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Is it possible to run a Universal Robot Urp file or Script file from ROS PC to control a UR robot in the simulator(rviz/Gazebo)
No, that is not (directly) possible, as URScript (and the binary representation of it, urp
) is proprietary to UR, and Gazebo (note: RViz is not a simulator, but a visualisation tool) has no support for it.
You could perhaps see whether ur-sim
in combination with some other tool could be of use.
Another option: write a parser for URScript (it's very close to Python), extract the motion commands (movej
, movel
, etc) and then use Gazebo to do what you initially intended to do, but have a separate node command motions based on the motion statements you've extracted from the URScript file.