{"id":19024587,"url":"https://github.com/danielstankw/ur5e-robot-control","last_synced_at":"2025-09-06T20:31:43.793Z","repository":{"id":184868968,"uuid":"587353671","full_name":"danielstankw/UR5e-robot-control","owner":"danielstankw","description":"Python Code for control of UR5e robot in 125[Hz]. Includes trajectory planner, controller and more.","archived":false,"fork":false,"pushed_at":"2023-08-15T15:50:16.000Z","size":9020,"stargazers_count":9,"open_issues_count":0,"forks_count":3,"subscribers_count":1,"default_branch":"master","last_synced_at":"2024-11-08T20:48:40.940Z","etag":null,"topics":["control","robotics","rtde","ur5-robot"],"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,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2023-01-10T14:58:49.000Z","updated_at":"2024-10-15T07:20:34.000Z","dependencies_parsed_at":"2024-11-08T20:58:46.186Z","dependency_job_id":null,"html_url":"https://github.com/danielstankw/UR5e-robot-control","commit_stats":null,"previous_names":["danielstankw/robotcontrol","danielstankw/ur5e-robot-control"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/danielstankw%2FUR5e-robot-control","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/danielstankw%2FUR5e-robot-control/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/danielstankw%2FUR5e-robot-control/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/danielstankw%2FUR5e-robot-control/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/danielstankw","download_url":"https://codeload.github.com/danielstankw/UR5e-robot-control/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":232142697,"owners_count":18478532,"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","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":["control","robotics","rtde","ur5-robot"],"created_at":"2024-11-08T20:37:30.070Z","updated_at":"2025-01-02T01:41:25.957Z","avatar_url":"https://github.com/danielstankw.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Python code used for communication with the UR5e robot.\nThe communication is done 125[Hz]. The repo is based of the RopeRobotics code: (https://github.com/martinbjerge/ur-interface)\n\n### What can it be used for?\n* Defines minimum jerk planner and designs minimum-jerk trajectory\n* Implements PD and Impedance Controller for Peg-In-Hole tasks\n* Includes 3 different modes of operation:\n  * `run_robot.py`: allows for usage of impedance or PD control for insertion task\n  * `run_robot_with_spiral.py`: allows for usage of spiral search or circular motion of the peg while in contact.\n  * `run_robot_spiral_ml.py`: integrates trained model in Tensrflow for overlap detection -\u003e incomplete\n\n### Files explanation\n1. `main.py`: main run file allowing for control of the robot. It defines 3 modes, described earlier as well as determined what type of controller will be used and what type of position error will be used.\n2. `controller.py`: included impedance controller implementation and parameters\n3. `helper_functions.py`: include files for data labeling, spiral search and circular motion variables.\n4. `angle_transformation.py`: included various transformations used in robotic tasks.\n\n#### Folders\n1. `URBasic/urScript.py`: included various functions for robot communication. \nThe functions need to follow UR format that can be found here: https://www.universal-robots.com/download/manuals-e-series/script/script-manual-e-series-sw-511/\n2. `URBasic/urScriptExt.py`: included functions similarly to urScript.py however they are more advanced. This included `force_mode` and `servoj` which are\nnon-blocking functions allowing for real-time communication with the robot.\n3. `Onrobot/Exconnector.py`: file used for utilizing OnRobot F/T sensor and reading the measurements.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdanielstankw%2Fur5e-robot-control","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fdanielstankw%2Fur5e-robot-control","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdanielstankw%2Fur5e-robot-control/lists"}