TRS Python

Python port of TRS: Teaching/Learning Robotics with a Simulator by Renaud Detry.

TRS is an open-source recipe that provides a template for starting a robotics project using VREP/CoppeliaSim using Python bindings. It is a port of the original recipe for MATLAB.

Please check the TRS website for more information about what is provided.

The paper summarizing this work has been presented at the Soft Computing Applications Conference, Arad - Romania, Nov 27 2020.

Setup

1. Download VREP/CoppeliaSim.

2. Edit config.ini - Set VREP to the path to where CoppeliaSim is installed, and VREP_LIBRARY the path to the remoteAPI file. This will be remoteApi.dll, remoteApi.dylib or remoteApi.so depending on your plaform. Check the CoppeliaSim documentation on how to locate the path to the file for your platform.

   The following is a sample config.ini for a Linux environment. This will change based on where you download the simulator!

   VREP: /home/aniruddha/CoppeliaSim/
   VREP_LIBRARY: /home/aniruddha/CoppeliaSim/programming/remoteApiBindings/lib/lib/Ubuntu18_04/

3. Open the simulator and load the default scene - scenes/house.ttt.

4. Run the example.

   python youbot.py

Examples showing a single task - such as moving the robot, controlling arm, taking a picture, etc. are included in the focused directory.