easyrobot

An easy and unified interface for robots (and grippers, etc.).

Note. The package is currently under active development.

Setup

Clone the repository.

git clone git@github.com:Galaxies99/easyrobot.git

Follow the robot installation manual to install the robot dependencies, and follow the camera installation manual to install the camera libraries.

Then, install the easyrobot library.

cd easyrobot
python setup.py install

Find multiprocessing/shared_memory.py file in the python site-packages folder, then edit the following lines

from .resource_tracker import register
register(self._name, "shared_memory")

into

if create:
    from .resource_tracker import register
    register(self._name, "shared_memory")

according to the suggestions in python bug report center.

Finally, import easyrobot!

Supported Devices

• Robot(.robot). Flexiv Robot.

• Gripper(.gripper). Robotiq 2F-85, Robotiq 2F-140, Dahuan AG95.

• Camera(.camera). RealSense D415/D435/L515, etc.

• Pedal(.pedal). Logitech G29.

• Sensor(.sensor).

  • Force/Torque Sensor(.sensor.force_torque). ATI, OptoForce.

Acknowledgement & Reference

The Flexiv robot interface is built upon the official Flexiv RDK: https://github.com/flexivrobotics/flexiv_rdk/