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feat: UR5 Integration #207

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Merged
juelg merged 36 commits into from
Dec 19, 2025
Merged

feat: UR5 Integration #207

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d53b812
feat: UR5 mjcf
juelg Aug 6, 2025
629908e
feat(hw): added UR5 python package
juelg Aug 6, 2025
9ce2a9b
added basic UR + robotiq gripper functionalities
Aug 18, 2025
b9cbb2a
major fixes of UR implementation
Aug 18, 2025
c35bc87
added blocking flag to config
Aug 18, 2025
6e24220
added rotation vector functionality
Aug 20, 2025
03bc80d
added rotvec bindings
Aug 20, 2025
c8b238d
moved examples
Aug 20, 2025
636df03
added test scripts for hardware
Aug 20, 2025
9b024a6
fixed example scripts and formatting
Aug 20, 2025
a866f35
added mujoco gripper model
Aug 20, 2025
28c0a0e
added servo control
Aug 22, 2025
818063c
small fixes and parameter tuning
Aug 27, 2025
dbfb7dd
style: format and lint
juelg Sep 24, 2025
5c2aad5
added comments and improved readability
Oct 6, 2025
9a72ff4
update code
Oct 27, 2025
306d4d1
removed changes from realsense extension
Oct 27, 2025
5c1406f
removed change from rcs envs
Oct 27, 2025
15f37b8
update rcs version
Oct 27, 2025
b28fddc
renamed ur_5e.xml to robot.xml
Oct 27, 2025
5a871ca
registered ur5e empty world
Oct 27, 2025
fa8fd90
added new ik to ur5e
Oct 27, 2025
7306873
bumped ur5 version to 0.5.2 and added to automatic version bump with rcs
Nov 5, 2025
10b072a
now inheriting from common.robot
Nov 5, 2025
a61d726
updated to new kinematics and added robotiq griper actuation to sim
Nov 5, 2025
096506d
updated readme
Nov 5, 2025
0582060
formatting
Nov 5, 2025
f008ae9
fix pytest typing errors
Nov 5, 2025
86d497e
fix forgotten rename of ur5e.xml to robot.xml
Nov 5, 2025
0e8a751
fix(sim): hard reset replaced with soft reset
juelg Nov 7, 2025
f79213d
Merge branch 'master' into feat/UR5
juelg Dec 15, 2025
876a959
style: linting, formatting and cfg api change
juelg Dec 15, 2025
9a4666f
fix: ur5e sim example
juelg Dec 15, 2025
3a96bd7
feat: readded robotiq gripper for ur5e in sim
juelg Dec 15, 2025
ba947e1
small fixes
Dec 17, 2025
5fcb79d
formatting
Dec 17, 2025
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<mujoco model="ur5e scene">
<compiler angle="radian" meshdir="assets" autolimits="true"/>
<option integrator="implicitfast"/>
<include file="robot.xml"/>

<statistic center="0.3 0 0.4" extent="0.8"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="120" elevation="-20"/>
</visual>

<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>

<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
</worldbody>
</mujoco>
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