Adding Two UR5 and Create Task

[kamaleshrathinam]

Hi,
Can you tell me how can I add two UR5 robots to the scene and create a complex task so that I can generate data

[haijunsu-osu]

we need UR5 model also.

[stepjam]

Hi. What gripper would you like attached?

[kamaleshrathinam]

Robotiq 85

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On Mon, Dec 21, 2020, 12:59 AM Stephen James ***@***.***> wrote: Hi. What gripper would you like attached? — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#100 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACU6DKSPVIWJV46W5YCJN4DSV354TANCNFSM4UT3CYEA> .

[haijunsu-osu]

robotiq hand-E gripper. sent by Outlook for Android<https://aka.ms/ghei36>

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________________________________ From: Stephen James <[email protected]> Sent: Monday, December 21, 2020 2:59:05 AM To: stepjam/RLBench <[email protected]> Cc: Su, Haijun <[email protected]>; Comment <[email protected]> Subject: Re: [stepjam/RLBench] Adding Two UR5 and Create Task (#100) Hi. What gripper would you like attached? — You are receiving this because you commented. Reply to this email directly, view it on GitHub<https://urldefense.com/v3/__https://github.com/stepjam/RLBench/issues/100*issuecomment-748828123__;Iw!!KGKeukY!nTdiJsOOLGYo8-gI2awsZZSMmS850bWN6wai5WDDL30EhjJV0O1UtbdsA4LZC3hh$>, or unsubscribe<https://urldefense.com/v3/__https://github.com/notifications/unsubscribe-auth/ANFQLSXLIRMWWIOPJRQXA7TSV354TANCNFSM4UT3CYEA__;!!KGKeukY!nTdiJsOOLGYo8-gI2awsZZSMmS850bWN6wai5WDDL30EhjJV0O1UtbdsAwYNkcJS$>.

[haijunsu-osu]

Hi, When do we expect that the support of hand-E gripper and UR5 are implemented in RLBench? From: Su, Haijun <[email protected]> Sent: Monday, December 21, 2020 9:19 AM To: stepjam/RLBench <[email protected]>; stepjam/RLBench <[email protected]> Cc: Comment <[email protected]>; Schellenberg, Andrew A. <[email protected]> Subject: Re: [stepjam/RLBench] Adding Two UR5 and Create Task (#100) robotiq hand-E gripper. sent by Outlook for Android<https://aka.ms/ghei36>

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________________________________ From: Stephen James <[email protected]<mailto:[email protected]>> Sent: Monday, December 21, 2020 2:59:05 AM To: stepjam/RLBench <[email protected]<mailto:[email protected]>> Cc: Su, Haijun <[email protected]<mailto:[email protected]>>; Comment <[email protected]<mailto:[email protected]>> Subject: Re: [stepjam/RLBench] Adding Two UR5 and Create Task (#100) Hi. What gripper would you like attached? - You are receiving this because you commented. Reply to this email directly, view it on GitHub<https://urldefense.com/v3/__https:/github.com/stepjam/RLBench/issues/100*issuecomment-748828123__;Iw!!KGKeukY!nTdiJsOOLGYo8-gI2awsZZSMmS850bWN6wai5WDDL30EhjJV0O1UtbdsA4LZC3hh$>, or unsubscribe<https://urldefense.com/v3/__https:/github.com/notifications/unsubscribe-auth/ANFQLSXLIRMWWIOPJRQXA7TSV354TANCNFSM4UT3CYEA__;!!KGKeukY!nTdiJsOOLGYo8-gI2awsZZSMmS850bWN6wai5WDDL30EhjJV0O1UtbdsAwYNkcJS$>.

[stepjam]

I'll find some time to add the UR5 & 3 today.
Having two arms in the scene simultaneously is not something I plan to support, and is out of scope of RLBench. I recommend directly using PyRep instead for dual-arm tasks. The dual-arm baxter example in PyRep might be useful to you.

[stepjam]

UR5 is now in version (branch) 1.1.0. See the examples/swap_arm.py to see how to swap the arm.
Please note that alternative arms have limited support; they may not work with all tasks, as all of the tasks have been designed to be completed with the Panda.