Task #201
Updated by Sanghoon Lee 2 months ago
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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h1. Create ur5e_x2f_85_sim_config1 package
h2. 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.
h2. Scope
- MuJoCo scene, sim-specific URDF params, ros2_control (sim) config.
- Does not support real hardware I/O.
h2. 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.
h2. 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).
h2. 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
h2. Dependencies
- @ur5e_x2f_85_common@
- @picknik_mujoco_ros@ (MuJoCo system)
- @robotiq_description@, @xela_models@
h2. Non-Functional Requirements
- Parameter parity with real configuration where possible.
- Stable sim startup and UI loading performance.
h2. 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
{{video("녹화_2026_01_23_21_20_40_269.mp4",800,400)}}