Following the examples listed at https://github.com/ros-industrial/universal_robot, I have successfully configure and pinged an IP address in my ur5 teachpad. From my commanline, I issue the various roslaunch commands with the IP address and I am able to control the robot with the moveit package .

My custom python package is all about moving the ur5 end effector to a different pose. In the gazebo simulation the robot moves but when I tried executing on a real robot, nothing happens. I know the go function is what executes code on a live robot (my package is based on and uses moveit), as my code below show:

  def move_to_pose(self, pose):
    rospy.loginfo(pose)

    self.manipulator.set_goal_tolerance(0.5)

    self.manipulator.set_pose_target(pose)
    plan = self.manipulator.plan()

    self.manipulator.execute(plan) # display the trajectory in rviz. Follow the already computed plan 
    self.manipulator.go(wait=True) # execute in real robot
    self.manipulator.stop() # ensure there is no residual movement
    self.manipulator.clear_pose_targets() # clear targets after planning with poses

I would appreciate some help. I'm not sure why the simulation works but the live robot does not.

Any advice on how to diagnose this disconnect, please.