CB2 UR5s Setup Instructions: https://i-chun-arthur.notion.site/CB2-UR5-Manual-eb8bd315645e422bb441105c421b8e22
The scripts control the UR5s using the python-urx library.
- More examples: https://github.com/SintefManufacturing/python-urx.
- A local version of
urxis used because there's a formatting issue withtpose.
test_robotiq_gripper.py
- Activate and control the Robotiq gripper. Note that every time you start a program you need to activate the gripper to use it.
opencv_viewer_example.py
- Stream Intel RealSense camera.
get_robot_tool_tip_pos.py
- Get robot’s tool tip position (x, y, z) in robot base frame.
get_set_two_robot_joints.py
- Move the robot arms to pre-configured poses. I use this code to move the robot arms to the starting states before my experiments.
verify_camera_calibration.py
- I use this code to test my camera calibration result. Specifically, it captures RGB-D images from the RealSense camera and display point cloud in Open3D. Then, I select a point in the viewer, and the robot arm would move its end-effector to that position.
servoj_example.py
- Example code that moves the robot arm using joint-space control.
simultaneous_motion.py
- Example code that executes both arms simultaneously.