robobo-coppelia-simulator

Repository of Robobo robot simulation in the CoppeliaSim environment.

Repository contents

lib: it includes all the python libraries to run Robobo in CoppeliaSim using robobo.py
models: it includes the Robobo models for CoppeliaSim. robobo_pusher corresponds to the model with pusher
worlds: it includes different simulation environments to be used with Robobo
example.py: a simple example that makes Robobo move in a closed environment avoiding walls

Requirements

Windows, Mac or Linux computer (GPU recommended)
CoppeliaSim
Robobo.py library

Installation

To install CoppeliaSim in your computer, please follow the instructions at:

https://www.coppeliarobotics.com/downloads

To install the robobo.py library, follow the steps explained at:

https://github.com/mintforpeople/robobo-programming/wiki/python-doc

Finally, download this repository and:

Copy all the files of the lib folder into your robobo.py-master or robobo.py folder
Copy the models and worlds folders to your computer, so you can open them from CoppeliaSim.
Copy the example.py file in your computer so you can try it.

Basic usage

Add the robobo.ttm CoppeliaSim model to the desired scene and start the simulation, as explained in:

https://www.coppeliarobotics.com/helpFiles/index.html

Open any python IDE and run the RoboboSimulationServer.py script.

While Robobo Simulation Server is running, run your own scripts on another terminal. The connection and usage of the simulation model is the same as the real robot, but using the localhost IP:

from Robobo import Robobo
robobo = Robobo('127.0.0.1')
robobo.connect()

The following methods of the robobo.py library are not available yet:

Camera methods
Audio methods

Camera streaming

Coming soon.

Multi-robot environment