clair-robotics-stack

Installation for Lab:

Clone the repository:

git clone https://github.com/CLAIR-LAB-TECHNION/clair-robotics-stack.git

Install Poetry

(preferably in a clean virtual environment of python 3.10)

pip install poetry

Install dependencies:

poetry install --no-root

Validating Installations for Lab Urs

make sure:

• both ur5e_2 robot is fully on (the one at the end)
• make sure the robot is on remote control
• make sure you are connected to the robot's network via wifi or ethernet the wifi password is on the bottom of the router
• make sure you set up static wifi address for your machine in the robots network. It must start with: 192.168.0.xx (xx is a number between 100-255)

run simple example:

python -m ur_lab.examples.lab_basic_example

if you get errors, you can try and ping the robot ip adress. You can see the ip at ur_lab/robot_inteface/robots_metadata.py

Some examples are on jupyter notebooks, You should install jupyterlab on your environment to run them.

Installation for Mujoco Simulator:

To run the simulation you will have to install the ur_mujoco_sim/requirements.txt directly to pip

pip install -r ur_mujoco_sim/requirements.txt

Then you can run the test file

python -m ur_mujoco_sim.sim_testing