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ur5e

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A Mujoco Gymnasium Environment for manipulating flexible objects with a UR5e robot arm and Robotiq 2F-85 gripper. Experiment with joint effort, velocity, position, and operational space controllers. Teleoperate in task space and visualize in GUI. Note: Experimental, not actively maintained.

  • Updated Aug 26, 2023
  • Python

This repository was created as a part of an mechatronic engineering honours thesis at the University of New South Wales (UNSW). This repository includes files that relate to teleoperating a Universal Robots E-series robot via a 3Dsystems Touch haptic device with haptic feedback for the purposes of improving remote ultrasounds.

  • Updated May 1, 2024
  • C++

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