The Teaching-Free Robotics Application is designed to facilitate the simulation, analysis, and control of robotic processes, specifically focusing on welding and polishing tasks. This project integrates various modules, including a geometry engine, robot simulation, visualization interface, process library, vision and perception capabilities, and control mechanisms for post-processing robot code.
The project is organized into several directories, each serving a specific purpose:
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src/: Contains the source code for the application.
- geometry_engine/: Handles CAD model processing and geometric analysis.
- analysis/: Provides tools for analyzing welding and polishing processes.
- robot_simulation/: Interfaces with the curobo simulation framework and manages robot path planning and collision detection.
- visualization/: Offers a client interface and 3D visualization capabilities.
- process_library/: Contains predefined processes and templates for welding and polishing.
- vision_perception/: Interfaces with camera hardware and includes object detection and feature extraction algorithms.
- control/: Manages robot control code generation and execution.
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tests/: Contains unit tests for each module to ensure functionality and reliability.
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config/: Holds configuration files for robot parameters and process settings.
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requirements.txt: Lists the dependencies required for the project.
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setup.py: Used for packaging the application.
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Clone the repository:
git clone <repository-url> cd teaching-free-robotics-app -
Install the required dependencies:
pip install -r requirements.txt -
Configure the application by editing the YAML files in the
config/directory as needed.
To run the application, execute the main script:
python src/main.py
Contributions are welcome! Please submit a pull request or open an issue for any enhancements or bug fixes.
This project is licensed under the MIT License. See the LICENSE file for details.