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

- Using ur5e + 2F-85 + Xela uSPr2F Common Configuration package

- Create MoveIt Pro Simulation Config package:
- Inherit the ur5e_x2f_85_common package
- Create mujoco scene definition
- Create mujoco MJCF defnition
- robotiq 2F-85 with xels uSPr2F fingertip
- ur5e

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Create ur5e_x2f_85_sim_config1 package¶

Purpose¶

- Provide a MuJoCo-based simulation configuration for UR5e + Robotiq 2F-85 + Xela sensors.
- Enable simulation with environment assets and sensor visualization in MoveIt Pro.

Scope¶

- MuJoCo scene, sim-specific URDF params, ros2_control (sim) config.
- Does not support real hardware I/O.

Key Features¶

- Load MuJoCo scene model.
- Sim ros2_control configuration and controller set.
- Environment assets (table/plate) included.
- Gripper closed position and initial joint value configurable.

Inputs/Outputs¶

- Inputs: config/config.yaml (mujoco_model, initial positions, urdf params).
- Outputs: MoveIt Pro UI with simulated robot and sensors, sensor topics (e.g., /scene_camera/color).

Configuration Points¶

- config/config.yaml
- mujoco_model, mujoco_model_package, mujoco_viewer
- robotiq_gripper_closed_position, robotiq_finger_joint_initial_value
- description/ur5e_x2f_85_sim.xacro
- Attachments and gripper parameter pass-through

Dependencies¶

- ur5e_x2f_85_common
- picknik_mujoco_ros (MuJoCo system)
- robotiq_description, xela_models

Non-Functional Requirements¶

- Parameter parity with real configuration where possible.
- Stable sim startup and UI loading performance.

Test/Verification¶

- moveit_pro run -c ur5e_x2f_85_sim_config1 -v starts successfully.
- Robot/sensors are visible and /joint_states is published.

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moveit_pro run -c ur5e_x2f_85_sim_config1 -v