{"id":19024495,"url":"https://github.com/danielstankw/servoj_rtde_ur5","last_synced_at":"2025-08-17T03:36:35.151Z","repository":{"id":184868964,"uuid":"393059663","full_name":"danielstankw/Servoj_RTDE_UR5","owner":"danielstankw","description":"Implementation of servoj() using RTDE in python for YouTube video purposes","archived":false,"fork":false,"pushed_at":"2021-08-23T09:32:34.000Z","size":31,"stargazers_count":36,"open_issues_count":0,"forks_count":11,"subscribers_count":2,"default_branch":"main","last_synced_at":"2025-06-14T04:42:22.465Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/danielstankw.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2021-08-05T13:50:30.000Z","updated_at":"2025-06-11T02:10:56.000Z","dependencies_parsed_at":"2023-07-30T17:54:08.259Z","dependency_job_id":null,"html_url":"https://github.com/danielstankw/Servoj_RTDE_UR5","commit_stats":null,"previous_names":["danielstankw/servoj_rtde_ur5"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/danielstankw/Servoj_RTDE_UR5","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/danielstankw%2FServoj_RTDE_UR5","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/danielstankw%2FServoj_RTDE_UR5/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/danielstankw%2FServoj_RTDE_UR5/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/danielstankw%2FServoj_RTDE_UR5/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/danielstankw","download_url":"https://codeload.github.com/danielstankw/Servoj_RTDE_UR5/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/danielstankw%2FServoj_RTDE_UR5/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":270803430,"owners_count":24648685,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-08-17T02:00:09.016Z","response_time":129,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-08T20:36:57.624Z","updated_at":"2025-08-17T03:36:35.108Z","avatar_url":"https://github.com/danielstankw.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"## Servoj_RTDE_UR5\nImplementation of servoj() using RTDE in python\n\n#### --- What are the files in this repository? ---\n`control_loop_configuration.xml`: contains list of the registers we want to read and overwrite\n\n`min_jerk_translation.py`: class containing min_jerk trajecotry for position only in cartesian space, as well as small example usage function\nhttps://mika-s.github.io/python/control-theory/trajectory-generation/2017/12/06/trajectory-generation-with-a-minimum-jerk-trajectory.html\n\n`min_jerk_servoj.py`: main script responsible for communication with the robot. It communicates with packages stored in **rtde** folder so make sure you download all the required files.\n\n__polyscope__: contains urp file that can be uploaded to the robot\n__rtde__: contains all the files needed for RTDE communication taken from: \nhttps://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/\n\n#### --- How to run the program? ---\nAfter downloading the rtde folder as well as all the python packages in this repositiory upload the urp. file to the robot.\n1) Run the urp file on the robot till a \"Continue\" button appears\n2) Run the python script\n3) Click \"Continue\" on the polyscope\n\n#### Extras: \n Below you can find the simplified description of our task as explained in the youtube video: \n![graph](https://user-images.githubusercontent.com/72759092/128363193-1e1929cd-c6dc-430f-9e93-6e97f150e4e4.jpg)\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdanielstankw%2Fservoj_rtde_ur5","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fdanielstankw%2Fservoj_rtde_ur5","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdanielstankw%2Fservoj_rtde_ur5/lists"}