Load the scene in CoppeliaSim. Open object_manipulation script and change the folder_path in sysCall_init to the folder of Models of objects.
To control the simulation from another device, you will need to edit the WEBSOCKET_IP variable to the target machine's IP in config.json.
! IMPORTANT
Make sure websocket connectivity is turned OFF (Modules>Connectivity>Web Socket) and firewall is disabled on target machine. Our scripts will automatically turn it on and initialise correctly
Run pip install websockets to install python websockets package which is needed to connect to CoppeliaSim.
After that, run python robotic-cli.py
The script is fairly self explanatory. You can enter ? for help, or the <component_name> ? for help about how to control the specific type of component.
Navigate to the frontend directory and run npm i to install frontend dependencies.
After that, run npm run dev and visit the address on which the page is running. The Web UI is intuitive and self explanatory with 3 modes of control.
- Manual mode for direct precise control in each degree of freedom.
- Automatic mode for controlling the end effectors directly, and for predefined scripts.
- AI Mode for interactive voice based control.
A basic UI is built-in in the script and can be used to control the arm after starting the simulation. Additionally you can use the same CLI and WEB UI locally too. The procedure is the same as above except that the IP address will instead be 127.0.0.1 (or the localhost inet IP, which can be found, on linux/unix with ifconfig)