Python code used for communication with the UR5e robot.

The communication is done 125[Hz]. The repo is based of the RopeRobotics code: (https://github.com/martinbjerge/ur-interface)

What can it be used for?

• Defines minimum jerk planner and designs minimum-jerk trajectory
• Implements PD and Impedance Controller for Peg-In-Hole tasks
• Includes 3 different modes of operation:
  • run_robot.py: allows for usage of impedance or PD control for insertion task
  • run_robot_with_spiral.py: allows for usage of spiral search or circular motion of the peg while in contact.
  • run_robot_spiral_ml.py: integrates trained model in Tensrflow for overlap detection -> incomplete

Files explanation

1. main.py: main run file allowing for control of the robot. It defines 3 modes, described earlier as well as determined what type of controller will be used and what type of position error will be used.
2. controller.py: included impedance controller implementation and parameters
3. helper_functions.py: include files for data labeling, spiral search and circular motion variables.
4. angle_transformation.py: included various transformations used in robotic tasks.

Folders

1. URBasic/urScript.py: included various functions for robot communication. The functions need to follow UR format that can be found here: https://www.universal-robots.com/download/manuals-e-series/script/script-manual-e-series-sw-511/
2. URBasic/urScriptExt.py: included functions similarly to urScript.py however they are more advanced. This included force_mode and servoj which are non-blocking functions allowing for real-time communication with the robot.
3. Onrobot/Exconnector.py: file used for utilizing OnRobot F/T sensor and reading the measurements.