Assess latency of teleoperation commands on the robot for 3 minutes.
| Associated Requirements | Untitled (https://heathered-english-a1d.notion.site/863eab0d5c4d43549865349848134fcc) |
|---|---|
| Equipment | Stretch RE1 |
| Elements | |
| Personnel | Lead: |
| Location | AI Makerspace, Tepper School of Business |
Turn the robot on and home it.
Atharva to turn on the mobile application on the tablet and request to connect to the robot.
Praveen to play the role of a patient and accept Atharva's request to teleoperate the robot.
Atharva gives commands on the application on the tablet to maneuever the robot. This is noted as timestamp 1 in our test verification script.
Praveen now plays the role of emergency rescue and stays on standby near the robot to be able to press the kill switch button in case the robot starts behaving undesirably.
Our test verification script notes the second timestamp which depicts the time it takes for the robot to execute the command that Atharva passed as the instruction on the application on the tablet. This can be either change of coordinates in navigation, or change of pose of arm in manipulation.
Repeat steps 4-6 for 3 minutes and store the timestamp differences as an array.
Once step 7 is finished, disconnect the user from the teleoperation mode, kill the script, and turn the robot off.
The loved one (Atharva) was able to teleoperate the robot with the time between his commands and the resulting robot operation (latency) not once exceeding 5 seconds. The proof of this will be visible in the timestamp difference array for a period of 3 minutes.