UR10 PyBullet Control

Credit

This repository is forked from following repository. The code is slightly modified for own project purposes.

Overview

This project demonstrates how to control a Universal Robots UR10 robot in the PyBullet physics simulator using Python. PyBullet is a physics engine that allows for simulation and control of robotic systems. The UR10 is a popular industrial robot with six degrees of freedom.

Prerequisites

• Python: 3.11+
• Poetry:

curl -sSL https://install.python-poetry.org | python3 -

• FFmpeg (for video recording):

sudo apt-get update && sudo apt-get install -y ffmpeg

Getting Started

Clone the repository:

git clone https://github.com/TristanBester/pybullet-UR10-navigation.git
cd pybullet-UR10-navigation

Install dependencies:

poetry install

Start poetry virtual environment:

poetry shell

Run the simulation:

cd src && poetry run main.py