Kinova Controller

Kinova Controller is a Python-only library for controlling Kinova robots. It includes an optional software emergency stop (e-stop) that halts operations without powering off the robot.

Installation

Run the following command in the project root to install the library:

pip install -e .

Note: We highly recommend using a virtual environment or a Conda environment for the installation to avoid dependency conflicts.

Usage

Running the Controller Directly on a Single Compute Machine

You can use kinova.py to control the robot directly from the compute machine:

python kinova.py

Running with a NUC + Compute Machine Setup

On the NUC:

Run the robot server:

python arm_server.py

On the Compute Machine:

Run the robot client:

python arm_client.py

If you want to publish robot joint and cartesian states to ROS:

python joint_states_publisher.py

Optional:

You can also run the emergency stop script (to be documented).