Robotic_Lego_Manipulation

This repo includes Lego manipulation using Fanuc and Yaskawa robots.

Instructions

1. Modify the configuration file path_to_repo/config/user_config.json.
2. Download the controller at ST Motion Controller and the digital twin at Robot Digital Twin.
3. Follow the instructions to launch the controller and digital twin (if needed).
4. Launch the manipulation node:

roslaunch lego_manipulation lego_manipulation_node.launch

Citation

If you find this repository helpful, please kindly cite our work.

@article{liu2023lightweight,
  title={A Lightweight and Transferable Design for Robust LEGO Manipulation},
  author={Liu, Ruixuan and Sun, Yifan and Liu, Changliu},
  journal={arXiv preprint arXiv:2309.02354},
  year={2023}
}

License

This project is licensed under the MIT License.

Commands

docker build -t lego -f Robotic_Lego_Manipulation/Dockerfile .