Summer 2025 work by Leia Hannes and Hannah Loly.
UR_library_2025 is a modified version of myur3e.py (https://github.com/tuftsceeo/Universal-Robots-ROS2-CEEO/blob/main/myur/myur3e.py) and includes base classes used in both the clay and violin projects.
clay_commands has two classes, ClaySculpt and ClayTrajectory, that inherit from the MyUR3e and Trajectory classes found in UR_library_2025.
lib_testing includes tests for UR_library commands and clay_commands.
play_doh is our Jupyter notebook code for the Hackathon. This uses the libraries prior to class implementation and is slightly out of date as a result.
impact_commands has two classes, ImpactTesting, and ImpactTrajectory, that inherit from the MyUR3e and Trajectory classes found in UR_library_2025.
websocket has classes and functions to start the websocket in Jupyter and read data from and send to channels
Websocket_Startup is the Jupyter file that needs to be kept running to access channels in Jupyter
Websocket_Example_Code goes through the different classes and functions in websocket.py
Impact_Testing is the Jupyter page that runs the full impact test
LEGO_controller is the Jupyter page for integrating LEGOs with the arm
RobotControlPanel.zip and DemoRobotControlPanel.zip are the pyscript pages for controlling the robot