Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.
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Apr 16, 2024 - Python
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ur5e
Here are 99 public repositories matching this topic...
EVA-Client: A Unified Framework for Deployment, Evaluation, and Data Collection on Real Robots
agent deployment robotics rl vla wam teleoperation mhs franka ur5e embodied-ai infernece agilex-piper
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Nov 12, 2026 - Python
Base Mujoco Gymnasium environment for easily controlling any robot arm with operational space control. Built with dm-control PyMJCF for easy configuration.
robotics gripper manipulator gymnasium mujoco universal-robot dm-control aubo aubo-robot aubo-i5 ur5e ag95 pymjcf operational-space-control auboi5
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Dec 10, 2024 - Python
Python IKFast library for Universal Robots
robot robotics inverse-kinematics ur10 ur5 forward-kinematics universal-robot ur5-robot ur3 ikfast ur5e ur3e-robot ur3e ur10e
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Dec 20, 2024 - C++
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.
gymnasium teleoperation mujoco ur5e robotiq-2f-85-gripper operational-space-controller joint-position-controller joint-velocity-controller joint-effort-controller
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Aug 26, 2023 - Python
Haptic teleoperation of a UR5e with a 3D Systems Touch, using ROS and MoveIt Servo
ros universal-robots moveit haptics teleoperation haptic-feedback ur5e 3dsystems 3dsystems-touch haptic-teleoperation
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Nov 9, 2026 - C++
Vision-Based Lego Detection, Localization, and Assembly Using UR5 Robot Arm
visualization python machine-learning computer-vision localization cpp robotics simulation detection motion-planning ros vision registration object-detection ur5 trajectory pointcloud zed-camera ur5-robot ur5e
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Dec 1, 2023 - C++
ROS integration for the UR5e and robotiq gripper
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Jun 14, 2023 - C++
Python wrapper for the Universal Robots ROS driver with Robotiq gripper support.
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May 21, 2024 - Python
Contains packages to run the Aegis UR5e cobot station with ROS 2.
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Nov 10, 2026 - Python
A provided setup for the UR5e and robotiq gripper integrated with ROS Noetic and Moveit with a step by step guide
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Sep 16, 2024 - Python
KECRA (Knowledge-Enhanced Cobot Reasoning Assistant ) is a framework for language-based control of collaborative robots (cobots) in dynamic construction environments. It combines Large Language Models (LLMs) with Visual Foundation Models (VFMs) to allow human operators to guide robotic assistance through natural language dialogues.
angular neo4j robotics sqlite chatbot sam knowledge-graph manipulation rosbridge clip rag fastapi ur5e llm ros2-humble langgraph
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Aug 21, 2025 - Python
ROS package for Universal Robots UR5e tutorial
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Mar 10, 2026 - Python
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
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May 7, 2024 - Python
UR5e + Robotiq 2F-85 vision-guided pick & place in Gazebo, powered by MoveIt Task Constructor with RGBD color detection.
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Jul 30, 2026 - C++
ROS2 MoveIt - UR5e - Trajectory controllers (Joint, Cartesian, Linear, Obstacles)
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May 30, 2023 - C++
Reinforcement learning environment for UR5e arms with MuJoCo 3 — SAC training for reach, pick-and-place, and symmetric multi-arm cooperative tasks. Includes a ROS 2 policy node for Gazebo deployment.
python reinforcement-learning robotics deep-reinforcement-learning universal-robots gazebo manipulation robot-arm sac gymnasium robot-learning ros2 mujoco robotiq-gripper pick-and-place ur5e multi-arm sim-to-real stable-baselines3 contact-rich
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Nov 11, 2026 - Python
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