UR Offline Simulator for UR3e
- Running UR offline simulator in VirtualBox
- UR offline simulator in WSL2 (Ubuntu22.4 Yammy 🪼) and Docker
- MoveJ, MoveL and MoveP
Running UR offline simulator in VirtualBox
Download UR Sim Lubuntu Image
- Download the URSim system image
- unzip it! if you get an error, download 7zip under WINDOWs
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for MAC users please download the already unzipped files from Sciebo
Install virtualBox
- Visit VirtualBox download page, choose your operating system and download virtual box
- Click the downloaded executable
- click 'next' in the setup wizard until it's installed
Setup the virtual machine inside virtualBox
configure Lubuntu UR Sim to start Polyscope in the right resolution
1. go to the ⚙️settings and open the dialogue
2. in the settings go to display 🖥️ and change the Graphics Controller to VBoxSVGA |
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open VirtualBox | |
In the left corner click the icon choose File Manager |
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inside File Manager navigate to
/home/ur/.config/lxsession/Lubuntu
double click on the file named 'autostart' |
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add the following line:
click file --> save or ctr+s
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click on the icon on the right bottom corner
click on 'reboot'
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UR offline simulator in WSL2 (Ubuntu22.4 Yammy 🪼) and Docker
Install WSL 2 and Ubuntu 22.04
- Enable WSL 2: Follow Microsoft’s official documentation to install and set up WSL2.
- Install Ubuntu 22.04: Once WSL 2 is installed and enabled, install Ubuntu 22.04 from the Microsoft Store.
Install Docker Desktop
- Open a Ubuntu 22.04.2 LTS terminal via Windows Terminal
- Install Docker according to these instructions
- Pull the newest URSim docker image - instructions here.
Run UR Sim in Docker
1.
sudo docker run --rm -it universalrobots/ursim_e-series
2. Access the ursim-interface through the URL in the output
optional: install tiger vnc
sudo apt install tigervnc-viewer
starting vnc viewer:
vncviewer
Best is to open the chromium-browser also in WSL2 and copy the ip or using a vinc client like TigerVNC
MoveJ, MoveL and MoveP
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moveL (Move Linear):
- "L" stands for "Linear."
- With the "moveL" command, the robot moves in a straight line from its current position to the target position.
- Unlike "moveJ," where the focus is on the joints, "moveL" focuses on the path that the robot's end-effector (like its hand) takes. It moves linearly, meaning in a straight line.
- Back to your arm analogy, using "moveL" is like moving your hand from point A to point B in a straight line, which might require more complex, coordinated movements from your shoulder, elbow, and wrist.
moveJ (Move Joint):
- "J" stands for "Joint."
- In a "moveJ" command, the robot moves from its current position to the target position by rotating its joints.
- The primary focus here is on the joints' movements: each joint reaches its target angle to achieve the desired position. This might not be the straightest path, as the robot prioritizes the joints' ease of motion.
- Imagine your arm is the robot arm. If you were to use "moveJ," you'd move each joint (shoulder, elbow, wrist) individually to place your hand in the desired position, regardless of the path your hand takes through the air.
moveP (Move Process):
- "P" stands for "Process."
- The "moveP" command is a bit more complex. It's used for a more controlled movement, where the robot moves steadily ideal for a process task, like gluing, welding, or painting.
- In the arm analogy, "moveP" would be like drawing a smooth, continuous line with a marker. Your hand (the end-effector) needs to move at a consistent speed and path to create the best line, even if that means your arm's joints (the robot's joints) need to adjust in complex ways.