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:

furniture/furniture/env/furniture.py

Line 1868 in ed4a905

if self._agent_type == "Sawyer":

furniture/furniture/env/furniture.py

Line 1889 in ed4a905

def _load_model_robot(self):

furniture/furniture/env/furniture.py

Line 2520 in ed4a905

elif self._control_type in ["ik", "position_orientation"]:

furniture/furniture/env/furniture.py

Line 2899 in ed4a905

def _do_ik_step(self, action):

furniture/furniture/env/furniture.py

Line 3065 in ed4a905

def _do_controller_step(self, action):

furniture/furniture/env/furniture.py

Line 3332 in ed4a905

def _setup_action(self, action):

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.