registered ur5e empty world

Author: Johannes Hechtl

python/rcs/__init__.py

@@ -72,6 +72,13 @@ def get_scene_urdf(scene_name: str) -> str | None:
         urdf=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "so101_empty_world", "robot.urdf"),
         robot_type=common.RobotType.FR3,
     ),
+    "ur5e_empty_world": Scene(
+        mjb=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "ur5e_empty_world", "scene.mjb"),
+        mjcf_scene=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "ur5e_empty_world", "scene.xml"),
+        mjcf_robot=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "ur5e_empty_world", "robot.xml"),
+        urdf=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "ur5e_empty_world", "robot.urdf"),
+        robot_type=common.RobotType.UR5e,
+    )
 }
 
 # make submodules available