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 urx is used because there's a formatting issue with tpose.

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.