Universal Robots UR5e
Universal Robots UR5e is an arm with 6 joints, made by Universal Robots. This model comes from MuJoCo Menagerie by Google DeepMind, under the BSD-3-Clause licence. The licence text is in LICENSE.
Not made by Lucen Robotics. Listed as a reference model for simulation.
The source's own README is kept unchanged as SOURCE_README.md.
How it was set up
The files come from universal_robots_ur5e in MuJoCo Menagerie, at commit 822c2d8.
The robot card was drafted from the model by lucen robot init, as in Add your robot.
The model file does not state the values below. Each one comes from the source beside it.
| Setting | Value | Where it comes from |
|---|---|---|
| Control rate | 125 Hz | the rate the Add your robot guide uses, the RTDE rate of UR's CB-series controllers (an e-Series streams at up to 500 Hz) (a starting point) |
| Action | joint position target | UR's servoj: absolute joint targets |
| What a policy senses | joint positions, joint velocities | the UR5e's joint encoders |
| Command | joint targets | a fixed-base arm commanded in joint space |
| Everything else | read from the model file | joint order, the home keyframe, joint ranges, and kp/kd and force limits from the MJCF's own <position> actuators. |
A value marked as a starting point is not the maker's own. The checks on the robot page show how it behaves.
No file from the source was changed. This README, the robot card and the robot's pictures are new.