UR3e 🦾

industrial collaborative robot arm

UR Offline Simulator for UR3e

UR Offline Simulator for UR3e

Running UR offline simulator in VirtualBox

Download UR Sim Lubuntu Image
  1. Download the URSim system image
  2. unzip it! if you get an error, download 7zip under WINDOWs
  3. for MAC users please download the already unzipped files from Sciebo

Install virtualBox


  1. Visit VirtualBox download page, choose your operating system and download virtual box
  2. Click the downloaded executable
  3. click 'next' in the setup wizard until it's installed
Setup the virtual machine inside virtualBox
open VirtualBox
click on 'New' to open the dialogue to configure a new virtual machine image.png

use the following settings:

 

give a name to your virtual machine

 

don't select an ISO image

 

choose 64bit Linux as the 'Version'

 

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3. Select Memory size of 768 MB and press 'Next'

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click on 'Use an Existing Virtual Hard Disk File'

 

 

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from the folder containing the extracted files, choose the first one:


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click 'next'

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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:

 

xrandr -s 1536x864 -r 60

click file --> save or ctr+s

 


 

 

click on the icon on the right bottom corner

 

click on 'reboot'

 

 

 

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UR Offline Simulator for UR3e

UR offline simulator in WSL2 (Ubuntu22.4 Yammy 🪼) and Docker

Install WSL 2 and Ubuntu 22.04

  1. Enable WSL 2: Follow Microsoft’s official documentation to install and set up WSL2.
  2. Install Ubuntu 22.04: Once WSL 2 is installed and enabled, install Ubuntu 22.04 from the Microsoft Store.

Install Docker Desktop

  1. Open a Ubuntu 22.04.2 LTS terminal via Windows Terminal
  2. Install Docker according to these instructions
  3. 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

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UR Offline Simulator for UR3e

MoveJ, MoveL and MoveP


Controlling the robot via MQTT and Python 🐍

Controlling the robot via MQTT and Python 🐍

Reading joint states with an MQTT client from a Mosquitto MQTT broker 🦟


Install an MQTT Client
  1. Install a mosquitto 🦟 client for example MQTTX
Connect to the WIFI

 Connect to the same WI-FI the MQTT-Broker is in.

In our case the WI-FI's name is 'ROOM_240'

In our case the device running the broker is an RaspberryPi 🍓with the IP 192.168.0.168

Subscribe to a topic via your MQTT client
  1. Setup a new connection by clicking ➕ :

    Setup a new connection to a "broker" in our case this is the Raspberry Pi 🍓 connected to the Robot.

    Provide a name and leave the username and password fields blank.

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    Click on "connect" and you'll see the joint positions coming in and constantly updated!

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