SAS UR TAMP

This repository runs docker which enables the simulation and robot control of UR3e for simple rearrangement of items.

pre-requisitrtes :

1. Docker installed
2. x86 system, mac systems have issues running this

To make changes and use the docker container again make sure you clean everything (including the cache too)

docker compose down -v

to run again

docker compose up
# docker compose up --build

Docker

Simulation

ur3e_jointspace_sim.mp4

Run

mkdir -p ~/sas_workspace/docker/sas_ur_TAMP/simulation_demo/workspace
cd ~/sas_workspace/docker/sas_ur_TAMP/simulation_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_ur_TAMP/refs/heads/main/.devel/simulation_demo/compose.yml

xhost +local:root
docker compose up

Note

If running on a arm64 Linux system host, remember to install

sudo apt-get install qemu-user-static

Note

For any example with the simulator, you might need to open port 23000 in the host. This is not always needed.

sudo ufw allow 23000

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This is Still In-progress

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.

ur_motion_video_watermarked.mp4

Run

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

docker compose up

Important

Be sure that the teaching pendant is in Remove Control mode.

Tip

Use your robot's IP address in ur1_ip. Refer to launch/_real_robot_launch.py.

Real robot and simulation

Important

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

Run

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

xhost +local:root
docker compose up