27 lines
785 B
Python
27 lines
785 B
Python
|
"""UR5e composer class."""
|
||
|
|
|
||
|
|
from pathlib import Path
|
||
|
|
from typing import Optional, Union
|
||
|
|
|
||
|
|
from dm_control import mjcf
|
||
|
|
|
||
|
|
from gello.dm_control_tasks.arms.manipulator import Manipulator
|
||
|
|
from gello.dm_control_tasks.mjcf_utils import MENAGERIE_ROOT
|
||
|
|
|
||
|
|
|
||
|
|
class UR5e(Manipulator):
|
||
|
|
GRIPPER_XML = MENAGERIE_ROOT / "robotiq_2f85" / "2f85.xml"
|
||
|
|
XML = MENAGERIE_ROOT / "universal_robots_ur5e" / "ur5e.xml"
|
||
|
|
|
||
|
|
def _build(
|
||
|
|
self,
|
||
|
|
name: str = "UR5e",
|
||
|
|
xml_path: Union[str, Path] = XML,
|
||
|
|
gripper_xml_path: Optional[Union[str, Path]] = GRIPPER_XML,
|
||
|
|
) -> None:
|
||
|
|
super()._build(name=name, xml_path=xml_path, gripper_xml_path=gripper_xml_path)
|
||
|
|
|
||
|
|
@property
|
||
|
|
def flange(self) -> mjcf.Element:
|
||
|
|
return self._mjcf_root.find("site", "attachment_site")
|