Control the Universal Robots with Unity3D by using URScript and a TCP/IP communication.
You can find a documentation of more commands URScript commands in the official Manual.
Showcase with PolyScope
| Software / Package | Description / Link |
|---|---|
| OS | Linux or Windows |
| Unity3D 2020.3.xx | https://unity3d.com/get-unity/download/archive |
| Docker | https://docs.docker.com/get-docker/ |
| UR Simulator | https://github.com/vushu/DockURSim |
Use the game engine Unity3D to directly move your UR robot.
Full support for common game controllers, e.g. for Playstation and Xbox.
Create a simple movement set in an intuitive virtual environment without needing any skills in robotic.
You will be guided throw a tutorial to lean the controls and more. All logs from the Robot will be print out in alert boxes. You have full control of brakes and Hand-e Grippers from Robotiq.
- Docker: Install and run Docker Engine
- URSim
# Create volume docker volume create dockursim # Run container docker run -d \ --name="dockursim" \ -e ROBOT_MODEL=UR3 \ -p 8080:8080 \ -p 29999:29999 \ -p 30001-30004:30001-30004 \ -v /path/to/your/local/ursim/programs:/ursim/programs \ -v dockursim:/ursim \ --privileged \ --cpus=1 \ arranhs/dockursim:latest - Open http://localhost:8080
- Make sure URSim is running
- Connect in Unity to 127.0.0.1
- Connect you PC by the ethernet with your robot
- Configurate your network, e.g.:
# Polyscope IP: 192.168.0.102 Subnet: 255.255.255.0 Gateway: 192.168.0.1 # PC IP: 192.168.0.101 Subnet: 255.255.255.0 Gateway: 192.168.0.1 # Unity IP: 192.168.0.102 ```