A collection of UR5e manipulator and Robotiq 3 finger gripper simulation on PyBullet

The gap between manipulator and gripper is not accurate.
To simulate more accurately, you should modify the y value of the origin of the joint ee_fixed_joint in ur5e-gripper.urdf by yourself.

Move UR5e manipulator via x, y, z coordinates inputs.
Move fingers of Robotiq 3-finger gripper via register inputs.

Move fingers of Robotiq 3-finger gripper via degree inputs.

Move fingers of Robotiq 3-finger gripper via register inputs.

• Fix abnormal motion of gripper when in contact with other objects.
• Implement adaptive grasping simulation.