UR3 Unity Simulation

An open-sourced Unity Simulation for Universal Robot's UR3 Manipulator

Dependencies

If you do not wish to modify the simulation, please refer to our Releases and Wiki for usage instructions

The MATLAB examples require Peter Corke's Robotics Toolbox

For Unity developers:

• Please install Unity 2019.4 - Older or later versions of Unity have not been tested
• The simulation communicates with ROS using ROS#. However it has been included in unity/UR3Sim/Assets already

Contents

• matlab: MATLAB examples to communicate with the simulated robot via ROS.
• ros: includes the file_server package from ROS#
• unity: includes the UR3Sim Unity project, which has:
  • UR3 Scene: the base UR3 that can be modified for your application
  • UR3 World Scene: the UR3 on a table with blocks

Citation

If you find this repository useful, please consider citing our paper:

D. T. Le, S. Sutjipto, Y. Lai and G. Paul, "Intuitive Virtual Reality based Control of a Real-world Mobile Manipulator," 2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2020, pp. 767-772, doi: 10.1109/ICARCV50220.2020.9305517.

@inproceedings{
    le2020-ur3-sim,  author={Le, Dinh Tung and Sutjipto, Sheila and Lai, Yujun and Paul, Gavin},
    booktitle={2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV)},
    title={Intuitive Virtual Reality based Control of a Real-world Mobile Manipulator},
    year={2020}, pages={767-772},  doi={10.1109/ICARCV50220.2020.9305517}
}

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Developed by Tony Le ([email protected])