Changes needed to use UR3 instead of UR5?

andyzeng / visual-pushing-grasping

Train robotic agents to learn to plan pushing and grasping actions for manipulation with deep reinforcement learning.

http://vpg.cs.princeton.edu/

BSD 2-Clause "Simplified" License

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Changes needed to use UR3 instead of UR5? #63

Closed gab-es21 closed 3 years ago

gab-es21 commented 3 years ago

I'm making a work at university, and I need to use UR3 instead of UR5 to a pick-and-place task, and I've changed the robot in simulation, but when I change the joints mode to Inverse Kinematic mode the robot breaks. What can I do to UR3 can work? There are any other modifications needed in the simulation or in the code beside changing UR5 to UR3 in robot.py ? Thanks in advance.

MengsiCode commented 3 years ago

Just load the model, UR3.ttm, and in the robot.py, change the name of the handles (for example, UR5_target would be UR3_target). Since you say your robot breaks, check your joints, make sure they are in torque/force mode. If they are in kinematic mode, make sure hybrid is selected.