add ur_robot.py ophyd Device definition - #1181
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Adapted from [ur5_robot.py](https://github.com/BCDA-APS/8id-bits/blob/main/src/id8_common/devices/ur5_robot.py), though heavily modified. Supports commanding joint space orcartesian space motion, Robotiq gripper, and tricontinent pipette tools.
nmarks99
marked this pull request as draft
July 17, 2026 14:00
Author
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Converted to draft, there are lots of changes I need to make now after some updates to urRobot |
Contributor
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note: the CI test fail observed ( |
Contributor
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@nmarks99, all the tests pass now (re-ran the failed tests). Is this ready for review? |
Author
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Not yet. There have been some recent changes to the UR support module which warrant changes to this ophyd Device. I will update next week |
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Assisted-by: Claude Opus 4.6
Adapted from ur5_robot.py, though heavily modified. Supports commanding joint space or cartesian space motion, Robotiq gripper, and tricontinent pipette tools.