https://github.com/berkeleyautomation/gasket-assembly
https://github.com/berkeleyautomation/gasket-assembly
Last synced: 2 months ago
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- Host: GitHub
- URL: https://github.com/berkeleyautomation/gasket-assembly
- Owner: BerkeleyAutomation
- License: apache-2.0
- Created: 2024-08-22T09:50:17.000Z (9 months ago)
- Default Branch: main
- Last Pushed: 2024-08-23T03:43:54.000Z (9 months ago)
- Last Synced: 2025-01-25T21:26:40.473Z (4 months ago)
- Language: Python
- Size: 19.5 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
This is the code repo for the paper **Automating Deformable Gasket Assembly** accepted for [CASE 2024](https://2024.ieeecase.org/)
The website for the paper: **Automating Deformable Gasket Assembly** including videos, results and CAD files, can be found [here](https://berkeleyautomation.github.io/robot-gasket/).
## Installation
```shell
git clone [email protected]:SimeonOA/robot_gasket_assembly.git
cd robot_gasket_assembly/
conda env create -f environment.yml
```
Note: You will need to separately install [ur5py](https://github.com/TianshuangQiu/ur5py.git), 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!
```shell
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:
```shell
cd ur5/
python main.py
```