To run the Simulation : Run "python3 main.py"
To navigate the PyBullet GUI :
G- Hide all open windows
Mouse Scrool- Zoom In/ Zoom Out
CTRL+ Left Mouse Hold - Rotate
NOTE : Create a Folder Inside Models/3dnet extract 3dnet dataset OBJ files from
https://repo.acin.tuwien.ac.at/tmp/permanent/3d-net.org/
STEPS :
- Add UR5 Model with controls : ✔
- Add Tray Model✔
- Add Table Model✔
- Add PyBullet Objects - 1 Type✔
- Do heap simulation of objects✔
- Add Gripper to UR5✔
- Write code from scratch to control the UR5 Robot with sliders✔
- Import OBJ Models to generate heap✔
- Add Camera model external✔
- Import Robotiq Gripper with UR5 Model✔
- Perform Grasping Simulation on UR5 robot with Basic Gripper using Pybullet Objects✔
- Perform Grasping Simulation on UR5 robot with Schmalz Gripper using Dex-Net Objects✔
- Perform Grasping Simulation on UR5 robot with Robotiq Gripper using Dex-Net Objects
DEPENDENCIES :
Steps :
pip3 install --user gym
pip3 install pybullet --upgrade --user
pip install attrdict
*Testing the installation* :
python3 -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may
python3 -m pybullet_envs.examples.enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul
python3 -m pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt
In case the installation is not successful using the above steps, please follow the steps below :
git clone https://github.com/Microsoft/vcpkg.git
cd vcpkg
./bootstrap-vcpkg.sh
./vcpkg integrate install
vcpkg install bullet3
- Attrdict
Steps :
- pip3 install attrdict
NOTE : Clone the following repo in /home/cs/GitHub/simulation-bin-picking-pybullet/Models/Robots before starting
https://github.com/a-price/robotiq_arg85_description
Running Examples from Reference Repositories :
Running ur5pybullet (Uses Kuka Model- With Gripper)
- cd ur5pybullet in the terminal
- Run "python arm.py --mode xyz" in the terminal
Or "python arm.py --mode motors"
NOTE : Run this at the root if you add another repo inside it "rm -rf -d .git rmdir .git"
Running UR5Bullet (Uses UR5 Model- Without Gripper)
- python3 UR5Sim.py
Running Demo Simulation :
- Navigate to '/Demo Simulation'
To run KUKA Demo - python3 enjoy_kuka_diverse_object_grasping.py
To run Panda Demo - python3 loadpanda_grasp.py