{"id":51384685,"url":"https://github.com/ncbdrck/ur5e_description_extras","last_synced_at":"2026-07-03T19:08:31.191Z","repository":{"id":359692803,"uuid":"1247132089","full_name":"ncbdrck/ur5e_description_extras","owner":"ncbdrck","description":null,"archived":false,"fork":false,"pushed_at":"2026-05-23T01:11:16.000Z","size":127,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2026-05-23T02:28:47.294Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"CMake","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/ncbdrck.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,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2026-05-23T00:00:33.000Z","updated_at":"2026-05-23T01:11:19.000Z","dependencies_parsed_at":null,"dependency_job_id":null,"html_url":"https://github.com/ncbdrck/ur5e_description_extras","commit_stats":null,"previous_names":["ncbdrck/ur5e_description_extras"],"tags_count":null,"template":false,"template_full_name":null,"purl":"pkg:github/ncbdrck/ur5e_description_extras","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ncbdrck%2Fur5e_description_extras","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ncbdrck%2Fur5e_description_extras/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ncbdrck%2Fur5e_description_extras/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ncbdrck%2Fur5e_description_extras/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ncbdrck","download_url":"https://codeload.github.com/ncbdrck/ur5e_description_extras/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ncbdrck%2Fur5e_description_extras/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":35097918,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-26T15:22:16.424Z","status":"online","status_checked_at":"2026-07-03T02:00:05.635Z","response_time":110,"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":"2026-07-03T19:08:30.588Z","updated_at":"2026-07-03T19:08:31.183Z","avatar_url":"https://github.com/ncbdrck.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"# ur5e_description_extras\n\nUniversal Robots UR5e + Robotiq 2F-85 sim extras for the\n`rl_environments` stack. Mirrors `reactorx200_description`'s role for\nthe RX200:\n\n- Wraps the upstream UR5e URDF (`ur_e_description`) + Robotiq 2F-85\n  gripper (`robotiq_description`) into a single xacro that ships the\n  Gazebo plugins we need (FT sensor, gripper grasp plugin).\n- Mounts the arm on a 4-legged `ur5_base` (~0.59 m tall).\n- Spawns a `cafe_table` next to the base (top at z = 0.775).\n- Adds a **head-mount Kinect v2** so cube-tracking workflows share the\n  same camera topology as the other robots.\n- Brings up **ros_control** with plugin-level Gazebo PID gains for the\n  6-DOF arm plus a trajectory controller for the Robotiq gripper.\n- Ships local copies of `ur5_base`, `cafe_table`, and a red cube under\n  `models/` so the scene is self-contained.\n\n## Prerequisites\n\n- ROS Noetic\n- `ur_e_description` (ros-industrial — clone `universal_robot.git -b $ROS_DISTRO-devel`)\n- `robotiq_description` + `robotiq_gazebo` (Robotiq 2F-85 macros)\n- `common_sensors` (Kinect v2 xacro)\n- `ur5e_robotiq_85_moveit_config` (MoveIt; optional unless using `start_moveit:=true`)\n\n## Verify the sim works\n\n```bash\nroscore                                                       # term 1\nroslaunch ur5e_description_extras ur5e_gazebo.launch          # term 2\n```\n\nExpected:\n- Gazebo opens with the ur5_base at origin, cafe_table at x=0.7, red\n  cube on the table, and UR5e + Robotiq 2F-85 mounted on top of the\n  base (`base_link` at z = 0.59). The default launch pose is folded\n  upright, not all-zeros, so the arm starts above the tabletop.\n- `rostopic echo /ur5e/joint_states` publishes 6 arm joints + the\n  Robotiq knuckle at ~300 Hz.\n- `rostopic list | grep /ur5e/arm_controller` shows `/command` + state\n  topics.\n\nThe safe startup pose can be overridden from the command line:\n\n```bash\nroslaunch ur5e_description_extras ur5e_gazebo.launch \\\n  shoulder_pan:=0 shoulder_lift:=-1.5707 elbow:=1.5707 \\\n  wrist_1:=-1.5707 wrist_2:=-1.5707 wrist_3:=0\n```\n\nTo bring up MoveIt against the same Gazebo controllers:\n\n```bash\nroslaunch ur5e_description_extras ur5e_gazebo.launch start_moveit:=true use_moveit_rviz:=true\n```\n\n## Layout\n\n```\nur5e_description_extras/\n├── package.xml\n├── CMakeLists.txt\n├── README.md\n├── urdf/\n│   ├── ur5e_robotiq85.urdf.xacro         # UR5e + Robotiq 2F-85 + coupler + Gazebo plugins\n│   └── ur5e_robotiq85_kinect.urdf.xacro  # + head-mount Kinect v2\n├── launch/\n│   ├── ur5e_gazebo.launch                # world + arm + control + (optional) cube/MoveIt\n│   └── ur5e_control.launch               # joint_state + arm + gripper spawn\n├── config/\n│   └── ur5e_controller.yaml              # PID gains\n├── worlds/\n│   └── ur5e_scene.world                  # sun + ground + ur5_base + cafe_table baked in\n└── models/\n    ├── ur5_base/                         # 4-legged 0.59 m platform (from utecrobotics/ur5)\n    ├── cafe_table/                       # Gazebo stock cafe_table (top at z=0.775)\n    └── block/                            # 4 cm red cube\n```\n\n## Why this exists\n\nSeparate description package keeps URDF / launch files reusable for\nMoveIt / RViz demos independent of the RL stack. Same shape as\n`viperx300s_description` (VX300S), `niryo_ned2_description_extras`\n(NED2), and `reactorx200_description` (RX200).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fncbdrck%2Fur5e_description_extras","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fncbdrck%2Fur5e_description_extras","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fncbdrck%2Fur5e_description_extras/lists"}