pyARTE is a Python toolbox focussed on robotic manipulators.
The library uses Coppelia Sim as the main way to produce a representation of the robots and methods.
The main features of pyARTE are:
- Simulate some industrials robot within the Coppelia Sim environment.
- Path planning and obstacle avoidance.
- Practical exercises are provided.
Created by Arturo Gil: arturo.gil@umh.es. Miguel Hernández University, Spain.
pyARTE is distributed under LGPL license.
Clone this repository:
>> git clone https://github.com/4rtur1t0/pyARTE.git
Download and extract CoppeliaSim on your PC. Download Coppelia from https://www.coppeliarobotics.com/downloads. Download the EDU version of Coppelia, if pyARTE and Coppelia Sim are used for educational purposes. pyARTE has been tested under Ubuntu 20.04 and 22.04. It has not been tested under Mac/Windows.
Extract CoppeliaSim to:
/home/user/Simulations
Install some needed packages (python3-tk is needed in some distributions to plot with matplotlib)
>> sudo apt install virtualenv
>> sudo apt install python3-dev
>> sudo apt install git
>> sudo apt-get install python3-tk
We will be creating a virtual environment at your user's home/Simulations directory:
>> cd
>> mkdir Simulations
>> cd Simulations
>> virtualenv venv
Next, install some needed python packages. We only require matplotlib, numpy and pynput:
>> cd /home/user/Simulations/venv/bin
>> ./pip3 install numpy matplotlib pynput pyzmq cbor opencv-contrib-python
Open the project in Pycharm (or any other python editor). Use the option ''add root content'' in File-Settings-Project Structure-- Add Content Root. Under the root content (the files that will be included in the python execution), you should include:
- Add the directory with the zmQ communications library that is included with Coppelia Sim. Generally, the remote zmq Api can be found in: /home/user/Simulations/CoppeliaSim_Edu_V4_5_1_rev4_Ubuntu22_04/programming/zmqRemoteApi/clients/python/src
- Check that the directory pyARTE is also included.
Alternatively, the directory path with the Zmq libraries can also be added to the PYTHONPATH variable:
Also, if using Visual Studio the library itself and the communications library must be included.
$ export PYTHONPATH=/home/usuario/Simulations/CoppeliaSim_Edu_V4_5_1_rev4_Ubuntu22_04/programming/zmqRemoteApi/clients/python/src
Open Coppelia Sim. Open the irb140.ttt scene. This scene is found in pyARTE/scenes/irb140.ttt. Open and execute the pyARTE/practicals/irb140_first_script.py Open and execute the pyARTE/practicals/applications/irb140_palletizing_color.py
The python scripts should connect to Coppelia and start the simulation.
##SCENES The directory pyARTE/scenes includes a set of scenes that should be opened in Coppelia Sim in order to execute the demos or tutorials in this library.
Of course, Coppelia Sim should be downloaded from their webpage and extracted to a directory. Just copy-paste to your terminal the following lines to get everything up and running in seconds.
# Change INSTALLDIR to your needs. It currently points to your desktop
# the library's directory pyARTE should be placed at the same directory.
INSTALLDIR=~/Simulations
mkdir $INSTALLDIR
cd $INSTALLDIR
# this installs the virtualenv package and python and git
sudo apt install virtualenv
sudo apt install python3-dev
sudo apt install git
sudo apt-get install python3-tk
# cloning repository SKIP IT IF YOU ALREADY HAD
git clone https://github.com/4rtur1t0/pyARTE
# Create a virtual environment and install dependencies
cd $INSTALLDIR
virtualenv venv
cd venv/bin
./pip install -r ../../pyARTE/requirements.txt