UR10e python simulator with virtual AIRSKIN

This folder contains necessary files to run the simulation of the UR10e robot with virtual AIRSKIN.

Contents

Installation

The installation is the same as for the adaptive_skin project. Please see the README there.

Code

The documentation PDF can be found in ur10ewithairskin.pdf.
 Online documentation is available at lukasrustler.cz/pyur.

Run

The simulator can be run in two mode:

  1. ROS version - real-time, high-level planners (MoveIt!, …)

  2. Native - much faster than real-time, only low-level control

ROS version

  • install necessary things and build the workspace

  • run the simulator

    • in the terminal, run

      roslaunch bullet_ros simulation.launch

    • this will start the simulator and RVIZ with the robot #### Control the robot

    • to test the connection etc. you can just move the robot in RVIZ and plan from there

    • or, see examples.py

    • it shows how to control the robot, gripper. How to play trajectories and how to get IK without moving

    • the simulated robot provides position_controllers/ScaledJointTrajectoryController and velocity_controllers/JointGroupVelocityController, i.e., waypoint controller through moveit or direct assignment of joint velocities to the joints

    • the default is ScaledJointTrajectoryController. You need to switch with rosservice /controller_manager/switch_controller before running joint commands

Non-ROS version

pyUR

bullet_ros