Prepare equipment for dedicated AprilTag hardware demo

[sgbaird]

• MyCobot 280 Pi with tailscale
• Livestream camera
• Assembled turntable set up as IoLT device

[sgbaird]

@Neil-YL do you mind taking the MyCobot 280 Pi and plugging it in / clamping it on one of the desks? Then setting up a livestream camera to point at it? Ideally, both the MyCobot 280 Pi and the turntable would be in the field of view. The turntable doesn't need to be plugged in - haven't set it up yet, but getting the MyCobot 280 Pi with the camera can unblock #229.

[sgbaird]

@ZZZhaoz unfortunately, the cobot is a bit finicky, but it's worth a shot. @Neil-YL could you add @ZZZhaoz (via his email probably) so that he has access to https://huggingface.co/spaces/AccelerationConsortium/cobot280pi-gradio-g9sv (private).

Likely, we'll create a new "driver" for the cobot based on Prefect rather than MQTT. I was hoping to get to this sooner, but we may need to just give it a shot with the current interface and driver. Part of the trouble is that some requests end up doing nothing (especially when using XYZ coordinates rather than joint angles).

You can view the cobot at mycobot-AprilTag-SDLT Livestreams Playlist: mycobot-AprilTag-SDLT Livestreams Playlist: https://www.youtube.com/playlist?list=PL8uZlc2CEpelrYXunUzUOMJC17wEhiP6Q

[ZZZhaoz]

@Neil-YL My hugging face account email is: zzhao.zhao@mail.utoronto.ca

[sgbaird]

I had forgotten to give @Neil-YL permission to add you earlier today 🤦‍♂️ that was on me. Just sent you an invite, let me know if you can view and use https://huggingface.co/spaces/AccelerationConsortium/cobot280pi-gradio-g9sv

[sgbaird]

I thought the camera image was really dark before in normal lighting, but wasn't expecting a near-complete black after hours. Livestream seems to be fine / visible (maybe pi camera 2 is just that good).

https://github.com/AccelerationConsortium/ac-training-lab/blob/main/src%2Fac_training_lab%2Fcobot280pi%2Fserver.py#L103-L121

[ZZZhaoz]

I was trying to find a good default position for the cobot to capture the AprilTag on the side, but I didn’t estimate the distance between the cobot and the turntable correctly. The cobot accidentally knocked over the turntable, and one of the small legs that hold the vial in place fell off. That was my fault, and I should’ve double-checked the spacing. Sorry about that! I’ll be more careful when controling the cobot going forward.

It might be fixable with strong glue. Also, I think placing the turntable a bit farther from the cobot (maybe ~20cm) would help for side captures to avoid collisions.

---

If possible, I can also come in sometime to adjust it in person, since it’s easier to check distances onsite, especially when doing pick-and-place operations. Let me know if the workspace is open for access.

---

The camera image looks good on my end.