This Python library provides real-time control of a robotic manipulator. The supported hardware is:
- Universal Robots UR5 arm
- Robotiq 2F/3F gripper
- Robotiq FT 300 sensor
- Takktile fingertip sensors (NYI)
The library is in active development and the APIs are still evolving.
Some documentation is available in roman/readme.md.
Sample scripts are available in the the examples directory.
From source:
pip install -e .
From source using pip:
pip install git+https://github.com/microsoft/roman.git#egg=roman
This project welcomes contributions and suggestions. Most contributions require you to agree to a Contributor License Agreement (CLA) declaring that you have the right to, and actually do, grant us the rights to use your contribution. For details, visit https://cla.opensource.microsoft.com.
When you submit a pull request, a CLA bot will automatically determine whether you need to provide a CLA and decorate the PR appropriately (e.g., status check, comment). Simply follow the instructions provided by the bot. You will only need to do this once across all repos using our CLA.
This project has adopted the Microsoft Open Source Code of Conduct. For more information see the Code of Conduct FAQ or contact opencode@microsoft.com with any additional questions or comments.