concepts.simulator.pybullet.components.ur5.ur5_robot.UR5Robot

class UR5Robot

Bases: BulletArmRobotBase

Methods

activate_gripper()
do(action_name, *args, **kwargs)	Execute an action primitive.
fk(qpos[, link_name_or_id])	Forward kinematics.
get_body_id()	Get the pybullet body ID of the robot.
get_body_pose()	Get the pose of the robot body.
get_coriolis_torque([qpos, qvel])	Get the Coriolis torque.
get_dof()	Get the total degrees of freedom of the robot.
get_ee_home_pos()	Get the home position of the end effector.
get_ee_home_quat()	Get the home orientation of the end effector.
get_ee_link_id()	Get the pybullet link ID of the robot end effector.
get_ee_pose([fk])	Get the pose of the end effector.
get_ee_velocity([fk])	Get the velocity of the end effector.
get_full_dof()	Get the total degrees of freedom of the robot, including the gripper joints.
get_full_joint_ids()	Get the pybullet joint IDs of the robot, including the gripper joints.
get_full_joint_limits()	Get the joint limits of the robot arm, including the gripper joints.
get_full_qpos()	Get the current joint configuration.
get_full_qvel()	Get the current joint velocity.
get_gripper_state()	Get the gripper state.
get_home_qpos()	Get the home joint configuration.
get_jacobian([qpos, link_id])	Get the Jacobian matrix.
get_joint_ids()	Get the pybullet joint IDs of the robot.
get_joint_limits()	Get the joint limits.
get_qpos()	Get the current joint configuration.
get_qvel()	Get the current joint velocity.
hold_qpos_set_control([qpos, gains])
ignore_physics([ignore_physics])
ik(pos, quat[, force, max_distance, ...])	Inverse kinematics.
ik_pybullet(pos, quat[, force, verbose])	Calculate joint configuration with inverse kinematics.
ikfast(pos, quat[, last_qpos, max_attempts, ...])	Inverse kinematics using IKFast.
move_home([timeout])	Move the robot to the home configuration.
move_home_cfree([speed, timeout])
move_pose(pos, quat[, speed, force, verbose])	Move the end effector to the given pose.
move_pose_smooth(pos, quat[, speed, ...])
move_qpos(target_qpos[, speed, timeout, ...])	Move UR5 to target joint configuration.
move_qpos_trajectory(qpos_trajectory[, ...])	Move the robot along the given joint configuration trajectory.
move_qpos_trajectory_v2(qpos_trajectory[, ...])	A customized version of move_qpos_trajectory.
move_qpos_trajectory_v2_set_control(...[, ...])
register_action(name, func[, interface])	Register an action primitive.
release_gripper()
replay_qpos_trajectory(qpos_trajectory[, ...])	Replay a joint confifguartion trajectory.
reset_home_qpos()	Reset the home joint configuration.
rrt_collision_free(qpos1[, qpos2, ...])	RRT-based collision-free path planning.
set_arm_joint_position_control(target_qpos)	Set the arm joint position control.
set_ee_pose(pos, quat)	Set the pose of the end effector by inverse kinematics.
set_full_qpos(qpos)	Set the joint configuration.
set_ignore_physics([ignore_physics])
set_ik_method(ik_method)
set_qpos(qpos)	Set the joint configuration.
set_qpos_with_holding(qpos)	Set the joint configuration with the gripper holding the object.
set_suppress_warnings([value])
suppress_warnings()

Attributes

UR5_FILE
UR5_JOINT_HOMES
p
w
world

__init__(client, body_name='ur5', gripper_type='suction', gripper_objects=None, pos=None, quat=None)

Parameters:

• client (BulletClient)

• gripper_type (str)

• gripper_objects (Dict[str, List[int]] | None)

• pos (ndarray | None)

• quat (ndarray | None)

__new__(**kwargs)

activate_gripper()

do(action_name, *args, **kwargs)

Execute an action primitive.

Parameters:

action_name (str) – Name of the action primitive.

Returns:

True if the action primitive is successful.

Return type:

bool

fk(qpos, link_name_or_id=None)

Forward kinematics.

Parameters:

• qpos (ndarray) – Joint configuration.

• link_name_or_id (str | int | None) – name or id of the link. If not specified, the pose of the end effector is returned.

Returns:

3D position and 4D quaternion of the end effector.

Return type:

Tuple[np.ndarray, np.ndarray]

get_body_id()

Get the pybullet body ID of the robot.

Returns:

Body ID of the robot.

Return type:

int

get_body_pose()

Get the pose of the robot body.

Returns:

3D position and 4D quaternion of the robot body.

Return type:

Tuple[np.ndarray, np.ndarray]

get_coriolis_torque(qpos=None, qvel=None)

Get the Coriolis torque.

Parameters:

• qpos (ndarray | None) – Joint configuration.

• qvel (ndarray | None) – Joint velocity.

Returns:

Coriolis torque.

Return type:

np.ndarray

get_dof()

Get the total degrees of freedom of the robot.

Returns:

Total degrees of freedom.

Return type:

int

get_ee_home_pos()

Get the home position of the end effector.

Return type:

ndarray

get_ee_home_quat()

Get the home orientation of the end effector.

Return type:

ndarray

get_ee_link_id()

Get the pybullet link ID of the robot end effector.

Returns:

Link ID of the robot end effector.

Return type:

int

get_ee_pose(fk=True)

Get the pose of the end effector.

Parameters:

fk (bool) – whether to run forward kinematics to re-compute the pose.

Returns:

3D position and 4D quaternion of the end effector.

Return type:

Tuple[np.ndarray, np.ndarray]

get_ee_velocity(fk=True)

Get the velocity of the end effector.

Returns:

3D linear velocity and 3D angular velocity of the end effector.

Return type:

Tuple[np.ndarray, np.ndarray]

Parameters:

fk (bool)

get_full_dof()

Get the total degrees of freedom of the robot, including the gripper joints.

Returns:

Total degrees of freedom.

Return type:

int

get_full_joint_ids()

Get the pybullet joint IDs of the robot, including the gripper joints.

Returns:

Joint IDs of the robot.

Return type:

Sequence[int]

get_full_joint_limits()

Get the joint limits of the robot arm, including the gripper joints.

Returns:

Lower and upper joint limits.

Return type:

Tuple[np.ndarray, np.ndarray]

get_full_qpos()

Get the current joint configuration.

Returns:

Current joint configuration.

Return type:

np.ndarray

get_full_qvel()

Get the current joint velocity.

Returns:

Current joint velocity.

Return type:

np.ndarray

get_gripper_state()

Get the gripper state.

Returns:

True if the gripper is activated.

Return type:

Optional[bool]

get_home_qpos()

Get the home joint configuration.

Return type:

ndarray

get_jacobian(qpos=None, link_id=None)

Get the Jacobian matrix.

Parameters:

• qpos (ndarray | None) – Joint configuration.

• link_id (int | None) – id of the link. If not specified, the Jacobian of the end effector is returned.

Returns:

Jacobian matrix. The shape is (6, nr_moveable_joints).

Return type:

np.ndarray

get_joint_ids()

Get the pybullet joint IDs of the robot.

Returns:

Joint IDs of the robot.

Return type:

Sequence[int]

get_joint_limits()

Get the joint limits.

Returns:

Lower and upper joint limits.

Return type:

Tuple[np.ndarray, np.ndarray]

get_qpos()

Get the current joint configuration.

Returns:

Current joint configuration.

Return type:

np.ndarray

get_qvel()

Get the current joint velocity.

Returns:

Current joint velocity.

Return type:

np.ndarray

hold_qpos_set_control(qpos=None, gains=0.3)

Parameters:

• qpos (ndarray | None)

• gains (float)

ignore_physics(ignore_physics=True)

Parameters:

ignore_physics (bool)

ik(pos, quat, force=False, max_distance=float('inf'), max_attempts=1000, verbose=False)

Inverse kinematics.

Parameters:

• pos (ndarray) – 3D position of the end effector.

• quat (ndarray) – 4D quaternion of the end effector.

• force (bool) – Whether to force the IK solver to return a solution. Defaults to False. If set, the IK solve may return a solution even if the end effector is not at the given pose. This function is useful for debugging and for moving towards a certain direction.

• max_distance (float) – Maximum distance between the last qpos and the solution (Only used for IKFast). Defaults to float(‘inf’).

• max_attempts (int) – Maximum number of attempts (only used for IKFast). Defaults to 1000.

• verbose (bool) – Whether to print debug information.

Returns:

Joint configuration.

Return type:

np.ndarray

ik_pybullet(pos, quat, force=False, verbose=False)

Calculate joint configuration with inverse kinematics.

Parameters:

• pos (ndarray)

• quat (ndarray)

• force (bool)

• verbose (bool)

Return type:

ndarray | None

ikfast(pos, quat, last_qpos=None, max_attempts=1000, max_distance=float('inf'), error_on_fail=True, verbose=False)

Inverse kinematics using IKFast.

Parameters:

• pos (ndarray) – 3D position of the end effector.

• quat (ndarray) – 4D quaternion of the end effector.

• last_qpos (ndarray | None) – Last joint configuration. Defaults to None. If None, the current joint configuration is used.

• max_attempts (int) – Maximum number of IKFast attempts. Defaults to 1000.

• max_distance (float) – Maximum distance between the target pose and the end effector. Defaults to float(‘inf’).

• error_on_fail (bool) – Whether to raise an error if the IKFast solver fails. Defaults to True.

• verbose (bool) – Whether to print debug information.

Returns:

Joint configuration.

Return type:

np.ndarray

move_home(timeout=10.0)

Move the robot to the home configuration.

Parameters:

timeout (float)

Return type:

bool

move_home_cfree(speed=0.01, timeout=10.0)

Parameters:

• speed (float)

• timeout (float)

move_pose(pos, quat, speed=0.01, force=False, verbose=False)

Move the end effector to the given pose.

Parameters:

• pos – 3D position of the end effector.

• quat – 4D quaternion of the end effector.

• speed – Speed of the movement. Defaults to 0.01.

• force (bool) – Whether to force the IK solver to return a solution. Defaults to False. If set, the IK solve may return a solution even if the end effector is not at the specified pose.

• verbose (bool) – Whether to print debug information.

Returns:

True if the movement is successful.

Return type:

bool

move_pose_smooth(pos, quat, speed=0.01, max_qpos_distance=1.0)

Parameters:

• pos (ndarray)

• quat (ndarray)

• speed (float)

• max_qpos_distance (float)

Return type:

bool

move_qpos(target_qpos, speed=0.01, timeout=10.0, local_smoothing=True)

Move UR5 to target joint configuration.

Parameters:

• target_qpos (ndarray)

• speed (float)

• timeout (float)

• local_smoothing (bool)

Return type:

bool

move_qpos_trajectory(qpos_trajectory, speed=0.01, timeout=10, first_timeout=None, local_smoothing=True, verbose=False)

Move the robot along the given joint configuration trajectory.

Parameters:

• qpos_trajectory (Iterable[ndarray]) – Joint configuration trajectory.

• speed (float) – Speed of the movement. Defaults to 0.01.

• timeout (float) – Timeout of the movement. Defaults to 10.

• first_timeout (float) – Timeout of the first movement. Defaults to None (same as timeout).

• local_smoothing (bool) – Whether to use local smoothing. Defaults to True.

• verbose (bool) – Whether to print debug information.

Returns:

True if the movement is successful.

Return type:

bool

move_qpos_trajectory_v2(qpos_trajectory, timeout=20)

A customized version of move_qpos_trajectory. It allows the user to specify path tracking mechanisms.

Parameters:

• qpos_trajectory (Iterable[ndarray]) – joint configuration trajectory.

• timeout (float) – timeout of the movement.

Returns:

True if the movement is successful.

Return type:

bool

move_qpos_trajectory_v2_set_control(qpos_trajectory, step_size=1, gains=0.3, atol=0.03, timeout=20, verbose=False, return_world_states=False)

Parameters:

• qpos_trajectory (Iterable[ndarray])

• step_size (float)

• gains (float)

• atol (float)

• timeout (float)

• verbose (bool)

• return_world_states (bool)

register_action(name, func, interface=None)

Register an action primitive.

Parameters:

• name (str) – name of the action primitive.

• func (Callable) – function that implements the action primitive.

• interface (str | None) – interface of the action primitive. Defaults to None. If None, the action primitive is registered for the current interface.

Raises:

ValueError – If the action primitive is already registered.

Return type:

None

release_gripper()

replay_qpos_trajectory(qpos_trajectory, verbose=True)

Replay a joint confifguartion trajectory. This function is useful for debugging a generated joint trajectory.

Parameters:

• qpos_trajectory (Iterable[ndarray]) – joint configuration trajectory.

• verbose (bool) – whether to print debug information.

reset_home_qpos()

Reset the home joint configuration.

rrt_collision_free(qpos1, qpos2=None, ignore_collision_objects=None, smooth_fine_path=False, disable_renderer=True, **kwargs)

RRT-based collision-free path planning.

Parameters:

• qpos1 (ndarray) – Start position.

• qpos2 (ndarray | None) – End position. If None, the current position is used.

• ignore_collision_objects (Sequence[int] | None) – IDs of the objects to ignore in collision checking. Defaults to None.

• smooth_fine_path (bool) – Whether to smooth the path. Defaults to False.

• disable_renderer (bool) – Whether to disable the renderer. Defaults to True.

• kwargs – Additional arguments.

Returns:

True if the path is collision-free. List[np.ndarray]: Joint configuration trajectory.

Return type:

bool

set_arm_joint_position_control(target_qpos, control_mode=pybullet.POSITION_CONTROL, gains=0.3, set_gripper_control=True)

Set the arm joint position control.

Parameters:

• target_qpos (ndarray) – target joint configuration.

• control_mode (int) – control mode.

• gains (float) – gains of the controller. Defaults to 0.3.

• set_gripper_control (bool) – whether to set the gripper control. Defaults to True.

set_ee_pose(pos, quat)

Set the pose of the end effector by inverse kinematics. Return True if the IK solver succeeds.

Parameters:

• pos (ndarray) – 3D position of the end effector.

• quat (ndarray) – 4D quaternion of the end effector.

Returns:

True if the IK solver succeeds.

Return type:

bool

set_full_qpos(qpos)

Set the joint configuration.

Parameters:

qpos (ndarray) – Joint configuration.

Return type:

None

set_ignore_physics(ignore_physics=True)

Parameters:

ignore_physics (bool)

set_ik_method(ik_method)

Parameters:

ik_method (str | IKMethod)

set_qpos(qpos)

Set the joint configuration.

Parameters:

qpos (ndarray) – Joint configuration.

Return type:

None

set_qpos_with_holding(qpos)

Set the joint configuration with the gripper holding the object.

Parameters:

qpos (ndarray) – Joint configuration.

Return type:

None

set_suppress_warnings(value=True)

Parameters:

value (bool)

suppress_warnings()

UR5_FILE = 'assets://robots/ur5/ur5.urdf'

UR5_JOINT_HOMES = array([-3.14159, -1.5708 ,  1.5708 , -1.5708 , -1.5708 ,  0.     ])

property p

property w

property world