Démo AICA YOLO Portes Ouvertes 2026
Après avoir récupéré le robot UR5e et l'armoire à roulettes qui contient le PC AICA :
- Brancher l’alimentation du robot UR5e et du PC AICA
- La webcam et le dongle Wifi sont branchés en USB sur le PC
- On a une paire de ciseau ou autre
- Le câble Ethernet relie le PC AICA et le contrôleur de l’UR5e
- On démarre le PC et le robot.
- Adresse IP de l’UR5e : 192.168.0.10
Sur le teach panel du robot :
- Pour connaître l’adresse IP du robot : Cliquer sur les 3 petits points en haut à droite, puis À propos
- Cliquer en bas à gauche sur le bouton rouge
- Cliquer deux fois sur On pour allumer le robot puis quitter
- Basculer en haut à droite sur le mode Remote Control
- Le robot est prêt pour être commandé par AICA
- Pour la sécurité lors du pilotage par AICA : Une personne tient le teach panel et reste prêt à déclencher le bouton d’arrêt
Sur le PC AICA :
- Adresse IP de l’ordinateur : 192.168.0.1
- On se connecte à Ubuntu à l’aide du compte étudiant.
MDP :
Ensuite, on se connecte au Wifi Osiris (ouvert)
On ouvre le navigateur et on se connecte avec les identifiants Unistra ou Portes ouvertes :
Login : Conf-jpoiha
MDP : demander à M. Le Normand. - Ouvrir l’explorateur de fichiers et cliquer sur le raccourci « aica launcher »
Dans le dossier /home/etudiant/aica/aica-launcher.../ on lance l’exécutable AICA Launcher - Sélectionner la configuration GPU et Cliquer sur « launcher AICA Studio »
- On se retrouve sur la page d’identification de AICA Studio
- Cliquer sur Login, à droite de tp1@unistra.fr
- Le MDP du compte tp1@unistra.fr est dans le fichier /home/etudiant/aica/mdp.txt.
- Sélectionner le Programme yolo
- OU créer un nouveau programme en y copiant le code ci-dessous puis cliquer sur Generate Program
- Cliquer sur Start
- Accès à RViz depuis le menu launcher en haut à droite
- Dans RViz, une fois que le programme YOLO est Start,
- cliquer en bas à gauche sur Add, puis by topic, puis tout en bas sur yolo > annotated_image > image
- On visualise ainsi l’image annotée de YOLO
Déroulement de la démo :
- On prend une paire de ciseaux
- Quand ils sont au centre ou hors de l’image, le robot s’arrête
- Quand ils sont au Nord, Sud, Est, Ouest de l’image, l’UR5e se déplace dans les 4 directions du plan X,Y
Ce qu'on peut montrer en plus :
- Dans le bloc Bounding Box tracker adapter les gains de commande du robot pour qu’il aille plus ou moins vite
- Dans le bloc Yolo, on peut changer le type d'objet à suivre en remplaçant
scissorspar une des classes traitées par Yolo, par exemple unsandwich, unebottleou uneapplecf. https://gist.github.com/rcland12/dc48e1963268ff98c8b2c4543e7a9be8 - Contraindre le mouvement dans une Collision Box, cf. code ci-dessous
- Piloter le robot via un Point Attractor et contraindre son mouvement dans une Collision Box, cf. code ci-dessous
Pour éteindre :
- Passer le teahc panel en mode manuel et remettre le robot dans sa position de repos
- Cliquer en bas à gauche sur le bouton vert puis stopper le contrôleur
- Cliquer en haut à droite sur les trois points puis arrêter le robot
- Quitter AICA Studio en cliquant en haut à droite sur Launcher > Force Stop
- Fermer la fenêtre
- Eteindre le PC
- Débrancher PC et UR5e
Si le programme AICA ne veut plus se stopper :
- Cliquer en haut sur hardware puis revenir sur programme
- Si ça ne fonctionne toujours pas, relancer le launcher en cliquant en haut à droite sur le menu Launcher, Force Stop puis redémarrer AICA Studio.
Programme YOLO avec UR5e (vérifier l'adresse IP du robot)
schema: 2-0-6
dependencies:
core: v5.1.0
on_start:
load:
- hardware: hardware
- component: camera_streamer
components:
yolo_executor:
component: advanced_perception::object_detection::YoloExecutor
display_name: YOLO Executor
events:
transitions:
on_load:
lifecycle:
component: yolo_executor
transition: configure
on_configure:
lifecycle:
component: yolo_executor
transition: activate
on_activate:
load:
component: bounding_box_tracker
parameters:
model_file:
value: /yolo-example-data/yolo12n.onnx
type: string
classes_file:
value: /yolo-example-data/coco.yaml
type: string
object_class:
value:
- scissors
type: string_array
conf_threshold:
value: 0.2
type: double
num_threads:
value: 2
type: int
inputs:
image: /camera_streamer/image
outputs:
detections: /yolo_executor/detections
camera_streamer:
component: core_vision_components::image_streaming::CameraStreamer
display_name: Camera Streamer
events:
transitions:
on_load:
lifecycle:
component: camera_streamer
transition: configure
on_configure:
lifecycle:
component: camera_streamer
transition: activate
on_activate:
load:
component: yolo_executor
parameters:
camera_frame:
value: tool0
type: string
outputs:
image: /camera_streamer/image
bounding_box_tracker:
component: object_detection_utils::BoundingBoxTracker
display_name: Bounding box tracker
events:
transitions:
on_load:
lifecycle:
component: bounding_box_tracker
transition: configure
on_configure:
lifecycle:
component: bounding_box_tracker
transition: activate
parameters:
rate:
value: 500
type: double
inputs:
detections: /yolo_executor/detections
outputs:
twist: /yolo_to_marker/twist
hardware:
hardware:
display_name: Hardware Interface
urdf: Universal Robots 5e
rate: 500
events:
transitions:
on_load:
load:
- controller: robot_state_broadcaster
hardware: hardware
- controller: joint_trajectory_controller
hardware: hardware
- controller: ur_dashboard_controller
hardware: hardware
- controller: ik_velocity_controller
hardware: hardware
parameters:
headless_mode: "true"
controllers:
robot_state_broadcaster:
plugin: aica_core_controllers/RobotStateBroadcaster
events:
transitions:
on_load:
switch_controllers:
hardware: hardware
activate: robot_state_broadcaster
joint_trajectory_controller:
plugin: aica_core_controllers/trajectory/JointTrajectoryController
events:
predicates:
has_trajectory_succeeded:
call_service:
controller: ur_dashboard_controller
hardware: hardware
service: hand_back_control
transitions:
on_activate:
sequence:
start: sequence
ur_dashboard_controller:
plugin: aica_ur_controllers/URDashboardController
events:
predicates:
program_running:
switch_controllers:
hardware: hardware
activate: joint_trajectory_controller
hand_back_control_success:
application: stop
transitions:
on_load:
switch_controllers:
hardware: hardware
activate: ur_dashboard_controller
ik_velocity_controller:
plugin: aica_core_controllers/velocity/IKVelocityController
inputs:
command: /yolo_to_marker/twist
events:
transitions:
on_load:
switch_controllers:
hardware: hardware
activate: ik_velocity_controller
graph:
positions:
on_start:
x: -20
y: -360
stop:
x: -20
y: -260
components:
yolo_executor:
x: 740
y: -180
camera_streamer:
x: 200
y: -300
bounding_box_tracker:
x: 1400
y: 180
hardware:
hardware:
x: 1940
y: -360
edges:
yolo_to_marker_marker_pose_signal_point_attractor_attractor:
path:
- x: 1360
y: 520
- x: 1360
y: 680
yolo_executor_detections_yolo_to_marker_json_input:
path:
- x: 1160
y: 120
- x: 1160
y: 220
- x: 860
y: 220
- x: 860
y: 520
yolo_to_marker_twist_hardware_hardware_ik_velocity_controller_command:
path:
- x: 1820
y: 380
- x: 1820
y: 420
yolo_executor_detections_yolo_to_marker_detections:
path:
- x: 1200
y: 120
- x: 1200
y: 380
on_start_on_start_camera_streamer_camera_streamer:
path:
- x: 140
y: -300
- x: 140
y: -240
yolo_executor_on_activate_bounding_box_tracker_bounding_box_tracker:
path:
- x: 1300
y: 0
- x: 1300
y: 240
hardware_hardware_joint_trajectory_controller_has_trajectory_succeeded_hardware_hardware_ur_dashboard_controller_hand_back_control:
path:
- x: 1920
y: 400
- x: 1920
y: 900
hardware_hardware_ur_dashboard_controller_program_running_hardware_hardware_joint_trajectory_controller:
path:
- x: 1920
y: 820
- x: 1920
y: 240
hardware_hardware_ur_dashboard_controller_hand_back_control_success_on_stop_on_stop:
path:
- x: -40
y: 780
- x: -40
y: -200
camera_streamer_image_yolo_executor_image:
path:
- x: 640
y: -40
- x: 640
y: 120
yolo_executor_detections_bounding_box_tracker_detections:
path:
- x: 1220
y: 120
- x: 1220
y: 400
bounding_box_tracker_twist_hardware_hardware_ik_velocity_controller_command:
path:
- x: 1860
y: 400
- x: 1860
y: 1120Programme UR5e avec YOLO et Bounding Box :
- Dans RViz afficher le collision box marker, cf. https://docs.aica.tech/core/examples/core-components/colliders#box-collider-example
schema: 2-0-6
dependencies:
core: v4.0.0
frames:
start:
reference_frame: world
position:
x: 0.016268
y: 0.460877
z: 0.574409
orientation:
w: 0.000502
x: 0.999979
y: -0.005594
z: -0.003165
on_start:
load:
- component: frame_broadcaster
- hardware: hardware
sequence:
start: sequence
sequences:
sequence:
display_name: Sequence
steps:
- check:
condition:
controller: joint_trajectory_controller
hardware: hardware
predicate: has_trajectory_succeeded
wait_forever: true
- call_service:
controller: ur_dashboard_controller
hardware: hardware
service: zero_ftsensor
- check:
condition:
controller: ur_dashboard_controller
hardware: hardware
predicate: zero_ftsensor_success
wait_forever: true
- switch_controllers:
hardware: hardware
deactivate: joint_trajectory_controller
components:
frame_broadcaster:
component: aica_core_components::ros::StaticFrameBroadcaster
display_name: Frame Broadcaster
parameters:
frame:
value: camera_link
type: string
reference_frame:
value: ur_tool0
type: string
pose_values:
value:
- -0.02
- -0.11752
- 0.032
- 1
- 0
- 0
- 0
type: double_array
broadcast_periodically:
value: true
type: bool
yolo_executor:
component: advanced_perception::object_detection::YoloExecutor
display_name: YOLO Executor
events:
transitions:
on_load:
lifecycle:
component: yolo_executor
transition: configure
on_configure:
lifecycle:
component: yolo_executor
transition: activate
on_activate:
load:
component: bounding_box_tracker
parameters:
rate:
value: 30
type: double
model_file:
value: /data/models/yolo12n.onnx
type: string
classes_file:
value: /data/models/coco.yaml
type: string
object_class:
value:
- scissors
type: string_array
conf_threshold:
value: 0.4
type: double
inputs:
image: /camera_streamer/image
outputs:
detections: /yolo_executor/detections
bounding_box_tracker:
component: object_detection_utils::BoundingBoxTracker
display_name: Bounding box tracker
events:
transitions:
on_load:
lifecycle:
component: bounding_box_tracker
transition: configure
on_configure:
lifecycle:
component: bounding_box_tracker
transition: activate
parameters:
rate:
value: 100
type: double
gains:
value:
- 0.008
- 0.008
type: double_array
decay_rate:
value: 8
type: double
reference_frame:
value: world
type: string
inputs:
detections: /yolo_executor/detections
outputs:
twist: /bounding_box_tracker/twist
box_collider:
component: aica_core_components::utility::BoxCollider
display_name: Box Collider
events:
predicates:
is_out_of_bounds:
set:
parameter: gains
value:
- 0
- 0
type: double_array
component: bounding_box_tracker
is_in_bounds:
set:
parameter: gains
value:
- 0.008
- 0.008
type: double_array
component: bounding_box_tracker
transitions:
on_load:
lifecycle:
component: box_collider
transition: configure
on_configure:
lifecycle:
component: box_collider
transition: activate
parameters:
x_size:
value: 0.8
type: double
y_size:
value: 0.3
type: double
z_size:
value: 0.5
type: double
inputs:
target: /hardware/robot_state_broadcaster/cartesian_state
center: /frame_to_signal/pose
frame_to_signal:
component: aica_core_components::ros::TfToSignal
display_name: Frame to Signal
events:
transitions:
on_load:
lifecycle:
component: frame_to_signal
transition: configure
on_configure:
lifecycle:
component: frame_to_signal
transition: activate
on_activate:
load:
component: box_collider
parameters:
frame:
value: start
type: string
outputs:
pose: /frame_to_signal/pose
camera_streamer:
component: core_vision_components::image_streaming::CameraStreamer
display_name: Camera Streamer
events:
transitions:
on_load:
load:
- component: yolo_executor
- component: frame_to_signal
lifecycle:
component: camera_streamer
transition: configure
on_configure:
lifecycle:
component: camera_streamer
transition: activate
outputs:
image: /camera_streamer/image
hardware:
hardware:
display_name: Hardware Interface
urdf: Universal Robots 5e
rate: 500
events:
transitions:
on_load:
load:
- controller: robot_state_broadcaster
hardware: hardware
- controller: joint_trajectory_controller
hardware: hardware
- controller: ur_impedance_controller
hardware: hardware
- controller: ur_dashboard_controller
hardware: hardware
parameters:
robot_ip: 192.168.56.101
controllers:
ur_dashboard_controller:
plugin: aica_ur_controllers/URDashboardController
events:
transitions:
on_load:
switch_controllers:
hardware: hardware
activate: ur_dashboard_controller
joint_trajectory_controller:
plugin: aica_core_controllers/trajectory/JointTrajectoryController
events:
transitions:
on_load:
switch_controllers:
hardware: hardware
activate: joint_trajectory_controller
on_deactivate:
load:
component: camera_streamer
switch_controllers:
hardware: hardware
activate: ur_impedance_controller
on_activate:
call_service:
controller: joint_trajectory_controller
hardware: hardware
service: set_trajectory
payload: |-
frames:
- start
durations:
- 2.0
robot_state_broadcaster:
plugin: aica_core_controllers/RobotStateBroadcaster
outputs:
cartesian_state: /hardware/robot_state_broadcaster/cartesian_state
ft_sensor: /hardware/robot_state_broadcaster/ft_sensor
events:
transitions:
on_load:
switch_controllers:
hardware: hardware
activate: robot_state_broadcaster
ur_impedance_controller:
plugin: aica_ur_controllers/URImpedanceController
parameters:
selection_vector:
value:
- 1
- 1
- 1
- 0
- 0
- 1
type: int_array
force_limit:
value:
- 40
- 40
- 40
- 30
- 30
- 30
type: vector
stiffness:
value:
- 500
- 500
- 500
- 400
- 400
- 400
type: vector
damping:
value:
- 50
- 50
- 50
- 10
- 10
- 10
type: vector
inputs:
command: /bounding_box_tracker/twist
graph:
positions:
on_start:
x: -740
y: -360
stop:
x: -740
y: -260
components:
frame_broadcaster:
x: -420
y: -580
yolo_executor:
x: 760
y: 480
bounding_box_tracker:
x: 1300
y: 600
box_collider:
x: 840
y: 1020
frame_to_signal:
x: 280
y: 1140
camera_streamer:
x: 180
y: 520
hardware:
hardware:
x: 1880
y: -360
sequences:
sequence:
x: -420
y: -280
edges:
yolo_to_marker_marker_pose_signal_point_attractor_attractor:
path:
- x: 1360
y: 520
- x: 1360
y: 680
yolo_executor_detections_yolo_to_marker_json_input:
path:
- x: 1160
y: 120
- x: 1160
y: 220
- x: 860
y: 220
- x: 860
y: 520
yolo_to_marker_twist_hardware_hardware_ik_velocity_controller_command:
path:
- x: 1740
y: 680
- x: 1740
y: 920
yolo_to_marker_twist_hardware_hardware_velocity_impedance_controller_command:
path:
- x: 1740
y: 680
- x: 1740
y: 920
hardware_hardware_robot_state_broadcaster_ft_sensor_hardware_hardware_velocity_impedance_controller_ft_sensor:
path:
- x: 1840
y: 700
- x: 1840
y: 960
hardware_hardware_ur_dashboard_controller_zero_ftsensor_success_sequence_sequence_condition_input_2:
path:
- x: -60
y: 80
yolo_to_marker_on_activate_hardware_hardware_ur_impedance_controller:
path:
- x: 1840
y: 700
- x: 1840
y: 1060
yolo_to_marker_twist_hardware_hardware_ur_impedance_controller_command:
path:
- x: 1740
y: 780
- x: 1740
y: 1220
orbbec_camera_on_load_yolo_executor_yolo_executor:
path:
- x: 680
y: 620
- x: 680
y: 540
orbbec_camera_on_load_frame_to_signal_frame_to_signal:
path:
- x: 680
y: 620
- x: 680
y: 1020
- x: 240
y: 1020
- x: 240
y: 1200
orbbec_camera_color_image_yolo_executor_image:
path:
- x: 640
y: 700
- x: 640
y: 780
on_start_on_start_frame_broadcaster_frame_broadcaster:
path:
- x: -540
y: -300
- x: -540
y: -520
on_start_on_start_sequence_sequence:
path:
- x: -540
y: -300
- x: -540
y: -220
hardware_joint_trajectory_controller_has_trajectory_succeeded_condition_sequence_sequence_condition_input_0:
path:
- x: -380
y: 440
sequence_sequence_event_trigger_1_hardware_hardware_ur_dashboard_controller_zero_ftsensor:
path:
- x: -220
y: 140
hardware_ur_dashboard_controller_zero_ftsensor_success_condition_sequence_sequence_condition_input_2:
path:
- x: -60
y: 60
sequence_sequence_event_trigger_3_hardware_hardware_joint_trajectory_controller:
path:
- x: 100
y: 200
box_collider_is_out_of_bounds_bounding_box_tracker_bounding_box_tracker:
path:
- x: 1400
y: 1280
- x: 1400
y: 1000
- x: 1280
y: 1000
- x: 1280
y: 660
box_collider_is_in_bounds_bounding_box_tracker_bounding_box_tracker:
path:
- x: 1360
y: 1240
- x: 1360
y: 1040
- x: 1260
y: 1040
- x: 1260
y: 660
frame_to_signal_on_activate_box_collider_box_collider:
path:
- x: 800
y: 1320
- x: 800
y: 1080
camera_streamer_on_load_yolo_executor_yolo_executor:
path:
- x: 620
y: 700
- x: 620
y: 540
camera_streamer_on_load_frame_to_signal_frame_to_signal:
path:
- x: 620
y: 700
- x: 620
y: 1060
- x: 260
y: 1060
- x: 260
y: 1200
hardware_hardware_joint_trajectory_controller_on_deactivate_camera_streamer_camera_streamer:
path:
- x: 100
y: 360
- x: 100
y: 580
hardware_hardware_joint_trajectory_controller_on_deactivate_hardware_hardware_ur_impedance_controller:
path:
- x: 1820
y: 360
- x: 1820
y: 1040
hardware_hardware_joint_trajectory_controller_on_activate_hardware_hardware_joint_trajectory_controller_set_trajectory:
path:
- x: 1800
y: 320
- x: 1800
y: 520
yolo_executor_detections_bounding_box_tracker_detections:
path:
- x: 1240
y: 780
- x: 1240
y: 820
bounding_box_tracker_twist_hardware_hardware_ur_impedance_controller_command:
path:
- x: 1760
y: 820
- x: 1760
y: 1200
hardware_hardware_robot_state_broadcaster_cartesian_state_box_collider_target:
path:
- x: 740
y: 940
- x: 740
y: 1360Programme UR5e avec Point Attractor et Bounding Box :
- Dans RViz afficher le collision box marker, cf. https://docs.aica.tech/core/examples/core-components/colliders#box-collider-example
schema: 2-0-6
dependencies:
core: v4.0.0
frames:
start:
reference_frame: world
position:
x: 0.016268
y: 0.460877
z: 0.574409
orientation:
w: 0.000502
x: 0.999979
y: -0.005594
z: -0.003165
on_start:
load:
- component: frame_broadcaster
- hardware: hardware
sequence:
start: sequence
sequences:
sequence:
display_name: Sequence
steps:
- check:
condition:
controller: joint_trajectory_controller
hardware: hardware
predicate: has_trajectory_succeeded
wait_forever: true
- call_service:
controller: ur_dashboard_controller
hardware: hardware
service: zero_ftsensor
- check:
condition:
controller: ur_dashboard_controller
hardware: hardware
predicate: zero_ftsensor_success
wait_forever: true
- switch_controllers:
hardware: hardware
deactivate: joint_trajectory_controller
components:
frame_broadcaster:
component: aica_core_components::ros::StaticFrameBroadcaster
display_name: Frame Broadcaster
parameters:
frame:
value: camera_link
type: string
reference_frame:
value: ur_tool0
type: string
pose_values:
value:
- -0.02
- -0.11752
- 0.032
- 1
- 0
- 0
- 0
type: double_array
broadcast_periodically:
value: true
type: bool
yolo_executor:
component: advanced_perception::object_detection::YoloExecutor
display_name: YOLO Executor
events:
transitions:
on_load:
lifecycle:
component: yolo_executor
transition: configure
on_configure:
lifecycle:
component: yolo_executor
transition: activate
on_activate:
load:
component: bounding_box_tracker
parameters:
rate:
value: 30
type: double
model_file:
value: /data/models/yolo12n.onnx
type: string
classes_file:
value: /data/models/coco.yaml
type: string
object_class:
value:
- scissors
type: string_array
conf_threshold:
value: 0.4
type: double
inputs:
image: /camera_streamer/image
outputs:
detections: /yolo_executor/detections
bounding_box_tracker:
component: object_detection_utils::BoundingBoxTracker
display_name: Bounding box tracker
events:
transitions:
on_load:
lifecycle:
component: bounding_box_tracker
transition: configure
on_configure:
lifecycle:
component: bounding_box_tracker
transition: activate
parameters:
rate:
value: 100
type: double
gains:
value:
- 0.008
- 0.008
type: double_array
decay_rate:
value: 8
type: double
reference_frame:
value: world
type: string
inputs:
detections: /yolo_executor/detections
outputs:
twist: /bounding_box_tracker/twist
box_collider:
component: aica_core_components::utility::BoxCollider
display_name: Box Collider
events:
predicates:
is_out_of_bounds:
set:
parameter: gains
value:
- 0
- 0
type: double_array
component: bounding_box_tracker
is_in_bounds:
set:
parameter: gains
value:
- 0.008
- 0.008
type: double_array
component: bounding_box_tracker
transitions:
on_load:
lifecycle:
component: box_collider
transition: configure
on_configure:
lifecycle:
component: box_collider
transition: activate
parameters:
x_size:
value: 0.8
type: double
y_size:
value: 0.3
type: double
z_size:
value: 0.5
type: double
inputs:
target: /hardware/robot_state_broadcaster/cartesian_state
center: /frame_to_signal/pose
frame_to_signal:
component: aica_core_components::ros::TfToSignal
display_name: Frame to Signal
events:
transitions:
on_load:
lifecycle:
component: frame_to_signal
transition: configure
on_configure:
lifecycle:
component: frame_to_signal
transition: activate
on_activate:
load:
component: box_collider
parameters:
frame:
value: start
type: string
outputs:
pose: /frame_to_signal/pose
camera_streamer:
component: core_vision_components::image_streaming::CameraStreamer
display_name: Camera Streamer
events:
transitions:
on_load:
load:
- component: yolo_executor
- component: frame_to_signal
lifecycle:
component: camera_streamer
transition: configure
on_configure:
lifecycle:
component: camera_streamer
transition: activate
outputs:
image: /camera_streamer/image
hardware:
hardware:
display_name: Hardware Interface
urdf: Universal Robots 5e
rate: 500
events:
transitions:
on_load:
load:
- controller: robot_state_broadcaster
hardware: hardware
- controller: joint_trajectory_controller
hardware: hardware
- controller: ur_impedance_controller
hardware: hardware
- controller: ur_dashboard_controller
hardware: hardware
parameters:
robot_ip: 192.168.56.101
controllers:
ur_dashboard_controller:
plugin: aica_ur_controllers/URDashboardController
events:
transitions:
on_load:
switch_controllers:
hardware: hardware
activate: ur_dashboard_controller
joint_trajectory_controller:
plugin: aica_core_controllers/trajectory/JointTrajectoryController
events:
transitions:
on_load:
switch_controllers:
hardware: hardware
activate: joint_trajectory_controller
on_deactivate:
load:
component: camera_streamer
switch_controllers:
hardware: hardware
activate: ur_impedance_controller
on_activate:
call_service:
controller: joint_trajectory_controller
hardware: hardware
service: set_trajectory
payload: |-
frames:
- start
durations:
- 2.0
robot_state_broadcaster:
plugin: aica_core_controllers/RobotStateBroadcaster
outputs:
cartesian_state: /hardware/robot_state_broadcaster/cartesian_state
ft_sensor: /hardware/robot_state_broadcaster/ft_sensor
events:
transitions:
on_load:
switch_controllers:
hardware: hardware
activate: robot_state_broadcaster
ur_impedance_controller:
plugin: aica_ur_controllers/URImpedanceController
parameters:
selection_vector:
value:
- 1
- 1
- 1
- 0
- 0
- 1
type: int_array
force_limit:
value:
- 40
- 40
- 40
- 30
- 30
- 30
type: vector
stiffness:
value:
- 500
- 500
- 500
- 400
- 400
- 400
type: vector
damping:
value:
- 50
- 50
- 50
- 10
- 10
- 10
type: vector
inputs:
command: /bounding_box_tracker/twist
graph:
positions:
on_start:
x: -740
y: -360
stop:
x: -740
y: -260
components:
frame_broadcaster:
x: -420
y: -580
yolo_executor:
x: 760
y: 480
bounding_box_tracker:
x: 1300
y: 600
box_collider:
x: 840
y: 1020
frame_to_signal:
x: 280
y: 1140
camera_streamer:
x: 180
y: 520
hardware:
hardware:
x: 1880
y: -360
sequences:
sequence:
x: -420
y: -280
edges:
yolo_to_marker_marker_pose_signal_point_attractor_attractor:
path:
- x: 1360
y: 520
- x: 1360
y: 680
yolo_executor_detections_yolo_to_marker_json_input:
path:
- x: 1160
y: 120
- x: 1160
y: 220
- x: 860
y: 220
- x: 860
y: 520
yolo_to_marker_twist_hardware_hardware_ik_velocity_controller_command:
path:
- x: 1740
y: 680
- x: 1740
y: 920
yolo_to_marker_twist_hardware_hardware_velocity_impedance_controller_command:
path:
- x: 1740
y: 680
- x: 1740
y: 920
hardware_hardware_robot_state_broadcaster_ft_sensor_hardware_hardware_velocity_impedance_controller_ft_sensor:
path:
- x: 1840
y: 700
- x: 1840
y: 960
hardware_hardware_ur_dashboard_controller_zero_ftsensor_success_sequence_sequence_condition_input_2:
path:
- x: -60
y: 80
yolo_to_marker_on_activate_hardware_hardware_ur_impedance_controller:
path:
- x: 1840
y: 700
- x: 1840
y: 1060
yolo_to_marker_twist_hardware_hardware_ur_impedance_controller_command:
path:
- x: 1740
y: 780
- x: 1740
y: 1220
orbbec_camera_on_load_yolo_executor_yolo_executor:
path:
- x: 680
y: 620
- x: 680
y: 540
orbbec_camera_on_load_frame_to_signal_frame_to_signal:
path:
- x: 680
y: 620
- x: 680
y: 1020
- x: 240
y: 1020
- x: 240
y: 1200
orbbec_camera_color_image_yolo_executor_image:
path:
- x: 640
y: 700
- x: 640
y: 780
on_start_on_start_frame_broadcaster_frame_broadcaster:
path:
- x: -540
y: -300
- x: -540
y: -520
on_start_on_start_sequence_sequence:
path:
- x: -540
y: -300
- x: -540
y: -220
hardware_joint_trajectory_controller_has_trajectory_succeeded_condition_sequence_sequence_condition_input_0:
path:
- x: -380
y: 440
sequence_sequence_event_trigger_1_hardware_hardware_ur_dashboard_controller_zero_ftsensor:
path:
- x: -220
y: 140
hardware_ur_dashboard_controller_zero_ftsensor_success_condition_sequence_sequence_condition_input_2:
path:
- x: -60
y: 60
sequence_sequence_event_trigger_3_hardware_hardware_joint_trajectory_controller:
path:
- x: 100
y: 200
box_collider_is_out_of_bounds_bounding_box_tracker_bounding_box_tracker:
path:
- x: 1400
y: 1280
- x: 1400
y: 1000
- x: 1280
y: 1000
- x: 1280
y: 660
box_collider_is_in_bounds_bounding_box_tracker_bounding_box_tracker:
path:
- x: 1360
y: 1240
- x: 1360
y: 1040
- x: 1260
y: 1040
- x: 1260
y: 660
frame_to_signal_on_activate_box_collider_box_collider:
path:
- x: 800
y: 1320
- x: 800
y: 1080
camera_streamer_on_load_yolo_executor_yolo_executor:
path:
- x: 620
y: 700
- x: 620
y: 540
camera_streamer_on_load_frame_to_signal_frame_to_signal:
path:
- x: 620
y: 700
- x: 620
y: 1060
- x: 260
y: 1060
- x: 260
y: 1200
hardware_hardware_joint_trajectory_controller_on_deactivate_camera_streamer_camera_streamer:
path:
- x: 100
y: 360
- x: 100
y: 580
hardware_hardware_joint_trajectory_controller_on_deactivate_hardware_hardware_ur_impedance_controller:
path:
- x: 1820
y: 360
- x: 1820
y: 1040
hardware_hardware_joint_trajectory_controller_on_activate_hardware_hardware_joint_trajectory_controller_set_trajectory:
path:
- x: 1800
y: 320
- x: 1800
y: 520
yolo_executor_detections_bounding_box_tracker_detections:
path:
- x: 1240
y: 780
- x: 1240
y: 820
bounding_box_tracker_twist_hardware_hardware_ur_impedance_controller_command:
path:
- x: 1760
y: 820
- x: 1760
y: 1200
hardware_hardware_robot_state_broadcaster_cartesian_state_box_collider_target:
path:
- x: 740
y: 940
- x: 740
y: 1360
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