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UR3-CoppeliaSim-API

API for simple use of UR3 manipulator on CoppeliaSim simulator with Python remote API

To make it easier to start using simulations APIs can leverage the development.

The main code in this repository is ur3_api.py that contains all abstraction elements of CoppeliaSim. This file implements the UR3 class, so to use it in your application add the file to the same directory of your code and add to your code:

from ur3_api import UR3

At the moment the API just counts with 3 methods:

run_coppelia() - Start all Coppelia functionalities

joint_values(thetas) - Send joint position values to the Robot, receive has input an list with 6 values in radians

stop_simulation() - Ends all Coppelia functionalities

Demo

To demonstrate the use of the API the demo.py file changes all joint positions to an random position and returns to the initial position.

Remote API files

The code was developed in Ubuntu 18.04, if you are using other OS you need to change the remoteApi.so file to the appropriate remote API library: "remoteApi.dll" (Windows), "remoteApi.dylib" (Mac) or "remoteApi.so" (Linux)

Steps with Coppelia

  1. Execute Coppelia
  2. Add UR3 to the scene in the non-mobile robots sector
  3. Disable UR3 native script
  4. Add an threaded child script in some object in the scene
  5. Add "simRemoteApi.start(19999)" in the initialization area of the child script
  6. Run the simulation, and after it the python code