Added UR5. Resolves #100. Resolves #90.

stepjam · Dec 26, 2020 · 298745d · 298745d
1 parent 6c10f07
commit 298745d
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diff --git a/rlbench/environment.py b/rlbench/environment.py
@@ -4,10 +4,12 @@
 from pyrep.robots.arms.jaco import Jaco
 from pyrep.robots.arms.mico import Mico
 from pyrep.robots.arms.sawyer import Sawyer
+from pyrep.robots.arms.ur5 import UR5
 from pyrep.robots.end_effectors.panda_gripper import PandaGripper
 from pyrep.robots.end_effectors.jaco_gripper import JacoGripper
 from pyrep.robots.end_effectors.mico_gripper import MicoGripper
 from pyrep.robots.end_effectors.baxter_gripper import BaxterGripper
+from pyrep.robots.end_effectors.robotiq85_gripper import Robotiq85Gripper
 
 from rlbench import utils
 from rlbench.demo import Demo
@@ -42,6 +44,7 @@
     'jaco': (Jaco, JacoGripper, 6),
     'mico': (Mico, MicoGripper, 6),
     'sawyer': (Sawyer, BaxterGripper, 7),
+    'ur5': (UR5, Robotiq85Gripper, 6),
 }
 
 
@@ -64,7 +67,7 @@ def __init__(self, action_mode: ActionMode, dataset_root: str='',
         self._obs_config = obs_config
         self._headless = headless
         self._static_positions = static_positions
-        self._robot_configuration = robot_configuration
+        self._robot_configuration = robot_configuration.lower()
 
         self._randomize_every = randomize_every
         self._frequency = frequency

diff --git a/rlbench/robot_ttms/ur5.ttm b/rlbench/robot_ttms/ur5.ttm