{"id":15903569,"url":"https://github.com/vfdev-5/ur5_pnp","last_synced_at":"2026-01-21T21:33:05.584Z","repository":{"id":149001874,"uuid":"144067905","full_name":"vfdev-5/ur5_pnp","owner":"vfdev-5","description":null,"archived":false,"fork":false,"pushed_at":"2018-09-03T23:47:07.000Z","size":8471,"stargazers_count":2,"open_issues_count":4,"forks_count":2,"subscribers_count":3,"default_branch":"master","last_synced_at":"2025-04-07T22:13:47.769Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","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/vfdev-5.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":"2018-08-08T21:10:44.000Z","updated_at":"2018-10-19T20:36:45.000Z","dependencies_parsed_at":null,"dependency_job_id":"76a58b26-42e4-4132-ac6d-d636e37cd165","html_url":"https://github.com/vfdev-5/ur5_pnp","commit_stats":{"total_commits":36,"total_committers":3,"mean_commits":12.0,"dds":"0.16666666666666663","last_synced_commit":"794a9ca45278111e099b0cdd83be5bc9cfc4f0d9"},"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/vfdev-5/ur5_pnp","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/vfdev-5%2Fur5_pnp","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/vfdev-5%2Fur5_pnp/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/vfdev-5%2Fur5_pnp/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/vfdev-5%2Fur5_pnp/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/vfdev-5","download_url":"https://codeload.github.com/vfdev-5/ur5_pnp/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/vfdev-5%2Fur5_pnp/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28644078,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-21T21:29:11.980Z","status":"ssl_error","status_checked_at":"2026-01-21T21:24:31.872Z","response_time":86,"last_error":"SSL_connect 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https://github.com/vfdev-5/ur5_pnp.git\n```\n\nBefore compilation, install dependencies:\n```\ncd ur5_pnp_ws \u0026\u0026 rosdep install --from-paths src --ignore-src -r -y\n```\nand finally compile the workspace\n```\ncd ur5_pnp_ws \u0026\u0026 catkin_make\n```\n\n## Usage \n\n### Robot initialization\n\nTwo options are possible:\n- simulation\n- real robot\n\n#### Simulation\n```\nsource devel/setup.bash\nsh src/ur5_pnp/run_simulation.sh\n```\n\n![rviz](assets/rviz_demo_v3.png)\n\n#### Real robot\nJust run the script from the root of the workspace (`build`, `devel`, `src`):\n```\nsh src/ur5_pnp/run_robot.sh\n```\nwhich starts `roscore` and necessary nodes in separate `xterm` windows.\n\n### Play with robot \n\nMultiple options are possible:\n- execute a program\n- use moveit commander\n\n#### Execute a program\n\nMain demo program can be executed with\n```\nsource devel/setup.bash\nroslaunch move_group_ur5 demo_gqcnn_pick_and_drop_single_object.launch\n```\n\nThis demo requires `berkeley_automation` module properly installed.\n\n\nThere are other demo programs can be found at `move_group_ur5/programs`.\n\n#### Moveit commander\n\nSimply run the script\n```\nsh run_commander.sh\n```\nNext in the command line type:\n```\n\u003e use manipulator\n\u003e current\n\u003e help\n```\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fvfdev-5%2Fur5_pnp","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fvfdev-5%2Fur5_pnp","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fvfdev-5%2Fur5_pnp/lists"}