Robotic LEGO Assembly and Disassembly from Human Demonstration

This repo implements LEGO assembly and disassembly from human demonstration.

Copyright

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Copyright notice for IP Docket # 2023-234 and IP Docket # 2023-235. This repo contains files for LEGO assembly and disassembly from human demonstration. Copyright (C) 2023

Authors: Ruixuan Liu: [email protected] Changliu Liu : [email protected]

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see https://www.gnu.org/licenses/.

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Prerequisites

Linux (All the modules were tested on Linux Ubuntu 18.04 and 20.04.)

ROS

Eigen 3.3.7

OpenCV

Build

1. Clone the repo to /path/to/catkin_ws/src/
2. cd /path/to/catkin_ws/
3. catkin_make

Learn LEGO task from Human Demonstration

Download demonstration video to /path/to/repo/human_demonstration/. An example video is available at this link.

cd /path/to/repo/
python3 human_demonstration/learn_from_human_demonstration.py

The task graph will be stored at /path/to/repo/config/assembly_tasks/.

Use Robot

This repo implements robotic LEGO assembly with a FANUC LR-mate 200id/7L robot. The robot controller is implemented using Stream Motion.

Setup Ethernet

1. Connect to the robot via an Ethernet cable.
2. Set PC IP address to 192.168.1.xxx, except 192.168.1.100 (robot IP). A valid IP address could be 192.168.1.101.
3. Connect to the designated Ethernet.

Run task

1. Modify ./config/user_config.json as needed. Set Use_Robot to 1.
2. Open a terminal and cd /path/to/catkin_ws/.
3. source devel/setup.bash
4. roslaunch lego_assembly controller_node.launch
5. Open a terminal and cd /path/to/catkin_ws/.
6. source devel/setup.bash
7. roslaunch lego_assembly task_planning_cartesian_node.launch

Digital Twin

Rviz

roslaunch lego_assembly fanuc_rviz.launch

Gazebo for LEGO Assembly

1. Modify ./config/user_config.json as needed. Set Use_Robot to 0.
2. Open a terminal and cd /path/to/catkin_ws/.
3. source devel/setup.bash
4. roslaunch lego_assembly fanuc_gazebo.launch
5. Open a terminal and cd /path/to/catkin_ws/.
6. source devel/setup.bash
7. roslaunch lego_assembly controller_node.launch
8. Open a terminal and cd /path/to/catkin_ws/.
9. source devel/setup.bash
10. roslaunch lego_assembly task_planning_cartesian_node.launch