Description:

This assignment for the EE413 course requires students to devise a concatenated trajectory profile for the UR5 robot, which is outfitted with an Onrobot RG2 gripper. The objective is to draw the Maynooth University logo, followed by the letters 'M' and 'U' as acronyms. This task is exemplified in Figure 1. Students must leverage their knowledge acquired in their initial tutorial, which covered the intricacies of ensuring that URDF files contain all the necessary descriptions of the robot, including rendering and physical parameters. Subsequently, utilizing these URDF files, students were taught how to create a Moveit package, thereby enabling the control  of the UR5 robot through the Moveit  Python API. Drawing  from  their practical experience with various trajectory profiles provided in their tutorial materials, students are tasked with formulating solutions to the following three tasks.

Task-1: Draw Maynooth University Logo and render it in RVIZ.

•   The assignment necessitates the creation of a new function, to be titled

'triangle_trajectory', which is analogous to the 'square_trajectory' function previously encountered and applied during tutorials. This new function should generate a trajectory for a right-angled triangle oriented upside-down to facilitate the formation of a 'V' shape, a necessary component of the Maynooth University logo.

•    Students are to utilize the 'square_trajectory' function, which they have acquired from their tutorial exercises, and adapt it to construct a pattern that combines four squares   to replicate the quadrants of the Maynooth University logo.

•   The logo is composed of the following elements:

o The topmost layer consists of two adjacent squares of identical size. The

dimensions of these squares should be chosen based on the reachability and configuration limitations of the UR5 robot. The square on the left should be colored blue, while the one on the right should be yellow.

o The second layer mirrors the first in terms of the size of the two adjacent  squares, but differs in color, with the left square being green and the right square being red.

o The final layer requires the depiction of two right-angled triangles, positioned  upside down. The bases of these triangles should align with the lower edges of the second layer's squares, arranged to form a 'V' shape. The triangle on the

left should be green, and the one on the right should be red.

•   Additionally, the color specifications for the Maynooth University logo are as follows:

blue with RGB values of (0, 0.65, 0.5),yellow with (1.0, 0.75, 0), green with (0.1,   0.455, 0.54), and red with (0.635, 0, 0). Students must incorporate these color values accurately in their representations.

Task-2: Writing M and U letter together

•   From the tutorial, you have acquired the trajectory necessary for the letter 'M.' It is now incumbent upon you to resize  and  align this trajectory to  fit  seamlessly  with  the dimensions of your logo.

•   For the letter 'U,' you must craft a function that will render its form, which consists of two vertical lines capped by a semi-circle. You can refer to the implementation of the letter 'R' from your tutorial to understand how to produce the semi-circle component. Additionally, the trajectory for the letter 'I' has been covered in your tutorial, providing you with the basic primitives needed for this task. It is now your responsibility to amalgamate these elements to create a cohesive trajectory for the letter 'U.' When designing this trajectory, ensure that the dimensions are appropriate and that it is drawn on theYZ plane to align with the letter 'M,'which is already in place.

•   Upon completion of the individual trajectories for the letters 'M' and 'U,' you are to develop a new Python script. This script will invoke both functions to draw the letters consecutively in white. Be attentive to the spacing between the letters, ensuring that it is no less than 0.05 meters to maintain clarity and aesthetic consistency.