Repository: stepjam/RLBench
Issue: Adding Two UR5 and Create Task
Root cause: Unimplemented Feature Gap

Hi,
Can you tell me how can I add two UR5 robots to the scene and create a complex task so that I can generate data

we need UR5 model also.

Hi. What gripper would you like attached?

Robotiq 85

On Mon, Dec 21, 2020, 12:59 AM Stephen James <notifications@github.com>
wrote:

> Hi. What gripper would you like attached?
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robotiq hand-E gripper.

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Sent: Monday, December 21, 2020 2:59:05 AM
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Cc: Su, Haijun <su.298@osu.edu>; Comment <comment@noreply.github.com>
Subject: Re: [stepjam/RLBench] Adding Two UR5 and Create Task (#100)


Hi. What gripper would you like attached?

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Hi,

When do we expect that the support of hand-E gripper and UR5 are implemented in RLBench?

From: Su, Haijun <su.298@osu.edu>
Sent: Monday, December 21, 2020 9:19 AM
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Cc: Comment <comment@noreply.github.com>; Schellenberg, Andrew A. <schellenberg.3@buckeyemail.osu.edu>
Subject: Re: [stepjam/RLBench] Adding Two UR5 and Create Task (#100)

robotiq hand-E gripper.

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Subject: Re: [stepjam/RLBench] Adding Two UR5 and Create Task (#100)


Hi. What gripper would you like attached?

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I'll find some time to add the UR5 & 3 today.
Having **two** arms in the scene simultaneously is not something I plan to support, and is out of scope of RLBench. I recommend directly using PyRep instead for dual-arm tasks. The dual-arm [baxter example](https://github.com/stepjam/PyRep/blob/master/examples/example_baxter_pick_and_pass.py) in PyRep might be useful to you.

UR5 is now in version (branch) 1.1.0. See the examples/swap_arm.py to see how to swap the arm.
Please note that alternative arms have **limited** support; they may not work with all tasks, as all of the tasks have been designed to be completed with the Panda.