Examples

This section contains practical examples and demos for the AI Accelerator platform.

In v2 of the AI Accelerator software each example has it’s own dedicated shell script file to launch the ROS2 nodes required for that example. The scripts/run_ark.sh file that was utilized for the demos in v1 is still available and functional, but this launches the ROS2 nodes for every example all together, regardless of whether they are used, and may lead to increased processing time, so individual launch files are preferred.

• AprilTag Detection
  • Implementaton
  • Demo
• Classification
  • Step by step
  • To use the model
  • Example of using recognition results
  • Improving Classification Accuracy
• Detection
  • Auto Annotation for object detection
  • To train the model
  • Loading the model
  • Testing the model
  • Example of using object location
• Pose Estimation
  • Prerequisites
  • Training a Detector
  • Generating a Textured Mesh
  • Running the example
  • Configuring the Polyscope Program
• Path Planning Basic
  • Running The Demo
  • Updating the Collision Model
  • Configuring the Polyscope Program
• Path Planning Advanced
  • Prerequisites
  • Overview
  • Configure Robot
  • Configure and Visualize Collision Models
  • Starting the Path Planning System
  • Configure the Joint Limits
    • Manually editing the joint limits
    • Changing the joint limits with ROS2 service
  • Path Planning Usage
    • Single Shot Planning
    • Object Attachment
  • Troubleshooting of Path Planning Failures
    • IK_FAIL
    • INVALID_START_STATE_JOINT_LIMITS
    • INVALID_START_STATE_WORLD_COLLISION or INVALID_START_STATE_SELF_COLLISION
    • GRAPH_FAIL
    • TRAJOPT_FAIL or FINETUNE_TRAJOPT_FAIL
  • Additional Resources
• Dynamic Picking
  • Running the demo
  • Updating the Collision Model
  • Configuring the Polyscope Program