Project Details

High Level Requirements

• Write, update, and maintain robust backend code utilizing the robot's API to communicate with the haptic rendering engine.
• Provide a user-friendly interface for designing and running simulations.
• Provide a user-friendly interface for collecting and analyzing data from haptic interactions.

Solution Vision

As of now, simulations must be hard coded in the haptic rendering engine and collecting data from interactions is difficult. Our solution is a software system that will streamline the process of designing and conducting experiments. The system will allow users to:

• Easily design the simulations through a user interface, allowing for the creation and manipulation of various objects.
• Set various experiment parameters, such as the number of trials.
• Run experiments with the FR3 robot.
• Collect and analyze data from the interactions through a user interface.

Technologies

Python

Python is used for its flexibility and simplicity for designing native user interfaces.

CHAI3D

C++ haptic rendering engine used to display 3D simulations and communicate haptic data to the robot.

libfranka

C++ API used to control the FR3 robot.

Project Initial Description