Implementation of servoj() using RTDE in python

control_loop_configuration.xml: contains list of the registers we want to read and overwrite

min_jerk_translation.py: class containing min_jerk trajecotry for position only in cartesian space, as well as small example usage function https://mika-s.github.io/python/control-theory/trajectory-generation/2017/12/06/trajectory-generation-with-a-minimum-jerk-trajectory.html

min_jerk_servoj.py: main script responsible for communication with the robot. It communicates with packages stored in rtde folder so make sure you download all the required files.

polyscope: contains urp file that can be uploaded to the robot rtde: contains all the files needed for RTDE communication taken from: https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/

After downloading the rtde folder as well as all the python packages in this repositiory upload the urp. file to the robot.

1. Run the urp file on the robot till a "Continue" button appears
2. Run the python script
3. Click "Continue" on the polyscope

Below you can find the simplified description of our task as explained in the youtube video: