scenic.simulators.isaac.backends.profiles.ur5e

UR5e arm + Robotiq 2F-85 gripper (manual closed-loop USD authoring).

Summary of Module Members

Classes

UR5eProfile

Member Details

class UR5eProfile(usdPath: str, usdVariants: tuple, armDofNames: tuple, gripperDofNames: tuple, controlLinkName: str, endEffectorPrim: str, gripperFramePrim: str, defaultArmPose: numpy.ndarray, downwardOrientation: numpy.ndarray, tcpOffset: numpy.ndarray, openGripperPositions: numpy.ndarray, closedGripperPositions: numpy.ndarray, gripperStyle: str, gripperOpenVelocity: float | None = None, gripperCloseVelocity: float | None = None, gripperControlMode: str = 'position', supportsPickPlace: bool = False, ikDamping: float = 0.05, ikStepScale: float = 1.0, rmpflowPolicyName: str | None = None, rmpflowUsesTcpOffset: bool = False, gripperPrim: str | None = None, gripperFullyClosedPosition: float | None = None, gripperContactMaterialPath: str | None = None, objectContactMaterialPath: str | None = None, gripperStaticFriction: float | None = None, gripperDynamicFriction: float | None = None, objectStaticFriction: float | None = None, objectDynamicFriction: float | None = None, contactOffset: float | None = None, restOffset: float | None = None, pickObjectMassKg: float | None = None, gripperMaxForce: float | None = None, gripperStiffness: float | None = None, gripperDamping: float | None = None, gripperMaxJointVelocityDegPerSec: float | None = None, mimicNaturalFrequency: float | None = None, mimicDampingRatio: float | None = None, outerFingerParallelStiffness: float | None = None)[source]

Bases: ManipulatorProfile

Parameters:

  • usdPath (str)

  • usdVariants (tuple)

  • armDofNames (tuple)

  • gripperDofNames (tuple)

  • controlLinkName (str)

  • endEffectorPrim (str)

  • gripperFramePrim (str)

  • defaultArmPose (ndarray)

  • downwardOrientation (ndarray)

  • tcpOffset (ndarray)

  • openGripperPositions (ndarray)

  • closedGripperPositions (ndarray)

  • gripperStyle (str)

  • gripperOpenVelocity (float | None)

  • gripperCloseVelocity (float | None)

  • gripperControlMode (str)

  • supportsPickPlace (bool)

  • ikDamping (float)

  • ikStepScale (float)

  • rmpflowPolicyName (str | None)

  • rmpflowUsesTcpOffset (bool)

  • gripperPrim (str | None)

  • gripperFullyClosedPosition (float | None)

  • gripperContactMaterialPath (str | None)

  • objectContactMaterialPath (str | None)

  • gripperStaticFriction (float | None)

  • gripperDynamicFriction (float | None)

  • objectStaticFriction (float | None)

  • objectDynamicFriction (float | None)

  • contactOffset (float | None)

  • restOffset (float | None)

  • pickObjectMassKg (float | None)

  • gripperMaxForce (float | None)

  • gripperStiffness (float | None)

  • gripperDamping (float | None)

  • gripperMaxJointVelocityDegPerSec (float | None)

  • mimicNaturalFrequency (float | None)

  • mimicDampingRatio (float | None)

  • outerFingerParallelStiffness (float | None)