VREP SetupΒΆ
Note
You will need to understand V-REP and grl thoroughly if you plan to modify this substantially. Work is also needed to generalize it to any robot and create more examples. If interested create a github issue to discuss, pull requests will be appreciated!
First install VREP and grl.
Find the location of the actual vrep executable, for which there are example paths below
Create symlinks to the grl libraries that V-REP should load.
There is a SymbolicLinksRoboneSimulation.sh script to assist with this, which you can open and edit for your particular system.
GDIR="/path/to/grl/"
# Mac example directory: VDIR="/Applications/V-REP_PRO_EDU_V3_3_2_Mac/vrep.app/Contents/MacOS/"
# Linux example directory: VDIR="~/V-REP_PRO_EDU_V3_3_2_Linux/"
#
# cd into the appropriate directory, then create the following symlinks
ln -s src/lua/grl.lua ${VDIR}/
ln -s build/libv_repExtKukaLBRiiwa ${VDIR}/
# ... continue for all libraries created for grl
An example simulation can be found in the Robone/data project folder.
Then simply open the project with V-REP and you can be on your way!
Please note that this project is currently set up in a fairly specific way, so you will most
