UR5 Robot Implementation

[feup-jmc]

Hello, First of all, thanks for the great work.

I would like to know how to add the UR5 robot to the environment. From what I could gather in #10, I only need the MJCF XML, pybullet URDF and ik_controller files. However, no existing implementation seems to have all of these elements. I would like to use the referred https://github.com/clvrai/furniture/blob/dev/furniture-unity/Assets/Scripts/MJImport.cs script to solve the issue, but cannot understand how to run it using the provided unity binary (in google drive).

[youngwoon]

Hi, to add a new robot to our environment, a dedicated ik_controller should be implemented (please refer to https://github.com/clvrai/furniture/tree/master/furniture/env/controllers) and you need to add controller initialization and robot control code in furniture.py: https://github.com/clvrai/furniture/blob/ed4a905e7beb1daf3af7717d979e0ba93421077a/furniture/env/furniture.py#L1868 https://github.com/clvrai/furniture/blob/ed4a905e7beb1daf3af7717d979e0ba93421077a/furniture/env/furniture.py#L1889 https://github.com/clvrai/furniture/blob/ed4a905e7beb1daf3af7717d979e0ba93421077a/furniture/env/furniture.py#L2520 https://github.com/clvrai/furniture/blob/ed4a905e7beb1daf3af7717d979e0ba93421077a/furniture/env/furniture.py#L2899 https://github.com/clvrai/furniture/blob/ed4a905e7beb1daf3af7717d979e0ba93421077a/furniture/env/furniture.py#L3065 https://github.com/clvrai/furniture/blob/ed4a905e7beb1daf3af7717d979e0ba93421077a/furniture/env/furniture.py#L3332

We may include UR5 for the next update (possibly around June).

The MuJoCo-Unity integration is simply to render a scene in Unity; this is not for adding a new robot.