- Added support for end-effector orientation control in the UR5e robot, allowing for 6-DOF inverse kinematics.
- Implemented new WebSocket messages for setting target orientation and toggling orientation usage.
- Updated mujoco_server.py to broadcast end-effector orientation and target orientation in state messages.
- Enhanced the UI to include orientation sliders and display for end-effector orientation.
- Refined README.md to document new features, including orientation control and updated JSON message structures.
Add UR5e robot support with inverse kinematics and environment setup
- Introduced a new UR5e robot model with 6 degrees of freedom and a Robotiq 2F-85 gripper.
- Implemented an inverse kinematics controller for the UR5e to compute joint positions based on target poses.
- Created a new Gymnasium environment for the UR5e, enabling simulation and control.
- Updated README.md to include UR5e specifications, control modes, and example JSON state data.
- Added various model assets and configurations for the UR5e robot, enhancing simulation capabilities.
