This is the code repo for the paper Automating Deformable Gasket Assembly accepted for CASE 2024

The website for the paper: Automating Deformable Gasket Assembly including videos, results and CAD files, can be found here.

Installation

git clone git@github.com:SimeonOA/robot_gasket_assembly.git
cd robot_gasket_assembly/
conda env create -f environment.yml

Note: You will need to separately install ur5py, ur_rtde (make sure it's version 1.4.2!), and pyzed (if you want to use a ZED camera)!

Calibration

This implementation requires an overhead camera calibrated to the robot such that a pixel from the overhead's camera can be translated to the appropriate x,y coordinate of that point in the robot's frame. Reference calibration/image_robot.py if necessary.

Optional: Use if you do not have another calibration method you prefer and make sure to update cam_cal.csv with your values!

cd ur5/calibration/
python image_robot.py

Quickstart

Across the codebase are TODOs that you will need to update for your given workspace for the code to work! After that's done you can run the following:

cd ur5/
python main.py <include args here!>