Read_Data_From_Universal_Robots

Read Data from any Universal Robots via RTDE Interface (see more on RTDE here).

Works with all robots (CB>3.4 or e-series).

To receive data from a UR open read_data_from_universal_robots.py and change ROBOT_HOST to the IP of your robot or leave as localhost if you use URSim (continue reading below). Then run the script.

Use URSim in Docker to simulate the robot:

• install Docker Desktop
• open powershell ( if on windows)
• install URSim Container docker pull arranhs/dockursim
• docker volume create dockursim
• create a folder on your PC where the robot programs will be stored (e.g. C:\Users\Fabian\URSIM_UR10_programs)
• copy the path (depending on Windows or Linux backslashes have to be converted to forward slash), we will use it in the next command:
• docker run -d --name="dockursim" -e ROBOT_MODEL=UR10 -p 8080:8080 -p 29999:29999 -p 30001-30004:30001-30004 -v C:\Users\Fabian\URSIM_UR10_programs:/ursim/programs -v dockursim:/ursim --privileged --cpus=4 arranhs/dockursim:latest
• open any Internet Browser and type http://localhost:8080/ - here you can see the simulated robot it is accessible via the normal ports (e.g. RTDE on Port 30004)
• search for the "rtde-2.4.8" folder in your repository
• copy the whole folder "rtde-2.4.8" into the folder you recently created (e.g. C:\Users\Fabian\URSIM_UR10_programs)
• now open Docker on your PC and start/restart "dockursim" and locate to this link on your Browser: http://localhost:8080/
• first of all you have to power on the robot before create programs. Therefore you type "Power off" in the bottom left corner of the simulation and type "on" and "start"
• load Program now and choose navigate to "rtde-2.4.8" then to "examples" and choose "rtde_control_loop.urp" and click "open"
• now go back to your explorer and navigate to the folder you recently created
• got to rtde-2.4.8\examples and start the Power Shell Window
• be sure you are in the right direction
• then type: "python example_control_loop.py" and enter
• the Program in your virtual machine should now got some waypoints and should be ready
• you are now able to configure the Program for the roboter by yourself in the navigation point "Program"