Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.

ROS2 URDF description for Universal Robots

Python IKFast library for Universal Robots

Base Mujoco Gymnasium environment for easily controlling any robot arm with operational space control. Built with dm-control PyMJCF for easy configuration.

A Mujoco Gymnasium Environment for manipulating flexible objects with a UR5e robot arm and Robotiq 2F-85 gripper. Experiment with joint effort, velocity, position, and operational space controllers. Teleoperate in task space and visualize in GUI. Note: Experimental, not actively maintained.

ROS integration for the UR5e and robotiq gripper

Vision-Based Lego Detection, Localization, and Assembly Using UR5 Robot Arm

This repository was created as a part of an mechatronic engineering honours thesis at the University of New South Wales (UNSW). This repository includes files that relate to teleoperating a Universal Robots E-series robot via a 3Dsystems Touch haptic device with haptic feedback for the purposes of improving remote ultrasounds.

Python wrapper for the Universal Robots ROS driver with Robotiq gripper support.

ROS package for Universal Robots UR5e tutorial

ROS2 MoveIt - UR5e - Trajectory controllers (Joint, Cartesian, Linear, Obstacles)

Catkin workspace for the PeARL laboratory at University of Massachusetts - Lowell

A UR5e robotic arm model was created in MATLAB and used to write the word "FLOW". A quintic spline interpolation method was implemented to generate the end-effect trajectories.

URDF for the Robotiq 85 Gripper to be used with the UR5 / UR3 in Gazebo and Moveit

Robotic application in a digital factory environment using OPC UA to transfer information / give instructions.

my implementation of the forward kinematics (DH and PoE) and the inverse kinematics for open-chain robots, with application to the UR5e 6dof robot. This code is featured in posts about robot kinematics on my website roboticsunveiled.com