Task #235
Updated by Sanghoon Lee 19 days ago
Summary: ------- *Updates:* * Completed - Create ur5e_xahr2c_config3 MoveIt Pro configuration package for UR5e + allegro hand with xela tactile integration - {{issue(232)}} * Completed - Create a Web UI Interface of uSkin for Allegro hand v4 curved visualization for the MoveIt Pro Env - {{issue(233)}} *To do:* * Adds helper tools for objective analysis to the Allegro hand model web UI interface - {{issue(236)}} * Drafting and Reviewing the ATAG Development Plan - {{issue(238)}} * Architecture and Functional Design of ATAG Packages - {{issue(239)}} -------------- *Updates:* * MoveIt Pro Application development - {{issue(191)}} > * Completed - Create ur5e_xahr2c_config3 MoveIt Pro configuration package for UR5e + allegro hand with xela tactile integration - {{issue(232)}} > * Completed - Create a Web UI Interface of uSkin for Allegro hand v4 curved visualization for the MoveIt Pro Env - {{issue(233)}} > * Completed - Add helper tools for objective analysis to the xela web UI interface - {{issue(229)}} > * Completed - Create an Objective consisting of Xela 2F Behaviors using uSPr2F Taxel input - {{issue(228)}} > * Completed - Create xela_2f_behaviors controlled by inputs from uSPr2F Taxel to be used in MoveIt Pro Objective. - {{issue(227)}} > *_The first task was to add helper functions to the Sidecar Web UI developed last week, supplementing the Taxel sensor monitoring and robot behavior tracking features. The FollowCam feature allows the robot to monitor sensor sensing status by following the robot's movements, similar to a fixed view of the robot's front camera, which provides the best view of the sensor. The Analysis feature records events that occur over time when the robot performs a specific Objective, enabling real-time monitoring and post-event review of the presence and timing of Taxel sensing._* > *_The second task involved creating an Objective that utilizes the sensor monitoring system integrated with the ur5e_x2f_140c_config4 package and receives sensor input as feedback to control the robot. The third task involved developing the behaviors required for the Objective. These behaviors are for sensor input and robot control._* {{video("mpro_robot_ctrl_w_taxel_behaviors.mp4",800, 400)}} > *_Video Content:_* > *_This video demonstrates the features developed last week by implementing this Objective_* > *_The first scene shows the configuration of the built MoveIt Pro user Docker image. On the left are the ur5e_x2f_140c_config4 package for robot control, the Objective and Behaviors implemented in that package, and the MoveIt Pro UI. At the top, the uSPr2F sensors on both sides of the paper crane are used as actual inputs. On the right are the analysis/followcam helper functions added to xela_taxel_sidecar_2f._* > *_In the following scene, the upper left is the MoveIt Pro ur5e_x2f_140c_config4 package WebUI, and the upper right is the sidecar Web UI I developed, with FollowCam mode selected and Analysis mode enabled. The bottom left is the console terminal, and the bottom right is a webcam video, showing my sensors and the paper crane._* > *_The demo scenario involves picking up a paper crane in front of the robot and moving it to the left. As the robot closes its gripper by grasping the object in front of it, I manually activate a sensor at an appropriate moment to pick up the paper crane and touch it. The GraspWithForceStop action detects the crane's contact, stops the gripper, and moves it to the desired location. During this movement, the SlipMonitor action is activated to detect any slippage of the paper crane, and if slippage is detected, the gripper is gently closed. Let's take a look._* > *_The robot's movement is complete, but this demo uses the Analysis function to review events that occurred during the task._* > *_First, the timeline is paused with the Pause button. A flag indicates the occurrence of an event. Detailed information about each event is provided as a tooltip when the mouse is hovered over it. The red flags here are where the paper crane slipped from the gripper. These are the places where I gently waved my hand while moving the paper crane._* > *_Currently, the SlipMonitor Behavior closes the gripper slightly more whenever this slip occurs._* > *_The Objective and Behaviors I've developed this time are targeting paper cranes. If future development targets or goals arise, I can develop additional Behaviors as needed and use them in the Objective._* *To do:* * {{issue(191)}} > * {{issue(233)}} >> * Adds helper tools for objective analysis to the Allegro hand model web UI interface - {{issue(236)}} > * {{issue(237)}} >> * Drafting and Reviewing the ATAG Development Plan - {{issue(238)}} >> * Architecture and Functional Design of ATAG Packages - {{issue(239)}} > *_This week, I'll be porting the xela_server2_ah and standalone xela_taxel_viz_ahv4 ROS2 packages I've developed so far to the MoveIt Pro environment._* > *_This means I'll be working on integrating the ur5e robot arm with uSkin for Allegro Hand v4 Curved, and porting the standalone xela_taxel_viz_ah package._* > *_I'll also be developing the xela_taxel_sidecar_ah package, which provides the Taxel visualization capabilities of uSkin for Allegro Hand as a secondary web UI interface, similar to MoveIt Pro's primary web UI. That's all for me today._* > *_This week, Mr. Wilson and I will review my dev plans to develop a robotic hand-taxel adaptive grasping system, which is my next goal._*