This project explores haptics for Human-Robot Collaboration in construction

More details for each of the tasks can be found in the "Construction Tasks" section of the Readme.

• For running the tasks (from the main directory):

  mkdir build
  cd build && cmake .. && make -j4
  

  Then to run the executables go to the bin directory that will be generated

• For running the GUI (from the gui-construction directory):

  python3 interface/servery.py ../construction/gui-construction.html & SERVER_PID=$!
  

  Remember to first run ./simviz_gui and ./controller_gui from the bin/gui-construction directory

• You can find/add new tools, worlds and robot designs as urdf files in the "models" folder

• This project uses SAI-2.0 to create the robotic simulations.

Controllers, worlds and simulations for 3 construction tasks: bolting, joint connection, and welding

Construction project from CS225a Experimental Robotics Spring 2019-20. The team designed a mobile platform with a panda and a bolting tool to perform bolting in a parking structure. This folder can be used for reference for creating new 1 arm tasks.

• Project report: https://tinyurl.com/cs225aReport
• Final project video: https://tinyurl.com/cs225aVideo

• Task description: 2 arm bolting task
• World: 2 fixed base Panda robot arms

• Task description: Find joints between concrete slabs and pour material to seal them together
• World: the file world.urdf uses joint_robot.urdf which has a holonomic mobile base and a 1 dof tool
• Notes: Goldbeck has a preference for a robot design that's specific to this task instead of the regular Panda arm solution
• To run the code (manually):
  1. From the CIFEseed/build directory: cmake .. && make -j4
  2. From any directory in a tab of its own: redis-server
  3. From CIFEseed/bin/joint_autonomous: cd ../../bin/joint && ./simviz_joint
  4. From CIFEseed/bin/joint_autonomous in another tab: cd ../../bin/joint && ./controller_joint
• Alternatively, you can run the code using the clean_build and launch scripts:
  1. From CIFEseed: ./clean_build
  2. From any directory in a tab of its own: redis-server
  3. From CIFEseed/bin/joint_autonomous: ./launch

• Haptic feature: the user can intervene through haptic teleoperation (which allows them to feel the joint) and when they are done, resume and continue the autonomous task.
• To run the code:
  1. From the CIFEseed/build directory: cmake .. && make -j4
  2. From any directory in a tab of its own: redis-server
  3. From CIFEseed/bin/joint_haptics: cd ../../bin/joint_haptics && ./simviz_joint_haptics
  4. From CIFEseed/bin/joint_haptics in another tab: cd ../../bin/joint_haptics && ./controller_joint_haptics
  5. Launch redis client in another tab: redis-cli; to set haptics: set active_state HAPTICS; to continue autonomous state: set active_state RESUME

• Demo video: https://tinyurl.com/weldingHaptics
• Task description: Autonomously navigate towards the perimiter of a rectangular steel anchor plate, allow for haptic exploration of the plate's perimeter, then weld and move to the next anchor
• World: the file world.urdf uses mmp_panda_weld.urdf which is a mobile base (visuals are a small cart), with a panda robot, and a welding tool end-effector
• Notes: combines autonomous navitation with haptic exploration of the steel anchor
• To run the code:
  1. From the CIFEseed/build directory: cmake .. && make -j4
  2. From any directory in a tab of its own: redis-server
  3. From CIFEseed/bin/weld_haptics: cd ../../bin/weld_haptics && ./simviz_weld
  4. From CIFEseed/bin/weld_haptics in another tab: cd ../../bin/weld_haptics && ./controller_weld
  5. Launch redis client in another tab: redis-cli; to set haptics: set active_state HAPTICS; to continue autonomous state lift the haptic device

Uses sai2-interfaces to modify controllers in a more intuitive, visual way: https://github.com/manips-sai-org/sai2-interfaces

• work in progress to make a GUI for 2 arms for the 2 arm bolting task
• needs debugging

• GUI that allows you to control one arm on a mobile base

Folder with potentially useful models (like the kuka_iiwa urdf), worlds, and controller examples for creating new tasks