Gym-Styled UR5 arm with Robotiq-85 / 140 gripper in PyBullet simulator

Probably the best one among all GitHub repos.

This repo is under active development. Issues / PRs are welcomed.

Highlights

• UR5 arm with end-effector 6D IK (Position [X Y Z] and Orientation [R P Y])
• Enhanced Robotiq-85 / 140 gripper, with precise position control and experimental torque control
• Built-in YCB models loader (and obj models after decomposition)
• Gym-styled API, making it suitable for Reinforcement Learning in the field of push-and-grasp
• A heuristic grasping demo
• An interactive user-control demo

Prerequisite

• Python 3
• PyBullet

Run

You can try this repo with the interactive user-control demo.

python main.py

You can change the XYZ and RPY of the gripper on the right panel.

Press Z to close the gripper and R to open it.

Usage

See heuristic demo in main.py.

References

https://github.com/matafela/pybullet_grasp_annotator_robotiq_85

https://github.com/zswang666/pybullet-playground

https://github.com/ros-industrial/robotiq

https://github.com/Alchemist77/pybullet-ur5-equipped-with-robotiq-140

I do not claim copyright for any model files under this repo.