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Vision-Guided Pick & Place (UR5e colour-sorting cell)

Universal Robots UR5e Pick & place MIT

by Community Import

Vision-guided, collision-aware pick-and-place for a simulated Universal Robots UR5e with MoveIt 2 on ROS 2 Jazzy, framed as an industrial colour-sorting cell. An overhead RGB-D camera segments coloured parts by HSV, OMPL plans a collision-aware top-down grasp onto a moving conveyor, and the cell is validated against the real UR driver with URSim.

— Imported from https://github.com/MKamel7/moveit-ur5-pick-place (author: MKamel7)

Required hardware / BOM	Robotiq 2F-85 gripper, overhead RGB-D camera
Task	Pick & place
Robot	Universal Robots UR5e
Licence	MIT

⚠️ Safety notes

⚠️ Imported from a third-party source and NOT tested by cobotmove or the importer. These instructions move a real industrial robot. Review the full program, verify reach/payload/TCP for your exact cell, and run in simulation with E-stops verified before any live motion. Used entirely at your own risk. Original source: https://github.com/MKamel7/moveit-ur5-pick-place