ROBOT X Y Z MAX COORDS AND STUFF

Range for all coords: -.75 to .75

+X is right of robot ? +Y is forward of robot ? +Z is above robot

Z = .2 is a good height off ground to be grabbing a can. If Z is less than .2, arm will probably go into the ground since 0 axis is roughly at the floor

X,Y .5 range around the robot would be a good maximum range for cans to be placed on table ?

Base: (0,0,0) coordinates is roughly where the "-" is in the name on the robot

Getting Environment Setup:

1. Create Ubuntu 22.04 VM in VMWare Fusion (if on Mac)
2. Install Ros on VM
3. Follow this video to intstall interbotix: https://www.youtube.com/watch?v=kZx2tNVfQAQ&list=PL8X3t2QTE54sMTCF59t0pTFXgAmdf0Y9t&index=5&ab_channel=TrossenRobotics
   • When installing interbotix, I had an error about dynamixel, and had to run this command, and then install again:
     • sudo apt install ros-humble-dynamixel-sdk
4. You will now have an interbotix_ws directory on your VM containing a bunch of useful files and stuff

To connect to Robot:

1. ros2 launch interbotix_xsarm_control xsarm_control.launch.py robot_model:=wx250s
   • Type in "wx250" in name in RViZ and select "arm" from the drop down
   • Should now be able to go into sleep or home pose
   • ** Ensure USB connection is going through to VM, and may need to link ttyDXL to USB file if it isn't properly recognized: -To do so, go to /dev directory and run: ln -s ttyUSB0 ttyDXL
2. Run any of the scripts in demos.py (Be careful of bartender.py it makes the arm move real fast), and they should work

Useful stuff

This github has most of the relevant code to moving the robot set_ee_pose(x,y,z,yaw,pitch,roll) seems most useful gripper.py has useful functions for gripper

The whole interbotix repo (Which will be installed on your VM after installing interbotix):

https://github.com/Interbotix/interbotix_ros_manipulators/blob/0bb2b0e6d0e619bff02cf74dbd5af5681dcf80c9/interbotix_ros_uxarms/examples/python_demos/joint_position_control.py

Necessary Software:

For speech recognition, you will need PyAudio (google how to install) for microphone input

• ⚠️ On some systems (especially Windows), installing pyaudio via pip might fail. You can download a precompiled wheel from here and install it using pip install .whl.
• This is for voice recognition: https://github.com/Uberi/speech_recognition/tree/master

Robot movement plan:

• From home position, move to scout position
• Scan 360 degrees (8 quadrants) and take images of each position
• Determine the quadrant with the highest confidence
• Move in scout position to that angle
• Center the bounding box
• Calculate distance of can
• Move scout in a linear motion towards the can
• Grip
• Go back to home position

curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/main/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh' > xsarm_amd64_install.sh