/pyvrep_epuck

Python interface for the epuck robot in the v-rep simulator

Primary LanguageJupyter Notebook

Practical sessions on mobile robot behavior programming

This page describes how to set up and run the practical sessions.

  • Download the practical session archive and save it in Documents (if you prefer to use another folder, just replace Documents by the path to your folder in the following).
  • Once the download is completed, open your file manager, go in Documents and extract the archive. This will create a folder called robotics. Inside this folder you should have two folders called pyvrep-epuck and pypot. You can then delete the archive file (robotics.zip).
  • For MacOS and Windows: If Jupyter Notebook is not installed on your computer, install Anaconda.
  • Install CoppeliaSim 4.1.0 Edu
    • Download the CoppeliaSim 4.1.0 Edu version for your OS from https://www.coppeliarobotics.com/previousVersions
    • Install it
      • On Linux you just need to extract the archive and execute ./coppeliaSim.sh in a terminal
      • On Windows and MacOS, do a normal install
    • Launch CoppeliaSim. The simulator will open and close just after. This is due to a previously imposed limit on the runtime of Edu versions. To allow this version to run you need to:
      • On Windows
        • Go to C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu\system
      • On Mac
        • Right-click on coppeliaSim in the Application folder, then Show Package content. Then go to Content/MacOS/system.
      • On Linux
        • On Linux, go to the system folder in the extracted folder.
      • Then, open the file usrset.txt
      • Add a line at the end of this file with allowOldEduRelease=7501
    • Then relaunch CoppeliaSim. It should now open normally.
  • If asked, indicate that you accept incoming network connections (this is necessary for the connection with Jupyter Notebook).
  • Once the simulator is open, launch jupyter notebook by opening another terminal (on Windows: open Anaconda Prompt instead) and executing:
cd Documents/robotics/pyvrep_epuck/notebooks/
jupyter notebook
  • This will open a web page in the browser with a list of files. Click on the practical session you want to do (practical_session_1.ipynb if it is the first class). This will open a document in a new tab in your browser.

The rest of the session is described in this newly opened document, please continue from there.