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Luis Fernando Núñez Hernández
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| *.tgz filter=lfs diff=lfs merge=lfs -text |
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| Original file line number | Diff line number | Diff line change |
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| # This .gitignore file should be placed at the root of your Unity project directory | ||
| # | ||
| # Get latest from https://github.com/github/gitignore/blob/main/Unity.gitignore | ||
| # | ||
| /[Ll]ibrary/ | ||
| /[Tt]emp/ | ||
| /[Oo]bj/ | ||
| /[Bb]uild/ | ||
| /[Bb]uilds/ | ||
| /[Ll]ogs/ | ||
| /[Uu]ser[Ss]ettings/ | ||
|
|
||
| # MemoryCaptures can get excessive in size. | ||
| # They also could contain extremely sensitive data | ||
| /[Mm]emoryCaptures/ | ||
|
|
||
| # Recordings can get excessive in size | ||
| /[Rr]ecordings/ | ||
|
|
||
| # Uncomment this line if you wish to ignore the asset store tools plugin | ||
| # /[Aa]ssets/AssetStoreTools* | ||
|
|
||
| # Autogenerated Jetbrains Rider plugin | ||
| /[Aa]ssets/Plugins/Editor/JetBrains* | ||
|
|
||
| # Visual Studio cache directory | ||
| .vs/ | ||
|
|
||
| # Gradle cache directory | ||
| .gradle/ | ||
|
|
||
| # Autogenerated VS/MD/Consulo solution and project files | ||
| ExportedObj/ | ||
| .consulo/ | ||
| *.csproj | ||
| *.unityproj | ||
| *.sln | ||
| *.suo | ||
| *.tmp | ||
| *.user | ||
| *.userprefs | ||
| *.pidb | ||
| *.booproj | ||
| *.svd | ||
| *.pdb | ||
| *.mdb | ||
| *.opendb | ||
| *.VC.db | ||
|
|
||
| # Unity3D generated meta files | ||
| *.pidb.meta | ||
| *.pdb.meta | ||
| *.mdb.meta | ||
|
|
||
| # Unity3D generated file on crash reports | ||
| sysinfo.txt | ||
|
|
||
| # Builds | ||
| *.apk | ||
| *.aab | ||
| *.unitypackage | ||
| *.app | ||
|
|
||
| # Crashlytics generated file | ||
| crashlytics-build.properties | ||
|
|
||
| # Packed Addressables | ||
| /[Aa]ssets/[Aa]ddressable[Aa]ssets[Dd]ata/*/*.bin* | ||
|
|
||
| # Temporary auto-generated Android Assets | ||
| /[Aa]ssets/[Ss]treamingAssets/aa.meta | ||
| /[Aa]ssets/[Ss]treamingAssets/aa/* | ||
| # This .gitignore file should be placed at the root of your Unity project directory | ||
| # | ||
| # Get latest from https://github.com/github/gitignore/blob/main/Unity.gitignore | ||
| # | ||
| **/[Ll]ibrary/ | ||
| **/[Tt]emp/ | ||
| **/[Oo]bj/ | ||
| **/[Bb]uild/ | ||
| **/[Bb]uilds/ | ||
| **/[Ll]ogs/ | ||
| **/[Uu]ser[Ss]ettings/ | ||
|
|
||
| # MemoryCaptures can get excessive in size. | ||
| # They also could contain extremely sensitive data | ||
| **/[Mm]emoryCaptures/ | ||
|
|
||
| # Recordings can get excessive in size | ||
| **/[Rr]ecordings/ | ||
|
|
||
| # Uncomment this line if you wish to ignore the asset store tools plugin | ||
| # /[Aa]ssets/AssetStoreTools* | ||
|
|
||
| # Autogenerated Jetbrains Rider plugin | ||
| **/[Aa]ssets/Plugins/Editor/JetBrains* | ||
|
|
||
| # Visual Studio cache directory | ||
| .vs/ | ||
|
|
||
| # Gradle cache directory | ||
| .gradle/ | ||
|
|
||
| # Autogenerated VS/MD/Consulo solution and project files | ||
| ExportedObj/ | ||
| .consulo/ | ||
| *.csproj | ||
| *.unityproj | ||
| *.sln | ||
| *.suo | ||
| *.tmp | ||
| *.user | ||
| *.userprefs | ||
| *.pidb | ||
| *.booproj | ||
| *.svd | ||
| *.pdb | ||
| *.mdb | ||
| *.opendb | ||
| *.VC.db | ||
|
|
||
| # Unity3D generated meta files | ||
| *.pidb.meta | ||
| *.pdb.meta | ||
| *.mdb.meta | ||
|
|
||
| # Unity3D generated file on crash reports | ||
| sysinfo.txt | ||
|
|
||
| # Builds | ||
| *.apk | ||
| *.aab | ||
| *.unitypackage | ||
| *.app | ||
|
|
||
| # Crashlytics generated file | ||
| crashlytics-build.properties | ||
|
|
||
| # Packed Addressables | ||
| **/[Aa]ssets/[Aa]ddressable[Aa]ssets[Dd]ata/*/*.bin* | ||
|
|
||
| # Temporary auto-generated Android Assets | ||
| **/[Aa]ssets/[Ss]treamingAssets/aa.meta | ||
| **/[Aa]ssets/[Ss]treamingAssets/aa/* |
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| # Industrial Robots Programming With Augmented Reality Pose Estimators | ||
|
|
||
| This is the repository of the software from the application of a paper to SoftwareX. This contains software that allows to define trajectories for an Universal Robots UR3e robot in relation to two markers using the | ||
| Augmented Reality framework Vuforia and Unity. | ||
|
|
||
|
|
||
| ## Installation | ||
|
|
||
| It is needed to have a PC and an Android device connected to the same local network. | ||
|
|
||
| On the PC install the Android Platforms tools for the corresponding OS from: | ||
| https://developer.android.com/tools/releases/platform-tools. If needed add the adb binary to PATH. | ||
|
|
||
| Install RoboDK from: | ||
| https://robodk.com/download | ||
|
|
||
| Install RoboDK Python API from: | ||
| https://pypi.org/project/robodk/ | ||
|
|
||
| Install pose-estimation.apk on a device running Android 9.0 or higher. | ||
|
|
||
| Enable developer options and inside them enable USB Debbuging and Wirelees Debugging. For Xiaomi devices it is needed to also enable USB Debugging (Security Settings). | ||
|
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||
| A copy of the fixed marker used by the Android application is found on fixed_target.pdf. | ||
|
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||
|
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||
| ## Usage/Example | ||
|
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| Open trajectories_robolink.rdk with RoboDK. | ||
|
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| Allow Wireless Debuging on the local network. | ||
|
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| Connect the Android device via USB with USB debugging enabled. | ||
|
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| Run read_poses.py. | ||
|
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| If a windows pops up asking for a post-processor select the Universal Robots post-processor. | ||
|
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||
| Accept the permissions for USB Debugging. Press enter. | ||
|
|
||
| On the consoles enter the IP address shown on Wireless Debuging options. Press enter. | ||
|
|
||
| Press enter if the device is listed as connected. Otherwise remove USB Debuging and Wireless Debugging permissions and try again from the start of this section. | ||
|
|
||
| Use the Android app to define trajectories with respect to the virtual robot base (represented by the cube). | ||
|
|
||
| Send the defined trajectories to the PC. | ||
|
|
||
| A text file with the script for the robot should pop up. You can save it and run it on a UR3e robot. | ||
|
|
||
| Example of the expected output on the console: | ||
|
|
||
| ```console | ||
| $ python read_poses.py | ||
|
|
||
| * daemon not running; starting now at tcp:5037 | ||
| * daemon started successfully | ||
| Connect the phone via USB with USB debugging enabled and accept the permissions for USB Debugging | ||
| Press Enter to continue... | ||
| List of devices attached | ||
| c2ee2599 device | ||
|
|
||
| restarting in TCP mode port: 5555 | ||
| List of devices attached | ||
| c2ee2599 device | ||
|
|
||
| Enter IP address shown inside Wireless Debuging options: 192.168.1.237 | ||
| connected to 192.168.1.237:5555 | ||
| List of devices attached | ||
| c2ee2599 device | ||
| 192.168.1.237:5555 device | ||
|
|
||
| Disconnect the USB cable from the phone | ||
| Press Enter to continue... | ||
| Use the Android app to define trajectories with respect to the virtual robot base (represented by the cube) | ||
| Waiting... | ||
| Data read successfully | ||
| Program created successfully | ||
| ``` | ||
| # Augmented Reality Robot Programming | ||
|
|
||
| This is the repository of the software from the application of a paper to SoftwareX. This contains software that allows to define trajectories for an Universal Robots UR3e robot in relation to two markers using the | ||
| Augmented Reality framework Vuforia and Unity. | ||
|
|
||
| ## Installation | ||
|
|
||
| It is needed to have a PC and an Android device connected to the same local network. | ||
|
|
||
| On the PC install the Android Platforms tools for the corresponding OS from: | ||
| https://developer.android.com/tools/releases/platform-tools. If needed add the adb binary to PATH. | ||
|
|
||
| Install RoboDK from: | ||
| https://robodk.com/download | ||
|
|
||
| Install RoboDK Python API from: | ||
| https://pypi.org/project/robodk/ | ||
|
|
||
| Install pose-estimation.apk on a device running Android 9.0 or higher. | ||
|
|
||
| Enable developer options and inside them enable USB Debbuging and Wirelees Debugging. For Xiaomi devices it is needed to also enable USB Debugging (Security Settings). | ||
|
|
||
| A copy of the fixed marker used by the Android application is found on fixed_target.pdf. | ||
|
|
||
|
|
||
| ## Usage/Example | ||
|
|
||
| Open trajectories_robolink.rdk with RoboDK. | ||
|
|
||
| Allow Wireless Debuging on the local network. | ||
|
|
||
| Connect the Android device via USB with USB debugging enabled. | ||
|
|
||
| Run read_poses.py. | ||
|
|
||
| If a windows pops up asking for a post-processor select the Universal Robots post-processor. | ||
|
|
||
| Accept the permissions for USB Debugging. Press enter. | ||
|
|
||
| On the consoles enter the IP address shown on Wireless Debuging options. Press enter. | ||
|
|
||
| Press enter if the device is listed as connected. Otherwise remove USB Debuging and Wireless Debugging permissions and try again from the start of this section. | ||
|
|
||
| Use the Android app to define trajectories with respect to the virtual robot base (represented by the cube). | ||
|
|
||
| Send the defined trajectories to the PC. | ||
|
|
||
| A text file with the script for the robot should pop up. You can save it and run it on a UR3e robot. | ||
|
|
||
| Example of the expected output on the console: | ||
|
|
||
| ```console | ||
| $ python read_poses.py | ||
|
|
||
| * daemon not running; starting now at tcp:5037 | ||
| * daemon started successfully | ||
| Connect the phone via USB with USB debugging enabled and accept the permissions for USB Debugging | ||
| Press Enter to continue... | ||
| List of devices attached | ||
| c2ee2599 device | ||
|
|
||
| restarting in TCP mode port: 5555 | ||
| List of devices attached | ||
| c2ee2599 device | ||
|
|
||
| Enter IP address shown inside Wireless Debuging options: 192.168.1.237 | ||
| connected to 192.168.1.237:5555 | ||
| List of devices attached | ||
| c2ee2599 device | ||
| 192.168.1.237:5555 device | ||
|
|
||
| Disconnect the USB cable from the phone | ||
| Press Enter to continue... | ||
| Use the Android app to define trajectories with respect to the virtual robot base (represented by the cube) | ||
| Waiting... | ||
| Data read successfully | ||
| Program created successfully | ||
| ``` |
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