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  • A pressure control system running my Ctrl-P Firmware
  • A UR robot arm (currently tested only with a UR5e, but should work with other variants)
  • A desktop computer running Linux (currently tested only in Ubuntu 18.04)



Download the ROS Package

  1. This is a ROS package, so you should be working out of a catkin workspace
  2. Add this package to your [WORKSPACE NAME]/src folder.
  3. Inside the root folder of this package, install python requirements: pip install -r requirements.txt
  4. In a new terminal, run catkin_make from your workspace directory to enable the custom python modules in this package to work.


This package enables basic robot motion, teach mode, and coordination of the arm with the hand. See the Tutorials section for step-by-steps.