UR5 with Robotiq 85 Gripper: Object Grasping and Placement Simulation

github.com

23 points·kyleliiii··6 comments

Here, "a UR5 robotic arm" is a reference to a product by Universal Robots called the UR5 [1]. That was not obvious for me, so I had to look it up. :)

[1]: https://www.universal-robots.com/products/ur5e/

This project simulates a UR5 robotic arm with a Robotiq 85 gripper, performing autonomous object grasping and placement tasks in the PyBullet environment. Using inverse kinematics (IK) for precise arm control and synchronized joint control for realistic gripper motion, the robot grasps cubes from random positions and places them on a tray.

Love it. How complicated can you make the objects to be picked up?

Looks like just cubes for this simulator, I think the focus is on the two-finger gripper integrated with this arm kinematic. Planning a gripper strategy for a complex object would be a another layer but definitely could be incorporated.

As a non-robotics simulation understander, how are the specifics of the gripper/object interaction modeled?

For instance, can the gripper / object materials be soft / floppy / goopy, or does the simulation assume they are perfectly rigid bodies?

What kind of surface parameters does the model use? Coeff of friction, durometer of rubber surfaces touching the object, surface texture / roughness (RMS, Ra)? More?

Thanks for sharing this here, it’s always good to see some robot projects here.

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