r3kit

Real Robot Research Kit

Setup

conda create -n rrr python=3.10
conda activate rrr

git clone git@github.com:ForceMimic/r3kit.git

cd r3kit
pip install -e .

Usage

import r3kit
from r3kit.devices.camera.realsense.l515 import L515

camera = L515()
image = camera.get()

import r3kit
from r3kit.devices.encoder.pdcd.angler import Angler

encoder = Angler()
data = encoder.get()

import r3kit
from r3kit.devices.ftsensor.ati.pyati import PyATI

ftsensor = PyATI()
data = ftsensor.get()

import r3kit
from r3kit.algos.calib.chessboard import ChessboardExtCalibor

calibor = ChessboardExtCalibor()
calibor.add_image(img)
w2c = calibor.run()

import r3kit
from r3kit.algos.tare.linear import LinearMFTarer

tarer = LinearMFTarer()
tarer.add_data(f, pose)
tare = tarer.run()