Universal Robots UR5 + Robotiq S Model 3 Finger Gripper 1.31

This MuJoCo model has been created by Control Engineering Master's Student

Andrea Franceschetti
@Intelligent Autonomous Systems (IASLAB) Robotics Research Group
University of Padova
Department of Information Engineering (DEI)

Model includes:

• Universal Robots UR5: 6 DOF collaborative robotic arm with max 5kg payload
• Robotiq S model 3 Finger Gripper: 4 DOF underactuated gripper
• Mounting Bench

Model created on MuJoCo Pro v1.31

The whole robot is torque controlled but are also available position and velocity control/actuators.
Force sensors are available at the gripper's phalanges for pressure feedback.
The gripper underactuated system of hinges and bars has been replaced with tendon couplings for semplicity.