README

# Generic Robotic Arm

A package containing utility and interfaces to teach and control a robotic arm.

## Features

• Enables control of a robotic arms individual joints by pressing keys

• Provides a SiLA2 server to give high level commands and teaching

• Navigation of the robotic arm through a taught position network

• Visualization of the robots position network and current path and location

• Easy adaption to new hardware through clear interface

• Existing interface implementations for: - a simulated arm (Dummy) - an arduino controlled [JoyIt](https://joy-it.net/en/products/Robot02) - [Dorna2](https://dorna.ai/robots/dorna-2/) - [UFactory XArm](https://www.ufactory.cc/xarm-collaborative-robot/) - [Precise Flex 400](https://www.brooks.com/laboratory-automation/collaborative-robots/preciseflex-400/)

## Installation

• For development: 1. Clone the project using

  ``` bash

  git clone git@gitlab.com:StefanMa/genericroboticarm.git

  ```

  2. Install it using

     ``` bash

     pip install -e genericroboticarm/.

     ```

## Usage To learn how to start the software type ``` bash

genericroboticarm –help

``` To learn how to use the software read the [Quick start guide](/docs/quickstart.md).

To adapt the software to your own robotic arm read the [Adapion Guide](/docs/adaption.md)

## Development

git clone gitlab.com/StefanMa/genericroboticarm

# create a virtual environment and activate it then run

pip install -e .[dev]

# run unittests

invoke test # use the invoke environment to manage development

## Documentation

The Documentation can be found here: [https://StefanMa.gitlab.io/genericroboticarm](https://StefanMa.gitlab.io/genericroboticarm) or [genericroboticarm.gitlab.io](genericroboticarm.gitlab.io/)

## Credits

This package was created with [Cookiecutter](https://github.com/audreyr/cookiecutter)

and the [gitlab.com/opensourcelab/software-dev/cookiecutter-pypackage](https://gitlab.com/opensourcelab/software-dev/cookiecutter-pypackage) project template.

## Contact:

stefan.maak(at)uu(dot)se