mmmarinho / umirobot

umirobot-extras

Extra Content for the UMIRobot.

Contents

Module	Description	Author
umirobot_control.commons	Module with shared content	Murilo M. Marinho
umirobot_control.configuration-space-control	Moving your UMIRobot in configuration space using a Python script	Murilo M. Marinho
umirobot_control.task-space-control	Moving your UMIRobot in task space using an constrained kinematic controller.	Murilo M. Marinho
models	CoppeliaSim model (.ttm) and CoppeliaSim-exported URDF model	Murilo M. Marinho

Setup

git clone https://github.com/mmmarinho/umirobot
cd umirobot
python3 -m venv venv
source venv/bin/activate
python -m pip install -r requirements.txt

Quick Start

Each module has a __main__.py script. Run it in your favorite IDE (e.g. PyCharm) or through the commandline.

Configuration-space contro

1. Open the scenes/umirobot.ttt on CoppeliaSim
2. Press the ▶️ to start the simulation.
3. Make sure your Arduino is corrected to the correct port specified in umirobot_control/configuration_space_control/__main__.py. You can check it using the Arduino IDE or UMIRobotGUI.
4. Run the following script:

python -m umirobot_control.configuration_space_control

Task-space control

1. Open the scenes/umirobot.ttt on CoppeliaSim
2. Press the ▶️ to start the simulation.
3. Run the following script:

python -m umirobot_control.task_space_control