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cps_paper's Introduction

CPS_Paper

Running Physical Twin:

Requirements:

Niryo Ned Robot
Conveyor Belt
Gripping Tool
Physical Twin scripts from physical_twin

Steps:

Install required packages https://docs.niryo.com/dev/ros/v3.2.0/en/source/overview.html
Make the physical connections according to the architecture
Run the script form Physical_Twin

Running Digital Twin:

Requirements:

Niryo Ned Robot
Conveyor Belt
Gripping Tool
Physical Twin scripts from Physical_Twin

Steps:

Install required packages https://docs.niryo.com/dev/ros/v3.2.0/en/source/overview.html
Make the physical connections according to the architecture
Run the script form physical_twin

Running Digital Twin

Requirements:

Webots 2023a https://github.com/cyberbotics/webots/releases/tag/R2023a
URDF model of Niryo Ned robot
urdf and .py under Digital_Twin_File/ folder

Steps:

Open Webots and load the Niryo_Ned.wbt file or else create new Niryo Ned robot and load the Niryo_Ned.urdf file.
Load the Digital_Twin_Niryo.py under Digital_Twin.
And run the Digital_Twin_Niryo.py file.

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