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README.md

UR Control

Requirements

Python 3.10 needed. See python wheels support matrix for ur_rtde https://pypi.org/project/ur-rtde/ Virtualenv recommended. Install modules with pip install -r requirements.txt

URCap for Network control on Polyscope. Download: https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap/releases Tested with Version 1.0.5 on Polyscope 5.16.0 Installation Instructions: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/install_urcap_e_series.md

Simulator

URSim 5.16.0 inside VirtualBox. Also tested with URSim 5.21.3.1212718.

If resolution is too low, change it with xrandr -s 1440x900

Connect VM to host via network

In order to control the simulated robot inside the vm from the host computer:

In VirtualBox enable Network Adapter 1: NAT

Network Adapter 2: Host-only

Inside vm add static ip configuration:

/etc/network/interfaces

auto eth1
iface eth1 inet static
address 192.168.56.56/24

Restart VM.

Connect VM as new device to network

To be able to reach the VM via network, set adapter to Bridge and promicious mode to allow all.

Remote Control

Enable Remote Control: Settings - System - Remote Control - Enable

In main menu change from "local" to "remote control" in the top right corner.

In remote control mode the installation tab can not be opened. To see the robot preview go to the initialize screen (Circle button lower left corner).

URCap

Transfer donwloaded URCap via USB Thumbdrive to Programs UR10 folder on the virtual machine.

If error verr_pdm_no_usb_ports appreas, change USB Controller in VBox settings to USB-3.0-Controller (xHCI)

Follow instructions on how to setup externalControl: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/install_urcap_e_series.md

Run Program with the externalControl once. Error "Receive program failed" occurs. Stop Program. Not sure if this is needed, but RTDEControlInterface was not able to connect otherwise.

Misc

RTDEReceive works without enabling remote control.