Python Library for Real-World Robot

This is a library based on the UR robot and other packages will continued to be add later.

Hardware

• UR5 (RTDE)
• Robotiq Gripper (TCP/RTU)
• Wrist camera and force sensor suits of Robotiq
• Mech-eye
• ZED
• Realsense
• Xtion Pro live
• ...

Installation

This implementation requires the following dependencies (tested on Ubuntu 16.04 LTS, Ubuntu 18.04 LTS and Ubuntu 20.04 LTS):

• You can quickly install/update these dependencies by running the following:

  python setup.py install

  or

  cd ./UR_control & pip install [-e] .

• If you need to use realsense camera, you can download from the official library(RealSense).

• If you want to control UR5/UR3 Robot, you can download rtde packages(ur_rtde).You can also quickly install rtde by this way:

  pip install --user ur_rtde

Attention

• If you want to control Gripper via RTU, you should first run sudo chmod +777 /dev/ttyUSB0
• If your background is black, you shoud leave the edge of calibrate board blank.

Calibrating Camera Extrinsics

We provide a simple calibration script to estimate camera extrinsics with respect to robot base coordinates. You can choose different checkerboards and change the variables checkerboard_size.

Instructions:

1. Predefined 3D locations are sampled from a 3D grid of points in the robot's workspace. To modify these locations, change the variables workspace_limits and calib_grid_step at the top of calibrate.py.

2. Measure the offset between the midpoint of the checkerboard pattern to the tool center point in robot coordinates (variable checkerboard_offset_from_tool). This offset can change depending on the orientation of the tool (variable tool_orientation) as it moves across the predefined locations. Change both of these variables respectively at the top of calibrate.py.

3. At the top of calibrate.py, change variable robot_ip to point to the network IP address of your UR5 robot controller which can communicate with UR Robot.

4. With caution, run the following to move the robot and calibrate:

   python calibrate.py