Temporary Simulation Environment

This repository contains a temporary simulation environment for testing and developing robot control algorithms using the UR5e robot model in a MuJoCo physics simulation.

Overview

The simulation environment provides a simplified setup for:

• UR5e robot arm simulation
• Basic pick and place operations
• Motion planning and execution
• Block manipulation tasks

Prerequisites

• Python 3.10 or 3.11
• MuJoCo physics engine
• Required Python packages (see requirements.txt)

Clone the repository:

git clone https://github.com/CLAIR-LAB-TECHNION/AIR_robots_sim.git
cd AIR_robots_sim

Key Components

SimEnv Class

• Main simulation environment
• Handles physics simulation
• Manages robot and object states

MotionExecutor Class

• Executes robot movements
• Provides high-level movement commands
• Handles pick and place operations

Common Issues and Solutions

1. Robot Out of Workspace

   • Ensure target positions are within workspace limits
   • Check z-height for pick and place operations

2. Motion Planning Failures

   • Verify start and goal positions are valid
   • Check for obstacles in the path