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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

1. Safety Precautions

Users are required to exercise caution and follow all safety protocols when using the Realtime

Controller and its software with physical robots.

Users must comply with any and all safety standards regarding the use of robotics, automation, and the use of necessary safeguarding. Compliance typically requires performing a risk assessment of each application to determine the needed safety performance and safeguarding.

The Realtime Controller and its software are not supplied for specific applications.

The safety of any system incorporating the Realtime Controller and its software is the responsibility of the end user.

Hardware Installation

Required hardware

1. <TODO> Describe what equipment is required for RapidSense.
   i.e.) Here is the list of items in RS1.4
   Realsense D435 (4x)

   1. USB-C to USB-B cable (4x)

   2. Calibration plate

   3. Calibration plate adapter

   4. Mounting hardware

Cameras

1. Mount the Cameras in the Work Area

   Occlusions are the parts of the environment that are not in view of the camera due to an obstruction. The goal in placing your cameras, therefore, is to minimize occlusions. What positions will give the cameras as complete a view as possible of the robot setup at all times?

   Camera placement also depends on the robot application. For example, for a pick and place application, ask yourself, where will the robot move? Where will the occlusions be, and for which cameras? 

   You should expect this process to be somewhat trial-and-error. 

   To get the optimal performance out of the RapidSense system, keep the following guidelines in mind when mounting your cameras:

   • The optimal distance at which the Intel Realsense cameras detect obstacles is between 0.5 and 1.5 meters. Make sure to position the cameras in your workspace to maximize the likelihood that obstacles will appear within this depth window. 

   • The Intel Realsense specifications are for +/- 2% depth accuracy when they’re within 2 meters of an obstacle, so we recommend placing cameras across the workspace so that obstacles are within this distance. 

   • Space the cameras apart from one another and at different angles. 

   • Mount the cameras securely and rigidly. If a camera vibrates relative to robot motion, it will return noisy data resulting in false positives for obstacles. 

   • Connect the cameras with strain relievers. 

   • 80/20 is an excellent method of rigidly mounting cameras in the environment while still being adjustable.

   • Tripods will work, but be careful not to bump them or the extrinsic calibration will have to be redone. 
     

     Image Added

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2. <TODO>Describe how camera CAD with the field of view (FOV) of the camera visible can be imported into RPC (CAD obtained from sensor provider for now) with “ignore collisions” checked to be able to verify aruco tags could be visible to the camera. A picture here could help

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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