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

- Using ur5e + 2F-140 + Xela uSPr2F Common Configuration package

- Create MoveIt Pro Simulation Config package:
- Inherit the ur5e_x2f_140_common package
- Create mujoco scene definition
- Create mujoco MJCF defnition
- robotiq 2F-140 with xels uSPr2F fingertip
- ur5e

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Create ur5e_x2f_140_sim_config1 package¶

Purpose¶

• Provide a MuJoCo-based simulation configuration for UR5e + Robotiq 2F-140 + 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_140_sim.xacro
  • Attachments and gripper parameter pass-through

Dependencies¶

• ur5e_x2f_140_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_140_sim_config1 -v starts successfully.
• Robot/sensors are visible and /joint_states is published.

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ur5e_x2f_140_sim_config1/
├── CMakeLists.txt
├── config
│   ├── config.yaml
│   ├── control
│   │   └── ur5e_x2f_140_sim.ros2_control.yaml
│   ├── initial_positions.yaml
│   └── moveit
├── description
│   ├── assets
│   │   └── robotiq_2f140
│   │       ├── base_mount.stl
│   │       ├── base.stl
│   │       ├── coupler.stl
│   │       ├── driver.stl
│   │       ├── follower.stl
│   │       ├── pad.stl
│   │       └── spring_link.stl
│   ├── mujoco
│   │   └── scene.xml
│   ├── robotiq_2f140
│   │   ├── robotiq2f140_globals.xml
│   │   └── robotiq2f140.xml
│   ├── ur5e
│   │   ├── ur5e_baseplate.xml
│   │   ├── ur5e_globals.xml
│   │   └── ur5e.xml
│   ├── ur5e_x2f_140_sim_environment.xacro
│   └── ur5e_x2f_140_sim.xacro
├── launch
│   └── agent_bridge.launch.xml
├── objectives
└── package.xml

moveit_pro run -c ur5e_x2f_140_sim_config1 -v