Author: Luca scimeca ls769@cam.ac.uk (luca.scimeca@live.com)
On windows systems
- install virtual box
- install ur-sim https://www.universal-robots.com/download/?option=71470#section16597 and run the program like explained in the page
- set-up a tcp connection as detailed here: https://www.universal-robots.com/articles/ur-articles/connecting-to-client-interfaces-within-ursim/ HOWEVER: make sure you set the network adapter of the VM to "host-only adapter" or you might encur in connection problems
- install python and library dependencies, including: pybullet attrdict
- When instantiating objects of the Simulation classes (i.e. UR5Sim or UR5SimSync defined in 'robot_utiles.py') make sure the IP address passes to create the object is correct
- Examples can be found in 'ur5_debug_example.py' and 'ur5_control_example.py'. The first is a simple example demonstrating syncronization between URSim and PyBullet. The second is an example of how to control a UR5 robot in simulation in real time. if the "UR5" class is insteantiated, rather than the UR5SimSync class, then a real robot can be controlled in the same way.