Trossen Robotics (Interbotix)
Chess #6
Replies: 8 comments 8 replies
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Have you tried using fiducial markers like AprilTags to calibrate the pose of the chess board? We use them in tandem with a RealSense D435 camera to determine the exact location of the arm relative to objects in its workspace. You may be able to do something similar with the chessboard. Our perception packages are compatible with the AprilTag Standard 41h12 found in this directory. You can print them off with squares of size 0.02m. That's a very cool application! We're looking forward to seeing your progress as you do more. |
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I have not, that is a good idea. I will try it next week after I get off vacation and let you know. |
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I know what my problem is, I need to change the values. I am reading up on how to set these correctly but to be honest it might be a week or so before I figure it out. Can anyone tell me what they would be if the mag pickup is 53 mm from the middle of the gripper bar to the end? |
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If you mean that your end effector link is the This is assuming that the frame is 0.053m below the
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Thank you, I should have this working soon. |
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If you make any other changes to your arm, you can calculate these parameters using a tool that we recently released. Check out the announcement here. |
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That looks really nice. I am just printing off a new magnetic pickup design and I will give it a try. Hopefully I will have some more progress to show soon. |
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Just a update. I redesigned the magnetic pickup and have the arm picking up all the pieces and moving them. My CNN for detection is spot on so all I have to do to make it functional is working on the command and control part. I should have a working proof of concept this weekend. Here is a video showing the new pickup and show how it can pick up all the pieces. |
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I can finally say I have it playing chess but I have a lot of polish. I will not post again until I have it looking really good. One of the big things I want to do is put the camera on the side with no calibration required and polishing everything else up. If you are interested in the code or stl's for the mag pickup, before than let me know. |
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Hi, We are currently working on chess play using Interbotix wx200.So we need help for how to do the project as of now we are able to detect the chess piece using yolo v8 model and for chessboard coordinates we used some python code so now we need help for detecting the coordinates using neural network and can you guide with next process of the task. |
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I not sure I totally understand the question so I will just give you an explanation on how I detected the piece location. First I used yolo to detect the piece in the camera image. I did not just detect the piece I put my detection box around the screw head. I only had two classes, it would tell me if it was a white piece or a black piece. So I always have to start a game with the pieces in a known position and can only detect one move at a time. So given all that I could tell what moved or was captured. I still need to know the coordinates of the piece for the pickup of the arm. To do that I believe you need the camera position relative to the board. You could get it on startup by various methods but I just went to hard mounting my camera in a fix position and measuring it. Using the center of the lens of the camera and the known height of the peices you can then use trig to determine exactly where the pickup point is. A piece directly below the camera lens would tell its exact location, the further away you are from the camera lens the more offset it is. Let me know if I did not answer you questions and I will try again. |
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Hi...
I need a small help from you I have a wx200 robotic arm so i need the exact
gripper that you are using can you give me the stl file for the gripper so
that we can print that can you say how to fix that and how to work on that.
…On Wed, Nov 8, 2023 at 6:27 PM sprenkle ***@***.***> wrote:
I not sure I totally understand the question so I will just give you an
explanation on how I detected the piece location. First I used yolo to
detect the piece in the camera image. I did not just detect the piece I put
my detection box around the screw head. I only had two classes, it would
tell me if it was a white piece or a black piece. So I always have to start
a game with the pieces in a known position and can only detect one move at
a time. So given all that I could tell what moved or was captured. I still
need to know the coordinates of the piece for the pickup of the arm. To do
that I believe you need the camera position relative to the board. You
could get it on startup by various methods but I just went to hard mounting
my camera in a fix position and measuring it. Using the center of the lens
of the camera and the known height of the peices you can then use trig to
determine exactly where the pickup point is. A piece directly below the
camera lens would tell its exact location, the further away you are from
the camera lens the more offset it is.
Let me know if I did not answer you questions and I will try again.
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can you share your project git hub link that you be useful for us.
On Wed, Nov 15, 2023 at 7:09 PM Kethan Sharvirala ***@***.***>
wrote:
… Hi...
I need a small help from you I have a wx200 robotic arm so i need the
exact gripper that you are using can you give me the stl file for the
gripper so that we can print that can you say how to fix that and how to
work on that.
On Wed, Nov 8, 2023 at 6:27 PM sprenkle ***@***.***> wrote:
> I not sure I totally understand the question so I will just give you an
> explanation on how I detected the piece location. First I used yolo to
> detect the piece in the camera image. I did not just detect the piece I put
> my detection box around the screw head. I only had two classes, it would
> tell me if it was a white piece or a black piece. So I always have to start
> a game with the pieces in a known position and can only detect one move at
> a time. So given all that I could tell what moved or was captured. I still
> need to know the coordinates of the piece for the pickup of the arm. To do
> that I believe you need the camera position relative to the board. You
> could get it on startup by various methods but I just went to hard mounting
> my camera in a fix position and measuring it. Using the center of the lens
> of the camera and the known height of the peices you can then use trig to
> determine exactly where the pickup point is. A piece directly below the
> camera lens would tell its exact location, the further away you are from
> the camera lens the more offset it is.
>
> Let me know if I did not answer you questions and I will try again.
>
> —
> Reply to this email directly, view it on GitHub
> <#6 (reply in thread)>,
> or unsubscribe
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> .
> You are receiving this because you commented.Message ID: <Interbotix/.
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I think I can get that but on vacation for a week, so it might be a week or so.David SprenkleOn Nov 15, 2023, at 6:40 AM, kethan637 ***@***.***> wrote:
can you share your project git hub link that you be useful for us.
On Wed, Nov 15, 2023 at 7:09 PM Kethan Sharvirala ***@***.***>
wrote:
Hi...
I need a small help from you I have a wx200 robotic arm so i need the
exact gripper that you are using can you give me the stl file for the
gripper so that we can print that can you say how to fix that and how to
work on that.
On Wed, Nov 8, 2023 at 6:27 PM sprenkle ***@***.***> wrote:
> I not sure I totally understand the question so I will just give you an
> explanation on how I detected the piece location. First I used yolo to
> detect the piece in the camera image. I did not just detect the piece I put
> my detection box around the screw head. I only had two classes, it would
> tell me if it was a white piece or a black piece. So I always have to start
> a game with the pieces in a known position and can only detect one move at
> a time. So given all that I could tell what moved or was captured. I still
> need to know the coordinates of the piece for the pickup of the arm. To do
> that I believe you need the camera position relative to the board. You
> could get it on startup by various methods but I just went to hard mounting
> my camera in a fix position and measuring it. Using the center of the lens
> of the camera and the known height of the peices you can then use trig to
> determine exactly where the pickup point is. A piece directly below the
> camera lens would tell its exact location, the further away you are from
> the camera lens the more offset it is.
>
> Let me know if I did not answer you questions and I will try again.
>
> —
> Reply to this email directly, view it on GitHub
> <#6 (reply in thread)>,
> or unsubscribe
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> .
> You are receiving this because you commented.Message ID: <Interbotix/.
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I have not look at this project in over a year so I don't remember a
whole lot but here are the repos I believe I used. I opened up a couple
just now.
https://github.com/sprenkle/piece_detector
https://github.com/sprenkle/chess_ros
https://github.com/sprenkle/game_msgs
https://github.com/sprenkle/interbotix_ros_core
https://github.com/sprenkle/interbotix_ros_manipulators
https://github.com/sprenkle/interbotix_ros_toolboxes
…On 2023-11-15 06:40, kethan637 wrote:
can you share your project git hub link that you be useful for us.
On Wed, Nov 15, 2023 at 7:09 PM Kethan Sharvirala ***@***.***>
wrote:
> Hi...
> I need a small help from you I have a wx200 robotic arm so i need
the
> exact gripper that you are using can you give me the stl file for
the
> gripper so that we can print that can you say how to fix that and
how to
> work on that.
>
> On Wed, Nov 8, 2023 at 6:27 PM sprenkle ***@***.***> wrote:
>
>> I not sure I totally understand the question so I will just give
you an
>> explanation on how I detected the piece location. First I used yolo
to
>> detect the piece in the camera image. I did not just detect the
piece I put
>> my detection box around the screw head. I only had two classes, it
would
>> tell me if it was a white piece or a black piece. So I always have
to start
>> a game with the pieces in a known position and can only detect one
move at
>> a time. So given all that I could tell what moved or was captured.
I still
>> need to know the coordinates of the piece for the pickup of the
arm. To do
>> that I believe you need the camera position relative to the board.
You
>> could get it on startup by various methods but I just went to hard
mounting
>> my camera in a fix position and measuring it. Using the center of
the lens
>> of the camera and the known height of the peices you can then use
trig to
>> determine exactly where the pickup point is. A piece directly below
the
>> camera lens would tell its exact location, the further away you are
from
>> the camera lens the more offset it is.
>>
>> Let me know if I did not answer you questions and I will try again.
>>
>> —
>> Reply to this email directly, view it on GitHub
>>
<#6 (reply in thread)>,
>> or unsubscribe
>>
<https://github.com/notifications/unsubscribe-auth/ANDCDN3UFX5W77TEBOZNU4TYDN6R5AVCNFSM5K674GF2U5DIOJSWCZC7NNSXTOKENFZWG5LTONUW63SDN5WW2ZLOOQ5TONJRGAZDSNQ>
>> .
>> You are receiving this because you commented.Message ID:
<Interbotix/.
>> ***@***.***>
>>
>
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Can you give any contact details other than Gmail like Facebook or
Instagram or whatsup so I can communicate fast..
And for robotic which chess engine is used and how can you say
…On Thu, 16 Nov, 2023, 3:33 am sprenkle, ***@***.***> wrote:
I have not look at this project in over a year so I don't remember a
whole lot but here are the repos I believe I used. I opened up a couple
just now.
https://github.com/sprenkle/piece_detector
https://github.com/sprenkle/chess_ros
https://github.com/sprenkle/game_msgs
https://github.com/sprenkle/interbotix_ros_core
https://github.com/sprenkle/interbotix_ros_manipulators
https://github.com/sprenkle/interbotix_ros_toolboxes
On 2023-11-15 06:40, kethan637 wrote:
> can you share your project git hub link that you be useful for us.
>
> On Wed, Nov 15, 2023 at 7:09 PM Kethan Sharvirala ***@***.***>
> wrote:
>
>> Hi...
>> I need a small help from you I have a wx200 robotic arm so i need
> the
>> exact gripper that you are using can you give me the stl file for
> the
>> gripper so that we can print that can you say how to fix that and
> how to
>> work on that.
>>
>> On Wed, Nov 8, 2023 at 6:27 PM sprenkle ***@***.***> wrote:
>>
>>> I not sure I totally understand the question so I will just give
> you an
>>> explanation on how I detected the piece location. First I used yolo
> to
>>> detect the piece in the camera image. I did not just detect the
> piece I put
>>> my detection box around the screw head. I only had two classes, it
> would
>>> tell me if it was a white piece or a black piece. So I always have
> to start
>>> a game with the pieces in a known position and can only detect one
> move at
>>> a time. So given all that I could tell what moved or was captured.
> I still
>>> need to know the coordinates of the piece for the pickup of the
> arm. To do
>>> that I believe you need the camera position relative to the board.
> You
>>> could get it on startup by various methods but I just went to hard
> mounting
>>> my camera in a fix position and measuring it. Using the center of
> the lens
>>> of the camera and the known height of the peices you can then use
> trig to
>>> determine exactly where the pickup point is. A piece directly below
> the
>>> camera lens would tell its exact location, the further away you are
> from
>>> the camera lens the more offset it is.
>>>
>>> Let me know if I did not answer you questions and I will try again.
>
>>>
>>> —
>>> Reply to this email directly, view it on GitHub
>>>
> <
#6 (reply in thread)
>,
>
>>> or unsubscribe
>>>
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>
>
>>> .
>>> You are receiving this because you commented.Message ID:
> <Interbotix/.
>>> ***@***.***>
>>>
>>
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Hello, I need some help with a making my rx200 play chess. I have figured about everything I need to do except accurately placing the arm over the required square at a certain height. I have created a neural network that will detect the pieces and I have created pieces and a grabber to pick up the pieces, see https://www.youtube.com/watch?v=4pZ1KsbetbI . The problem is the pose of the chess board, I can't get it to got to the right square. If I have it going to one corner the other corners will be off and I can't seem to figure out to get it to work. Any suggestions out there.
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