Adds Universal Robot 5 (UR5) robot with OnRobot RG2 gripper from https://github.com/AndrejOrsula/ur5_rg2_ign as an alternative for Panda. Both can be used interchangeable in all environments. Currently, the only difference is in the initial joint positions that need to be changed per-robot.
Property robot_model = "ur5_rg2" || "panda" must be changed when registering environment (or passing env_kwargs). Furthermore, corresponding ign_moveit2 script must be launched (see ex_train.bash).
~Current issue:~ Fixed!
~Reset of joint positions with moveit2.move_to_joint_positions() causes UR5 to manoeuvre to [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] instead of the desired positions. Panda does not suffer from this issue, so I have no clue what causes it. Resetting via gym-ignition alone works fine (but JointTrajectoryController forces robot to move to previous position before reset).~
Adds Universal Robot 5 (UR5) robot with OnRobot RG2 gripper from https://github.com/AndrejOrsula/ur5_rg2_ign as an alternative for Panda. Both can be used interchangeable in all environments. Currently, the only difference is in the initial joint positions that need to be changed per-robot.
Property
robot_model = "ur5_rg2" || "panda"must be changed when registering environment (or passingenv_kwargs). Furthermore, correspondingign_moveit2script must be launched (see ex_train.bash).~Current issue:~ Fixed!
moveit2.move_to_joint_positions()causes UR5 to manoeuvre to [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] instead of the desired positions. Panda does not suffer from this issue, so I have no clue what causes it. Resetting viagym-ignitionalone works fine (but JointTrajectoryController forces robot to move to previous position before reset).~