Create a MoveIt Pro Configuration Package for the ur5e + 2F-140 with Xela uSPr2F Model

- Create ur5e + 2F-140 + 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-140 robot.

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Create ur5e_x2f_140_common package¶

Purpose¶

- Provide shared resources for UR5e + Robotiq 2F-140 + Xela taxel sensors.
- Keep attachments/models/objectives reusable across real, sim, and app packages.

Scope¶

- Shared description/attachments (xacro), custom meshes, 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.
- Customizable Robotiq 2F-140 meshes and transforms (local overrides only).
- 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, gripper positions).
- Outputs: robot description (URDF/SRDF) with attachments, sensors, and custom meshes.

Configuration Points¶

- description/ur5e_x2f_140_attachments.xacro
- Attachment transforms and sensor placement
- Pass-through for robotiq_gripper_closed_position and robotiq_finger_joint_initial_value
- description/robotiq_2f_140_custom.xacro
- Mesh overrides and origin/scale corrections

Dependencies¶

- robotiq_description (2f-140 base 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_140_config1 packages¶

Purpose¶

• Provide a MoveIt Pro configuration for UR5e + Robotiq 2F-140 + 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_140.xacro
  • Attachments macro invocation and arg pass-through

Dependencies¶

• ur5e_x2f_140_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_140_config1 -v starts successfully.
• /controller_manager/list_controllers responds.

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ur5e_x2f_140_config1/
├── CMakeLists.txt
├── config
│   ├── config.yaml
│   ├── control
│   │   └── ur5e_x2f_140.ros2_control.yaml
│   └── moveit
│       ├── joint_limits.yaml
│       └── ur5e_x2f_140.srdf
├── description
│   └── ur5e_x2f_140.xacro
├── launch
│   └── agent_bridge.launch.xml
├── objectives
│   ├── close_gripper.xml
│   └── open_gripper.xml
├── package.xml
└── README.md

moveit_pro run -c ur5e_x2f_140_config1 -v