This repository contains a project focused on robot control algorithms, with both a simulated environment and real-world implementation. It is divided into two main parts:
The SIM_UR5 section provides a temporary simulation environment for testing and developing robot control algorithms using the UR5e robot model in a MuJoCo physics simulation.
- UR5e robot arm simulation
- Basic pick-and-place operations
- Motion planning and execution
- Block manipulation tasks
The LAB_UR5 section focuses on adapting the control algorithms for real-life robots in the lab.
- Two real UR5e robot arms
- Basic operations
- Coordinated task execution between robots
Enjoy watching our robots in action! The AIR_VIDEOS section contains video demonstrations showcasing the project’s progress and results.
Ensure you have Python installed along with the required dependencies. You may need MuJoCo for simulation and other necessary libraries.
- Clone the repository:
git clone https://github.com/gilianb/Robotics_and_AI_project.git
- Navigate to the project directory:
cd Robotics_and_AI_project - Install dependencies:
pip install -r requirements.txt
To run the SIM_UR5 environment, execute:
python sim_ur5/main.pyFor real-world execution in LAB_UR5, run:
python lab_ur5/main.pyFor detailed usage instructions, refer to the documentation in docs/usage.md.
We welcome contributions from the community! To contribute:
- Fork the repository.
- Create a new branch for your feature or bug fix.
- Commit your changes and push them to your fork.
- Submit a pull request with a detailed description of your modifications.
Please review our contributing guidelines before submitting changes.
This project is licensed under the CLAIR Lab of the Technion under Dr Sarah Keren's supervision.
For questions, suggestions, or feedback, feel free to reach out:
Project Maintainer: Gilian B. and Ruben F. 📧 Email: gilian.bns@gmail.com
🚀 Explore the code, test it, and enjoy the journey into robotics and AI!