airobot.arm.ur5e_pybullet

Pybullet simulation environment of a UR5e robot with a robotiq 2f140 gripper

class airobot.arm.ur5e_pybullet.UR5ePybullet(cfgs, pb_client, seed=None, self_collision=False, eetool_cfg=None)[source]

Bases: airobot.arm.single_arm_pybullet.SingleArmPybullet

Class for the pybullet simulation environment of a UR5e robot with a robotiq 2f140 gripper.

Parameters:
  • cfgs (YACS CfgNode) – configurations for the arm
  • pb_client (BulletClient) – pybullet client
  • seed (int) – random seed
  • self_collision (bool) – enable self_collision or not whiling loading URDF
  • eetool_cfg (dict) – arguments to pass in the constructor of the end effector tool class
Variables:
  • floor_id (int) – pybullet body unique id of the floor
  • robot_id (int) – pybullet body unique id of the robot
  • robot_base_pos (list) – world frame position of the robot base link, shape: \([3,]\) ([x, y, z])
  • robot_base_ori (list) – world frame orientation of the robot base link shape: \([4,]\) ([x, y, z, w])
reset(force_reset=False)[source]

Reset the simulation environment.

set_visual_shape()[source]

Set the color of the UR arm.