SAS Kuka Control Template

Tip

Repository for this template: https://github.com/MarinhoLab/sas_kuka_control_template
More information about SmartArmStack is available in https://smartarmstack.github.io/.

This is a control template for KUKA robotic manipulators. It relies on sas_robot_driver_kuka to communicate with the robot via Sunrise.FRI.

Docker

Simulation

sas_kuka_control_template_sim_compressed.mp4

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_kuka_control_template/simulation_demo_v2
cd ~/sas_tutorial_workspace/docker/sas_kuka_control_template/simulation_demo_v2
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_kuka_control_template/refs/heads/main/docker/simulation_demo_v2/compose.yml

xhost +local:root
docker compose up

Real robot

Caution

For using the real robot, you must have the risk assessments in place. This guide is meant to be helpful but holds absolutely no liability whatsoever. More details are available in the software license.

Warning

This code will move the robot. Be sure that the workspace is free and safe for operation. Be sure that the robot is in a joint configuration in which it will not hit itself or anything around it.

sas_kuka_control_template_rr_watermark.mp4

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_kuka_control_template/robot_demo
cd ~/sas_tutorial_workspace/docker/sas_kuka_control_template/robot_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_kuka_control_template/refs/heads/main/docker/robot_demo/compose.yml

docker compose up

Important

The Sunrise Cabinet has a number of steps necessary for the robot to be operable in automatic mode.
Refer to the vendor for complete instructions.

Important

This App must be running in the Sunrise Cabinet.

Real robot and simulation

Important

Consider all information given for the simulation and real robot demos.

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_kuka_control_template/robot_and_simulation_v2_demo
cd ~/sas_tutorial_workspace/docker/sas_kuka_control_template/robot_and_simulation_v2_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_kuka_control_template/refs/heads/main/docker/robot_and_simulation_v2_demo/compose.yml

xhost +local:root
docker compose up

Deprecated

Simulation using CoppeliaSim with zmq is deprecated.

Deprecated simulation

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_kuka_control_template/simulation_demo
cd ~/sas_tutorial_workspace/docker/sas_kuka_control_template/simulation_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_kuka_control_template/refs/heads/main/docker/simulation_demo/compose.yml

xhost +local:root
docker compose up

Deprecated real robot and simulation

Important

Consider all information given for the simulation and real robot demos.

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_kuka_control_template/robot_and_simulation_demo
cd ~/sas_tutorial_workspace/docker/sas_kuka_control_template/robot_and_simulation_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_kuka_control_template/refs/heads/main/docker/robot_and_simulation_demo/compose.yml

xhost +local:root
docker compose up