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name: real-robot description: "Route guarded UR5 and RealSense physical workflows for Visual Pushing and Grasping: TCP RGB-D capture, camera-server setup, calibration, touch/debug diagnostics, and safety-first failure recovery." disable-model-invocation: true metadata: disco-role: operating license: BSD 2-Clause

Real robot

Use this route for an operator-supplied physical UR5 and Intel RealSense path. It documents historical integration contracts; it is not a robot driver and it never connects to a controller or starts a camera service automatically.

Hard safety boundary

Before any operation that can move the arm or actuate the gripper:

1. Put the UR5 in a known, supervised state, keep the emergency stop reachable, clear people/tools/objects from the workspace, and confirm the controller is in the intended remote-control mode. Do not rely on this skill or source evidence as a safety-rated control system.
2. Confirm the controller host, TCP/real-time ports, workspace limits, tool, checkerboard offset, and home pose with the operator. The host must be <operator-approved-controller-host>; retain command port 30002 and real-time port 30003. Never copy a historical lab address into a live setup.
3. Start and test the camera service first. Run the bundled motion-free helper and inspect RGB-D statistics before enabling a robot connection.
4. Back up and inspect calibration outputs. Missing or stale calibration is a stop condition, not a reason to guess a pose.
5. Only after those checks, explicitly approve a separately reviewed physical application workflow. The runtime graph bundles no motion controller, calibration application, touch/debug loop, or UR5 driver.

Use a physical emergency stop for unsafe motion or communication failure; a historical force check is only a software precaution and is not a substitute for controller protective stop or an operator.

Runnable camera helper and route

Let <skill-root> mean the directory containing the root SKILL.md. For a one-shot camera probe, read camera-protocol.md and run the bundled helper:

python <skill-root>/sub-skills/real-robot/scripts/capture_rgbd.py --help
python <skill-root>/sub-skills/real-robot/scripts/capture_rgbd.py \
  --host <CAMERA_HOST> --port 50000 --timeout 5

<CAMERA_HOST> is operator-supplied. The helper performs only a bounded TCP frame check; it does not import the historical checkout, send UR commands, perform calibration, or write robot state. A successful camera probe says nothing about controller connectivity.

• For building/starting a camera server, read realsense-streamer.md; its build and service are external operator actions.
• For calibration contracts and output validation, read calibration.md.
• For service ordering and guarded diagnostics, read diagnostics.md.
• For symptoms and recovery, read troubleshooting.md.
• For projection and heightmaps, hand off to perception-geometry.
• For a policy loop, hand off to training.

Calibration execution boundary

This graph cannot execute calibration. It supplies the math and file contract only. Require an operator-supplied, separately reviewed calibration application and an operator-supplied output directory, for example <CALIBRATION_APP_ROOT> and <CALIBRATION_OUTPUT_DIR>. Review the motion plan, controller host, checkerboard setup, workspace, abort plan, and output files before any run. Never require, invoke, or assume the original checkout's real/ directory; it is source evidence only.

The historical source labels calibrate.py, real/camera.py, touch.py, debug.py, and robot.py may explain provenance, but no user instruction should run them from the original checkout. The separately reviewed calibration application must produce the required outputs under <CALIBRATION_OUTPUT_DIR>:

• camera_pose.txt: a 4x4 camera-to-robot homogeneous matrix, finite with a proper rigid rotation and metres for translation;
• camera_depth_scale.txt: one finite positive dimensionless scalar applied after wire depth conversion.

Keep the math/file contract: the pose maps camera points to robot coordinates; the wire uint16 scale is applied once to obtain metres, then the fitted calibration scalar is applied once. Validate exact shapes, finite values, proper rotation, homogeneous final row, positive scale, residual/RMSE, and checkerboard coverage. Preserve old outputs before replacing them. Do not use identity or one-valued placeholders without explicit measured commissioning approval.

Historical defaults and guarded order

The historical contract uses controller host <operator-approved-controller-host>, command TCP port 30002, and real-time state port 30003. Verify the actual host with the operator. The real workspace is x=[0.3,0.748], y=[-0.224,0.224], z=[-0.255,-0.1] metres; calibration uses a different reviewed grid in calibration.md.

The camera client defaults to 127.0.0.1:50000, historical RGB-D size 1280x720, and a 4 KiB receive chunk. Start the external RealSense server on the camera host, validate one frame with the bundled helper, then verify the controller ports independently. Do not infer robot connectivity from camera connectivity. Supervise the first approved low-speed, single-step action and do not launch an unattended loop.

Historical packet layouts, home joints, speed values, force threshold, and UR software notes are evidence for a separately reviewed adapter, not safety limits or runtime guarantees. Preserve the parser and output contracts when an operator undertakes compatibility work.

Scope and verification boundary

The bundled helper performs only TCP connect, ping, exact-byte read, bounded trailing-byte probe, and payload validation. Build, live capture, calibration, touch, debug, and motion remain external, explicit, and supervised. Never link this skill to checkout paths, machine-local environments, or review artifacts. Treat calibration state and raw frames as deployment data owned by the operator.