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airo-ugent / airo-mono

Python packages for robotic manipulation @ IDLab AI & Robotics Lab - UGent - imec
https://airo.ugent.be
MIT License
14 stars 1 forks source link

Realtime control for dual arms #145

Open renyu2016 opened 1 month ago

renyu2016 commented 1 month ago

Hi there!

Thank you for creating such an excellent package. I have a question regarding the use of the airo-robot package to control UR5e arms in real-time. Specifically, I am working on a teleoperation project where I need to update the poses of two target end-effectors at a frequency of 10 Hz. Can I use the airo-robot package to control the UR5e arms to follow these pose updates in real-time?

Thank you in advance for your assistance!

Victorlouisdg commented 1 month ago

Hi renyu

Thanks for using airo-mono! Yes, 10 Hz should definitely be possible, we have tested sending commands from Python up to 500 Hz (this is the maximum supported by the UR e-series robots), and that worked perfectly.

PS: for dual-arm teleop you might want to look into the servo_to_tcp_pose() method of the DualArmPositionManipulator class.