(robot-simulator)= # Robot simulator We will use Universal Robots `ursim_e-series` simulator. To run the simulator image, we need to install Docker. ## Docker installation & first start ::::{tab-set} :::{tab-item} Mac 1. [Download](https://docs.docker.com/desktop/setup/install/mac-install/) the corresponding package dependent on which kind of processor you have (Apple or Intel). 1. [Install](https://docs.docker.com/desktop/setup/install/mac-install/#install-interactively) ::: :::{tab-item} Windows 1. Start `Microsoft Store`. 1. Search for `Docker Desktop` and start installation. A new window will pop up after download is complete. 1. Leave default settings during installation. 1. After the installation click `Close and Restart`. ::: :::: :::{card} Troubleshooting Mac: Symptom: You cannot install or after installation, you cannot start Docker Desktop. Solution: You may have an older Mac which is not supported by the latest version. Try installing an older version of Docker Desktop. You find older installations on `Releases`. ::: After the installation: 1. If a terms screen pops up, then accept it. 1. Docker Desktop GUI with welcome screen should pop up. You don't need to provide any data. Just click `Skip`. ## Downloading simulation image :::{figure} ../img/docker-desktop-containers.png :name: docker-desktop-containers :figwidth: 45% :align: right Docker Desktop containers screen. ::: After the welcome screen, you will arrive at the main page of Docker Desktop similar to {numref}`docker-desktop-containers`. 1. In the search bar, search for `universalrobots`. In the search results, you will see `universalrobots/ursim_e-series`. 1. Click `Pull` on the `universalrobots/ursim_e-series`. After downloading, you can close the search window. ## Creating a new container from the simulation image We have to create a *container* using the image to run the robot simulator. 1. Click `Images` on the left bar. 1. Click ▶️ on the `universalrobots/ursim_e-series` you downloaded. You will be shown a window titled `Run a new container`. 1. **Do not click `Run`**. Click {{chevron_down}} icon to configure the container. You will see `Optional Settings`. 1. Set `Container name` to `robot-simulator`. 1. {#port-forwarding} Fill the `Ports` as follows: - search for `:29999/tcp` (you see on the right of the fields) and fill with `29999`. - `:30002/tcp` with `30002`. - `:6080/tcp` (on the bottom) with `6080`. 1. Fill `Environment variables` as follows: - `Variable`: `ROBOT_MODEL` - `Value`: `UR3` 1. Click `Run`. The `Run a new container` window will be closed. `Run` creates a new container using the image we have downloaded and runs it. 1. Exit the search window. You should be back on the `Containers` view. You will see information about the container `robot-simulation`. The ️▶️ icon will be grayed out, which shows that the container is running in the background. You should also see some logs similar to: ```text Universal Robots simulator for e-Series:... IP address of the simulator 172.17.0.2 Access the robots user interface through this URL: http://172.17.0.2:6080/vnc.html?host=172.17.0.2&port=6080 ... ``` :::{card} Troubleshooting Mac: If you get errors about `Xvfb` before the messages above: We had this error with a Mac Sonoma 14, but could not find a solution. We tried installing an older version of Docker Desktop and an older version of the image. ::: Unfortunately we cannot access the IP address given above using Docker Desktop and we will use another way in the next step. 1. Go to You should see a remote interface similar to {numref}`universal-robots-ursim`. :::{figure} ../img/universal-robots-ursim.png :name: universal-robots-ursim :align: right :figwidth: 45% Remote interface through URSim. ::: 1. `Confirm Safety Configuration`. You will be confronted with `Getting Started` window. 1. On the simulator window, locate the round icon on the bottom left corner. If it is not 🟢, then the robot is not operational. 1. Click the red icon, then click `On` and then `Start`. The icon in the corner should be 🟢 now. :::{note} We will typically activate the robot from the C# code, so you don't require this step every time. This step is only needed to make the robot visible in the next steps before we [send a program to the robot](#sending-a-program-to-the-robot). ::: 1. Click on the `Move` icon above. You should see robot's current pose. :::{tip} To change the perspective to the robot, click `Feature` drop-down menu and select `View`. Then drag the robot. The robot will be rotated around its base, or in other words z-axis. The other `Feature`s change the perspective to the robot's base and tool, but these views can only be zoomed in or out. ::: We will use our own C# code to load a robot program instead of loading the program using PolyScope. (adding-a-plane-to-visualize-a-workbench)= ## Adding a plane to visualize a workbench Later, we will have exercises with the robot, where we will simulate pick-and-place movements. We will assume that there is a workbench right at the base of the robot. To add it to the visualization: 1. Click `Installation` 1. Click `Features` 1. Click `Plane` A green plane named `Plane_1` will be placed at the origin of the robot (called `Feature` `Base`)and will be visible right under the base of the robot. (sending-a-program-to-the-robot)= ## Sending a program to the robot To test the simulator, we will use a short program written in URScript – the programming language for robots manufactured by Universal Robots and send it to the robot. The program below automatically powers on the robot and releases the brakes. Create a new console project with the name, e.g., `URScriptTest` or use your scratchpad project and run the following code: :::{literalinclude} ../code/URScriptTest.cs :name: urscript-test-code :language: cs ::: :::{warning} Pay attention that the program you send include a newline after the last `end` keyword. Otherwise PolyScope can silently ignore your program. ::: The robot in the simulator should move for a while and then stop. Every time you run the program the new robot program will overwrite the last robot program you have sent before. ## Shutting down & running the container again When you finished your work, stop the container. If you want to start the simulation again, `Run` again. ## Editor for writing URScript programs If you will write longer URScript programs, then I recommend the following workflow: 1. Writing the program on the VS Codium editor with URScript extension 1. Optional, especially in the beginning: Copying the program to the `Script code` editor and checking for further errors. 1. Copying the program to the C# code to run it on the robot. ### VS Codium + URScript extension 1. Install [VSCodium](https://vscodium.com/#install) 1. Install [URScript extension][urscript-extension] on top. 1. Open settings with Ctrl,, activate `Format On Save`. :::{figure} ../img/vscodium-with-urscript-extension-code-completion.png :name: vscodium-with-urscript-extension-code-completion :align: right :figwidth: 45% Code completion using VS Codium with URScript extension. ::: The URScript extension provides: - Syntax highlighting - Code completion like in {numref}`vscodium-with-urscript-extension-code-completion` - Autoformatting which helps with syntax errors like in {numref}`vscodium-with-urscript-helps-to-find-syntax-errors` - Show tips when you hover over code with your mouse :::::{grid} 2 ::::{grid-item} :::{figure} ../img/vscodium-with-urscript-helps-to-find-syntax-errors.png :name: vscodium-with-urscript-helps-to-find-syntax-errors URScript extension can help with syntax errors when you use `Format on Save` feature. Even we have a function, the code is not intended. Moreover, the code is only blue instead of having many colors, so there must be an error. Do you spot the error? Solution is in {numref}`vscodium-with-urscript-helps-to-find-syntax-errors_errors-fixed`. ::: :::: ::::{grid-item} :::{figure} ../img/vscodium-with-urscript-helps-to-find-syntax-errors_errors-fixed.png :name: vscodium-with-urscript-helps-to-find-syntax-errors_errors-fixed {numref}`vscodium-with-urscript-helps-to-find-syntax-errors` after the errors are fixed. The indentation is correct and code is correctly highlighted. ::: :::: ::::: ### PolyScope script editor :::{figure} ../img/vnc-viewer-clipboard.png :name: vnc-viewer-clipboard :figwidth: 35% :align: right VNC viewer clipboard ::: 1. Click `Program` tab 1. Click `Advanced` drop-down menu from the menu on the left 1. Click `Script` 1. Select `File` from the drop-down menu on the right It will show `` if you did not edit any file before. 1. Click `Edit`. Now we will copy our code to the editor Copy-paste using Ctrlv won't work directly. First we have to copy into the special field of the web software that acts as a remote desktop software (VNC viewer): :::{figure} ../img/polyscope-script-code-error.png :name: polyscope-script-code-error :figwidth: 35% :align: right Syntax error shown on the script code window ::: 1. Click the arrow button on the left border of the window which will show the `control bar`, then on the clipboard icon as shown in {numref}`vnc-viewer-clipboard`. 1. Close the `control bar` 1. Use Ctrlv to paste your code 1. Click `Save As` and give a name. 1. Click `Exit`. You will be back on the `Script code` window 1. Click ️▶️ on the bottom of the window. 1. Click `Play from selection` or `Play from beginning`. It does not make a difference as our program only consists of the script. If you have errors in your code, a pop up window will show them like in {numref}`polyscope-script-code-error`. ## Used resources - [Dashboard Server Remote Control Interface e-Series](https://www.universal-robots.com/manuals/EN/HTML/SW5_24/Content/prod-dashboard/Dashboard_table.htm) - [URScript extension][urscript-extension] - [UR overview of client interfaces](https://www.universal-robots.com/articles/ur/interface-communication/overview-of-client-interfaces/) - includes a list of ports used in UR robots - [UR remote control via TCP/IP](https://www.universal-robots.com/articles/ur/interface-communication/remote-control-via-tcpip/) [urscript-extension]: https://marketplace.visualstudio.com/items?itemName=ahern.urscript