Task #232
Updated by Sanghoon Lee 27 days ago
This package targets is the runtime configuration layer for a combined arm+hand production layout where control, behavior extension, and tactile observability must coexist without hidden launch coupling. Primary design goals: * maintain deterministic MoveIt Pro startup contract for UR5e + Allegro hand * keep behavior plugin extension isolated Robotiq 2F-140 cell in behaviors/ while preserving package portability * integrate AH MoveIt Pro, with Xela 2F tactile visualization/sidecar path visualization integrated as an optional operator tooling path. The Operationally it binds three concerns in one package therefore keeps driver bringup, planning/control config, and boundary: - MoveIt Pro robot/application configuration (`config/config.yaml`, URDF/SRDF, ros2_control profile) - gripper operation objectives for Robotiq action interface - tactile observability connected by explicit launch interfaces instead of implicit node assumptions. visualization orchestration (`xela_server2_2f` + `std_xela_taxel_viz_2f` + optional web sidecar) --------------------