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Overview

What is RapidSense

1. Value proposition

2. Target use case (High-level)

3. Visual guide/demo (GIFs, videos)

System Architecture and Requirements

1. System diagram

2. Relationship with RapidPlan(Create & Control)

   1. incl. references to the manuals

3. System requirements

   1. Supported vision sensors

      1. There will only be Intel RealSense camera support for the Beta release

   2. Aruco tag definition and fabrication/ordering requirements

      1. Aruco pattern needs to be printed 9cm x 9cm size (in the future for larger robot systems, this size may need to be larger)

      2. The pattern needs to be crisp and high contrast white and black

      3. Material surface with Aruco pattern needs to be matte and non-reflective

      4. This needs to be on a reliably rigid flat surface/material (plate) that will not flex during robot motion, but does not have to be so thick for anything load bearing (3mm thick is likely OK for an aluminum 9cm x 9cm tag)

      5. There should be a mounting hole in each corner of the plate for a user to be able to mount it on the robot end effector or in the scene

      6. (2) dowel pin holes should be provided between the mounting holes on at least (2) of the sides of the plate. In the event a user needs to remove the Aruco tag/plate for a reason, it can be easily replaced accurately.

   3. vrd definition

   4. PC spec and OS requirements

Setup

Hardware Installation

1. Safety Precautions

2. Cameras

   1. general considerations for camera positioning?

3. Aruco Calibration Tag Mounting

   1. Static mounted

   2. Robot mounted

Software Installation

• Licensing?

• How to install

• How to update/uninstall

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• Calibration
  The calibration process requires a cal.json file which contains the cameras' serial numbers, Aruco markers' ids and measurements, and calibration targets. For the calibration process to work as expected, every project needs to have a home target named as robotname_home, for example, if we have a Fanuc robot in the project and we will use it for calibration we need to have a Fanuc_home target. The calibration targets should be connected on Roadmap to the home pose in RPC project in order for the calibration to succeed.

• Configuration

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