Physical interaction classification

 


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Real-time UR10e following a tracked object

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For a first trial, it was developed this demonstration of a real-time followed object that is being tracked using one RGB-D camera (Intel RealSense D435).   As seen in this previous post , ViSP is used to process the images acquired by the RealSense RGB-D camera and to continuously track the object . A TCP/IP Socket Connection is established (inside the same computer) between ViSP and ROS . This socket communication is responsible for bringing the geometric transformation between the camera and the object to the ROS environment. This previous post describes with more detailed information this connection. Besides the transformation between the camera and the object, it is also required to know the transformation between the robot and the camera . For the robot to understand the position and orientation of the object in reference to the robot himself, this transformation becomes crucial. For getting it, I performed a manual calibration , as described in this previous post . Fina...
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Git push using GitHub token (cmd line)

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First, you need to create a GitHub token with the following scopes:     Copy and save the toke, cause you won't be able to see it again! Once you have the token, you can push your code, after the commit command, using the following: $ git push https://<GITHUB_ACCESS_TOKEN>@github.com/<GITHUB_USERNAME>/<REPOSITORY_NAME>.git Note that you can only use the PAT (personal access tokens) for HTTPS git operations. You can see if your repository is using HTTPS or SSH by running the command: $ git remote -v If you see something like this: > origin git@github.com: USERNAME/REPOSITORY .git (fetch) > origin git@github.com: USERNAME/REPOSITORY .git (push) It means that your git repo is using SSH, and you need to run $ git remote set-url origin https://github.com/ USERNAME / REPOSITORY .git To change the git repo to HTTPS: $ git remote -v # Verify new remote URL > origin https://github.com/ USERNAME/REPOSITORY .git (fetch) > origin https://github.com/ USER...
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UR10e Force and Torque values

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After launching everything (arm & gripper) as explained in some previous posts, I discover the following, regarding the UR10e force/torque values . rostopic echo /joint_states   header:   seq: 482730   stamp:     secs: 1651760184     nsecs: 917628129   frame_id: '' name:   - elbow_joint   - shoulder_lift_joint   - shoulder_pan_joint   - wrist_1_joint   - wrist_2_joint   - wrist_3_joint position: [1.2160757223712366, -1.154092625980713, -0.11001712480653936, -1.7416936359801234, -1.702087704335348, -0.9789927641498011] velocity: [-0.0, -0.0, 0.0, 0.0, 0.0, 0.0] effort : [-4.225266456604004, -6.093687534332275, 0.31768253445625305, -0.5379326343536377, -0.15823310613632202, 0.06207980215549469]   We can see on the documentation the following:   # This is a message that holds data to describe the state of a set of to...
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