ur_data_collection

Usage

After turning on the robot and loading the correct installation and control program files:

Connect to the robot

ros2 launch ur_data_collection collector.launch.py

Activate the robot control program

Press the play button on the tablet.

Turn on the freedrive_mode_controller

ros2 control switch_controllers --activate freedrive_mode_controller --deactivate scaled_joint_trajectory_controller

Load the saved hand-eye calibration for the camera

ros2 launch ur_data_collection saved_calibration.launch.py

Then, go to rviz, add an InteractiveMarkerNode, set its topic to /tf_tweaker_node, right click on the marker in the central window, and press “publish static transform”

Start the collector

ros2 run ur_data_collection collector

Then, after enough episodes have been recorded and saved

Run the post processing script

ros2 run ur_data_collection process_episodes "/home/tassos/phd/software/ros_workspaces/test_ws/saved_data/20260511_213828" \
     --interactive \
     --samurai-checkpoint "~/phd/software/samurai/sam2/checkpoints/sam2.1_hiera_base_plus.pt" \
     --mesh-path /home/tassos/phd/data/ycb/003_cracker_box_google_16k/003_cracker_box/google_16k/textured.obj

Run the replay script

ros2 launch ur_data_collection replay_episode.launch.py \
     episode_path:=/home/moritz/src/ros-ws/saved_data/20260512_231419/episode_63.pkl \
     rate_hz:=30.0