mujoco_ros2_control with universal robot "ur5e and robotiq gripper

This repository provides a working simulation setup for a UR5e robot with a Robotiq 2F-85 gripper using ros2_control and MuJoCo. It is based on the moveit/mujoco_ros2_control framework.

Features

• UR5e + Robotiq 2F-85 model using XML and URDF/XACRO
• mujoco_ros2_control integration for controlling joints
• MuJoCo as the physics engine
• Launch file to run the full simulation and controllers

Requirements

• ROS2 (tested with Humble)
• MuJoCo 3.x
• mujoco_ros2_control

Installation

Clone the repository

mkdir -p ~/mujoco_ros2_ws/src
cd mujoco_ros2_ws
git clone https://github.com/moveit/mujoco_ros2_control.git src/
cd src
git clone https://github.com/abuibaid/mujoco_ros2_ur.git

Set MuJoCo environment

export MUJOCO_DIR=/path/to/mujoco-3.x.x

Install dependencies, build the workspace and source it

cd ~/mujoco_ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build 
source install/setup.bash

Launch Simulation

ros2 launch mujoco_ros2_ur ur5e.launch.py

Image