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Internal Note: Here is how we create the manual.
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Introduction
Overview
What is RapidSense
Value proposition
Target use case (High-level)
Visual guide/demo (GIFs, videos)
System Architecture and Requirements
System diagram
Relationship with RapidPlan(Create & Control)
incl. references to the manuals
System requirements
Supported vision sensors
There will only be Intel RealSense camera support for the Beta release
Aruco tag definition and fabrication/ordering requirements
Aruco pattern needs to be printed 9cm x 9cm size (in the future for larger robot systems, this size may need to be larger)
The pattern needs to be crisp and high contrast white and black
Material surface with Aruco pattern needs to be matte and non-reflective
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)
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
(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.
vrd definition
PC spec and OS requirements
Setup
Hardware Installation
Safety Precautions
Cameras
general considerations for camera positioning?
Aruco Calibration Tag Mounting
Static mounted
Robot mounted
Software Installation
Licensing?
How to install
How to update/uninstall
System Setup
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
User Guide
Get started
(Happy path of a user workflow)
Start a project
Alignment?
currently required user input to run: calibration files and aruco transform
RapidSense HMI
Layout description
Features
RapidSense Filters
How to apply the different filters with their API and what they can do
Integration with Other Systems
API Documentation
Maintenance/ Repair
Troubleshooting and Support
FAQ
Common Problems and Solutions
Contact Information
Legal and Compliance
Licensing Agreement
Privacy Policy
Appendices
Glossary
Release Notes
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Overview
RapidSense is RTR’s premier perception toolkit. Through its usage, user’s can expand RTR’s state-of-the-art motion planning solution into unstructured environments. The following document, walks a new user through the process of setting up a RapidSense project and the hardware components in a cell.