{"id":1932,"date":"2022-11-08T21:57:30","date_gmt":"2022-11-09T02:57:30","guid":{"rendered":"https:\/\/courses.ideate.cmu.edu\/60-461\/f2022\/?p=1932"},"modified":"2022-11-08T22:00:38","modified_gmt":"2022-11-09T03:00:38","slug":"marimonda-personintime-update","status":"publish","type":"post","link":"https:\/\/courses.ideate.cmu.edu\/60-461\/f2022\/marimonda\/11\/08\/marimonda-personintime-update\/","title":{"rendered":"marimonda &#8211; PersonInTime Update"},"content":{"rendered":"\r\n<p>I am making this post right now, describing a <strong>work-in-progress<\/strong> as a means of <strong>documenting<\/strong> where I am, since currently my connection with the robot is limited and I am unable to control it real-time through RoboDK (although I think I might get it to work using RDTE or OSC). Additionally, I had very limited access to the Studio as I was out of town for an extended period and there were conflicting events the weekend I came back.<\/p>\r\n<p>My project is a performance\/interaction between a person and UR5, exploring curiosity and mimicry.<\/p>\r\n<p>Specifically, my goal is to create a robot that looks at and follows a person, by appending a camera to the UR5 and &#8220;correcting&#8221; the movements to follow a person in real time.<\/p>\r\n<p>Using Oz Ramos&#8217; method for real-time control of the UR5, through RoboDK, I was able to control the robot pretty well and support interactions through HandsFree.js (which additionally supported some pretty great pose\/face tracking capabilities which would allow me to implement my own robot copycat).<\/p>\r\n<p><iframe loading=\"lazy\" title=\"UR5 Test 1\" width=\"840\" height=\"473\" src=\"https:\/\/www.youtube.com\/embed\/epN-ZKhSTc0?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe><\/p>\r\n<p>Unfortunately, I started having problems with connecting the robot in real time. I attempted to reset my network settings, redownload RoboDK and connect through other methods. But unfortunately it&#8217;s getting to the point that trying to connect to the robot through this SDK is proving to be more time consuming that constructing the same program using RTDE or OSC.<\/p>\r\n<p>I think I easily could have mocked a project either hard coding motions on the UR5 or by using handsfree.js to create an interactive experience. But I am not interested in these two venues, since my goal for this project is to obtain sufficient skill in controlling the UR5 in real time.<\/p>\r\n<p>Right now I am considering different ways of implementing this project, <em><strong>because I am devoted to making UR5 my baby.<\/strong> <\/em><img decoding=\"async\" src=\"https:\/\/cdn.discordapp.com\/attachments\/720701646077952116\/1039732761017188442\/image.png\" \/><\/p>\r\n<p>This is me controlling the UR5 with my simulation:<\/p>\r\n<p><iframe loading=\"lazy\" title=\"robodk\" width=\"840\" height=\"630\" src=\"https:\/\/www.youtube.com\/embed\/Qk_vBIc7xgU?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe><\/p>\r\n<p>&nbsp;<\/p>\r\n<p>&nbsp;<\/p>\r\n","protected":false},"excerpt":{"rendered":"<p>I am making this post right now, describing a work-in-progress as a means of documenting where I am, since currently my connection with the robot is limited and I am unable to control it real-time through RoboDK (although I think I might get it to work using RDTE or OSC). Additionally, I had very limited &hellip; <a href=\"https:\/\/courses.ideate.cmu.edu\/60-461\/f2022\/marimonda\/11\/08\/marimonda-personintime-update\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;marimonda &#8211; PersonInTime Update&#8221;<\/span><\/a><\/p>\n","protected":false},"author":9,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[15],"tags":[],"_links":{"self":[{"href":"https:\/\/courses.ideate.cmu.edu\/60-461\/f2022\/wp-json\/wp\/v2\/posts\/1932"}],"collection":[{"href":"https:\/\/courses.ideate.cmu.edu\/60-461\/f2022\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/courses.ideate.cmu.edu\/60-461\/f2022\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/60-461\/f2022\/wp-json\/wp\/v2\/users\/9"}],"replies":[{"embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/60-461\/f2022\/wp-json\/wp\/v2\/comments?post=1932"}],"version-history":[{"count":5,"href":"https:\/\/courses.ideate.cmu.edu\/60-461\/f2022\/wp-json\/wp\/v2\/posts\/1932\/revisions"}],"predecessor-version":[{"id":1938,"href":"https:\/\/courses.ideate.cmu.edu\/60-461\/f2022\/wp-json\/wp\/v2\/posts\/1932\/revisions\/1938"}],"wp:attachment":[{"href":"https:\/\/courses.ideate.cmu.edu\/60-461\/f2022\/wp-json\/wp\/v2\/media?parent=1932"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/60-461\/f2022\/wp-json\/wp\/v2\/categories?post=1932"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/60-461\/f2022\/wp-json\/wp\/v2\/tags?post=1932"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}