Task #202
Updated by Sanghoon Lee 2 months ago
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
------------
h1. Create ur5e_x2f_140_sim_config1 package
h2. 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.
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_140_sim.xacro@
** Attachments and gripper parameter pass-through
h2. Dependencies
* @ur5e_x2f_140_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_140_sim_config1 -v@ starts successfully.
* Robot/sensors are visible and @/joint_states@ is published.
-------------------
<pre>
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
</pre>
moveit_pro run -c ur5e_x2f_140_sim_config1 -v
{{video("ur5e_x2f_140_sim_config1.mp4",800,400)}}