose.translation: 0.006
    scene.task_board.sc_rail_0.entity_pose.roll: 0.0
    scene.task_board.sc_rail_0.entity_pose.pitch: 0.0
    scene.task_board.sc_rail_0.entity_pose.yaw: 0.0

    scene.task_board.sc_rail_1.entity_present: true
    scene.task_board.sc_rail_1.entity_name: sc_mount_1
    scene.task_board.sc_rail_1.entity_pose.translation: 0.024
    scene.task_board.sc_rail_1.entity_pose.roll: 0.0
    scene.task_board.sc_rail_1.entity_pose.pitch: 0.0
    scene.task_board.sc_rail_1.entity_pose.yaw: 0.0

    scene.task_board.sc_rail_2.entity_present: true
    scene.task_board.sc_rail_2.entity_name: sc_mount_2
    scene.task_board.sc_rail_2.entity_pose.translation: 0.041
    scene.task_board.sc_rail_2.entity_pose.roll: 0.0
    scene.task_board.sc_rail_2.entity_pose.pitch: 0.0
    scene.task_board.sc_rail_2.entity_pose.yaw: 0.0

2. Start sim/model stack.
3. In another terminal, run aic_engine.

Relevant log output

[ERROR] [aic_engine]: Transform between aic_world and task_board/sc_port_2/sc_port_base_link not found in the tf tree, error: Invalid frame ID "task_board/sc_port_2/sc_port_base_link" passed to canTransform argument source_frame - frame does not exist

Additional context

No response

[Yadunund]

Hi @Priest123-stack,

It’s great to see you’re already looking ahead and preparing for multi-port SC training!

To clarify the discrepancy: while the physical Task Board design supports up to five SC ports—as detailed in our Zone 2 documentation—we have intentionally limited the Qualification Phase to one SC port per rail (two total).

In Phase 1 and beyond, the full layout will be available: 5 SC ports distributed across the two rails, with SC_RAIL_0 housing three ports and SC_RAIL_1 housing two.

Regarding the runtime error you encountered:

The simulator currently enforces the qualification-specific limit of two ports.

If you would like to proceed with 5-port training for your own development during this phase, please treat the addition of these ports as a custom enhancement to the toolkit.