ur10e_simulator

UR10e python simulator with virtual AIRSKIN

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

Contents

• Installation
• Code
• Run

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
  • see Installation
• 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
    • see examples.py for an example

Non-ROS version

• install necessary things
  • see Installation
• you can run examples from examples folder
  • scripts cartesian_example.py and joints_example.py show how to control the robot in cartesian and joint space, respectively.