v1.2.0

Added features:

• Gripper position read/write
• Automatically handle UR3 controller errors
• Auto-reset toggle on/off
• 3D models for collision checking/avoidance
• Minor updates for xml files
• Teleoperation utilities (vpnshift)
• QoL updates for UR logger
• UrDataLog.csv toggle on/off
• DualUR3RealEnv toggle left arm enable/disable
• Additional examples

v1.1.2

QoL updates (including wait option for read commands) and minor bug fixes for test_dualur3env.py examples.

v1.1.1

Gripper command bug fix for real robot examples.

Sim and real dual-UR3 robot Gym env

UR3 MuJoCo simulation environment from previous release.
UR3 hardware environment implementation based on ur-interface and python-urx package.

For compatibility, both environments (sim and real) mostly share common attributes to minimize environment-specific components. Supports limited functionality: servoj and speedj commands for Universal Robotics UR3 and opening and closing of Robotiq 2F-85 gripper.

Initial release

Basic functionality for dual UR3 MuJoCo environment verified.