Create a MoveIt Pro Configuration Package for the ur5e + 2F-85 with Xela uSPr2F Model

- Create ur5e + 2F-85 + Xela uSPr2F integrated Model

- Create MoveIt Pro Config package:
Inherit the picknik_ur_site_config package and use the XELA uSPr2F model created above and the model that integrates the ur5e robot arm and the 2F-85 robot.

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Create ur5e_x2f_common packages¶

Purpose¶

- Provide shared resources for UR5e + Robotiq 2F-85 + Xela taxel sensors.
- Keep attachments/models/objectives reusable across real, sim, and app packages.

Scope¶

- Shared description/attachments (xacro), sensor models (xacro), and common objectives.
- Does not launch controllers or run the robot.

Key Features¶

- Xacro macros to assemble gripper, camera, and sensors on the UR5e tool.
- Xela uSPr2F taxel models attached to finger tips.
- Common objectives library referenced by config packages.

Inputs/Outputs¶

- Inputs: xacro args from config packages (prefix, tool_device_name, use_fake_hardware, etc.).
- Outputs: robot description (URDF/SRDF) with attachments and sensors.

Configuration Points¶

- description/ur5e_x2f_85_attachments.xacro
- Attachment transforms and sensor placement
- Pass-through for robotiq_gripper_closed_position and robotiq_finger_joint_initial_value
- Taxel count/color/pose parameters

Dependencies¶

- robotiq_description (2f-85 xacro/meshes)
- picknik_accessories (UR adapters/camera brackets)
- xela_models (taxel/uSPr2F models)

Non-Functional Requirements¶

- Reusable across multiple config packages.
- Customization must not modify external dependencies.

Test/Verification¶

- Xacro/URDF generation succeeds.
- Visual check in RViz/MoveIt Pro UI (links/sensors visible).

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Create ur5e_x2f_85_config1 packages¶

Purpose¶

- Provide a MoveIt Pro configuration for UR5e + Robotiq 2F-85 + Xela sensors.
- Integrate planning, controllers, and objectives for real or mocked hardware.

Scope¶

- MoveIt Pro config.yaml, URDF/SRDF, ros2_control config, objectives.
- Does not include MuJoCo simulation environment.

Key Features¶

- MoveIt Pro startup using config/config.yaml.
- ros2_control controllers loaded/activated per config.
- URDF parameters passed for hardware mode, tool device, and gripper initial values.
- Planning group and joint limits configured.

Inputs/Outputs¶

- Inputs: config/config.yaml (urdf_params, ros2_control).
- Outputs: MoveIt Pro UI with robot/gripper/sensors, controllable planning.

Configuration Points¶

- config/config.yaml
- use_fake_hardware, tool_device_name
- robotiq_gripper_closed_position, robotiq_finger_joint_initial_value
- Controllers active/inactive lists
- description/ur5e_x2f_85.xacro
- Attachments macro invocation and arg pass-through

Dependencies¶

- ur5e_x2f_85_common
- picknik_ur_base_config, ur_description
- robotiq_driver, robotiq_controllers

Non-Functional Requirements¶

- Safe switch between real and mocked hardware.
- Consistent controller configuration.

Test/Verification¶

- moveit_pro build succeeds.
- moveit_pro run -c ur5e_x2f_85_config1 -v starts successfully.
- /controller_manager/list_controllers responds.

---

├── CMakeLists.txt
├── config
│   ├── config.yaml
│   ├── control
│   │   └── ur5e_x2f_85.ros2_control.yaml
│   └── moveit
│       ├── joint_limits.yaml
│       └── ur5e_x2f_85.srdf
├── description
│   └── ur5e_x2f_85.xacro
├── launch
│   └── agent_bridge.launch.xml
├── objectives
├── package.xml
└── README.md

moveit_pro run -c ur5e_x2f_85_config1 -v