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])