Simulation- Bin Picking- Pybullet

To run the Simulation : Run "python3 main.py"

To navigate the PyBullet GUI :
G- Hide all open windows
Mouse Scrool- Zoom In/ Zoom Out
CTRL+ Left Mouse Hold - Rotate

NOTE : Create a Folder Inside Models/3dnet extract 3dnet dataset OBJ files from
https://repo.acin.tuwien.ac.at/tmp/permanent/3d-net.org/

STEPS :

• Add UR5 Model with controls : ✔
• Add Tray Model✔
• Add Table Model✔
• Add PyBullet Objects - 1 Type✔
• Do heap simulation of objects✔
• Add Gripper to UR5✔
• Write code from scratch to control the UR5 Robot with sliders✔
• Import OBJ Models to generate heap✔
• Add Camera model external✔
• Import Robotiq Gripper with UR5 Model✔
• Perform Grasping Simulation on UR5 robot with Basic Gripper using Pybullet Objects✔
• Perform Grasping Simulation on UR5 robot with Schmalz Gripper using Dex-Net Objects✔
• Perform Grasping Simulation on UR5 robot with Robotiq Gripper using Dex-Net Objects

DEPENDENCIES :

1. Pybullet https://github.com/bulletphysics/bullet3

Steps :   
pip3 install --user gym  
pip3 install pybullet --upgrade --user
pip install attrdict
*Testing the installation* :  
python3 -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may  
python3 -m pybullet_envs.examples.enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul  
python3 -m pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt  
In case the installation is not successful using the above steps, please follow the steps below :  
git clone https://github.com/Microsoft/vcpkg.git  
cd vcpkg  
./bootstrap-vcpkg.sh  
./vcpkg integrate install  
vcpkg install bullet3  

2. Attrdict
   Steps :

• pip3 install attrdict
  NOTE : Clone the following repo in /home/cs/GitHub/simulation-bin-picking-pybullet/Models/Robots before starting
  https://github.com/a-price/robotiq_arg85_description

Running Examples from Reference Repositories :

Running ur5pybullet (Uses Kuka Model- With Gripper)

• cd ur5pybullet in the terminal
• Run "python arm.py --mode xyz" in the terminal
  Or "python arm.py --mode motors"
  NOTE : Run this at the root if you add another repo inside it "rm -rf -d .git rmdir .git"

Running UR5Bullet (Uses UR5 Model- Without Gripper)

• python3 UR5Sim.py

Running Demo Simulation :

• Navigate to '/Demo Simulation'
  To run KUKA Demo
• python3 enjoy_kuka_diverse_object_grasping.py
  To run Panda Demo
• python3 loadpanda_grasp.py