UR Reacher on CB2

System: I’m using PR #29 on Ubuntu 18.04 with both real UR5s and the URSim in Virtualbox

Intro: I’ve successfully run SenseAct on the CB3 (v.3.7.0) and the new e-series (v.5.1.2) simulators. I’ve furthermore tested the code “as is”, and on a real CB2 which didn’t work.

Problem: I think it’s because of the _compute_sensation function in reacher_env.py, uses the following commands 'i_control', 'v_actual', 'safety_mode', which is unavailable on the CB2.

Is the three above-mentioned commands actually used? It doesn’t seem like it, so I’ll try to download the CB2 (v.1.8.14035) simulator and try it out with the three commands removed.

[nlynn12]

I can try to confirm this tomorrow. Btw. you don’t need the actual UR robot to test it. Simply download the URSim simulator from:  https://www.universal-robots.com/download/

Simply choose robot type (your choice) ->Software -> Offline Simulator -> Non linux -> Version (your choice).

And no matter what system you have, choose non-linux. They use a very old Java version (v1.6) and it’s near to impossible to make the simulator work natively in Ubuntu. It runs so much better in virtualbox! Remember to set the network settings to bridge.

Now you can test your code on any of the UR software versions.

[dkorenkevych]

Great to know it works, thank you for patience!