feat: UR5 Integration#207

Merged

juelg merged 36 commits intomasterfrom

Dec 19, 2025

Commits on Oct 27, 2025

feat: UR5 mjcf

juelg
authored and
Johannes Hechtl
committed
feat(hw): added UR5 python package

juelg
authored and
Johannes Hechtl
committed
added basic UR + robotiq gripper functionalities
Johannes Hechtl
committed
major fixes of UR implementation
Johannes Hechtl
committed
added blocking flag to config
Johannes Hechtl
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added rotation vector functionality
Johannes Hechtl
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added rotvec bindings
Johannes Hechtl
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moved examples
Johannes Hechtl
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added test scripts for hardware
Johannes Hechtl
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fixed example scripts and formatting
Johannes Hechtl
committed
added mujoco gripper model
Johannes Hechtl
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added servo control
Johannes Hechtl
committed
small fixes and parameter tuning
Johannes Hechtl
committed
style: format and lint

juelg
authored and
Johannes Hechtl
committed
added comments and improved readability
Johannes Hechtl
committed
update code
Johannes Hechtl
committed
removed changes from realsense extension
Johannes Hechtl
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removed change from rcs envs
Johannes Hechtl
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update rcs version
Johannes Hechtl
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renamed ur_5e.xml to robot.xml
Johannes Hechtl
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registered ur5e empty world
Johannes Hechtl
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added new ik to ur5e
Johannes Hechtl
committed

Commits on Nov 5, 2025

bumped ur5 version to 0.5.2 and added to automatic version bump with rcs
Johannes Hechtl
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now inheriting from common.robot
Johannes Hechtl
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updated to new kinematics and added robotiq griper actuation to sim
Johannes Hechtl
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updated readme
Johannes Hechtl
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formatting
Johannes Hechtl
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fix pytest typing errors
Johannes Hechtl
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fix forgotten rename of ur5e.xml to robot.xml
Johannes Hechtl
committed

Commits on Nov 7, 2025

fix(sim): hard reset replaced with soft reset
juelg
committed

Commits on Dec 17, 2025

small fixes
Johannes Hechtl
committed
formatting
Johannes Hechtl
committed