This repository provides the robot solution and a common runtime/development environment used by Team O2AC in the Assembly Challenge of the World Robot Summit 2020.

See our intro video here:

https://www.youtube.com/watch?v=Dm76puapISY

See our exhibition talk and demo here:

https://www.youtube.com/watch?v=tue42LWGzO0&t=2090s

See our completed taskboard run here:

https://www.youtube.com/watch?v=u2Hrf--aK5k&t=21522s

This repository contains both the ROS packages used to control the O2AC robot system, as well as a series of shell scripts and Docker images to build and run the code.
With this, you can:

• Use two robot arms
• Plan and execute motions simultaneously and independently on each arm, without risk of collision

• Perform insertions using impedance control
• Align parts

• Execute motion sequences while subsequent motions are being planned, minimizing waiting times
• Fasten screws

• Use a 3D-printed screw tool (under $100 USD in parts) with compliance to find and fasten set screws

• Detect and pick parts from an unstructured tray

• Generate parts assemblies and use their TF frames

• Complete the WRS2020 taskboard task
• Complete the WRS2020 assembly task (with enough luck)

1. Clone the repository into your home folder in Ubuntu 18.04 (or newer).
2. Install the development environment (SETUP-DEVEL-MACHINE.sh, then BUILD-DOCKER-IMAGE.sh)
3. Run LAUNCH-TERMINATOR-TERMINAL.sh
4. Execute roslaunch o2ac_moveit_config demo.launch and rosrun o2ac_routines assembly.py (in separate terminals)
5. Read the documentation, check the Troubleshooting page if you have any problems, and report an issue if you are still stuck afterwards.

Please read the contribution guidelines before pushing code or requesting a merge. Details can be found in the wiki:
https://github.com/o2ac/o2ac-ur/blob/main/CONTRIBUTING.md

Minor compatibility issues are expected to arise. Please report any issue by using the issue tracker: https://github.com/o2ac/o2ac-ur/issues

If you find this repository useful, please star it and cite our papers:

Felix von Drigalski, Chisato Nakashima, Yoshiya Shibata, Yoshinori Konishi, Joshua C. Triyonoputro, Kaidi Nie, Damien Petit, Toshio Ueshiba, Ryuichi Takase, Yukiyasu Domae, Taku Yoshioka, Yoshihisa Ijiri, Ixchel G. Ramirez-Alpizar, Weiwei Wan & Kensuke Harada (2020) Team O2AS at the world robot summit 2018: an approach to robotic kitting and assembly tasks using general purpose grippers and tools, Advanced Robotics, 34:7-8, 514-530, DOI: 10.1080/01691864.2020.1734481
arXiv

Felix von Drigalski, Christian Schlette, Martin Rudorfer, Nikolaus Correll, Joshua C. Triyonoputro, Weiwei Wan, Tokuo Tsuji & Tetsuyou Watanabe (2020) Robots assembling machines: learning from the World Robot Summit 2018 Assembly Challenge, Advanced Robotics, 34:7-8, 408-421, DOI: 10.1080/01691864.2019.1705910
arXiv

Felix von Drigalski, Cristian C. Beltran-Hernandez, Chisato Nakashima, Zhengtao Hu, Shuichi Akizuki, Toshio Ueshiba, Manabu Hashimoto, Kazumi Kasaura, Yukiyasu Domae, Weiwei Wan & Kensuke Harada (2022) Team O2AC at the world robot summit 2020: towards jigless, high-precision assembly, Advanced Robotics, DOI: 10.1080/01691864.2022.2138541

The Docker and shell script backbone of this project is based on the HSR environment maintained at the Emergent Systems Laboratory, Department of Human and Computer Intelligence, College of Information Science and Engineering, Ritsumeikan University. For support, contact Coarobo GK.

Team O2AC at the World Robot Summit 2020 Assembly Challenge consisted of members from OMRON SINIC X, OMRON, Osaka University, National Institute for Advanced Science and Technology (AIST) and Chukyo University:

• Felix von Drigalski (OMRON SINIC X)
• Kazumi Kasaura (OMRON SINIC X)
• Chisato Nakashima (OMRON)
• Cristian C. Beltran-Hernandez (OMRON SINIC X / Osaka University)
• Hu Zhengtao (Osaka University)
• Toshio Ueshiba (AIST)
• Shuichi Akizuki (Chukyo University)
• Takuma Terasawa (Chukyo University)
• Ryo Miyoshi (Chukyo University)
• Nanako Shimizu (Chukyo University)
• Ryosuke Yamada (Chukyo University)
• Tenho Houda (Chukyo University)
• Yu Horiuchi (Chukyo University)
• Ryosuke Tachi (Chukyo University)
• Manabu Hashimoto (Chukyo University)
• Yukiyasu Domae (AIST)
• Weiwei Wan (Osaka University)
• Kensuke Harada (Osaka University)

We thank each organization for their support and for the approval to release the source code.