It generates a test enviroment in Pybullet using the robot UR5 to interact with different objects. Once the script 'test_env.py' is executed the environment will appear.
To control the robot use the keyboard as follows:
Key | Action |
---|---|
H | Close gripper |
Y | Open gripper |
↑ | Moving forward |
↓ | Moving backward |
← | Moving left |
→ | Moving right |
Useful paths:
- Test environment path: rpn/rpn/test_env.py
- Objects URDF models path: rpn/third_party/pybullet/utils/models
- Robot URD path: rpn/third_party/pybullet/utils/models/ur5/urdf/ur5_robotiq_85_digit.urdf
- Tactile sensor URDF path: rpn/third_party/pybullet/utils/models/ur5/meshes_digit/digit.urdf
Repositories: