MoveIt Pro Workspace for Universal Robots Arms

This is a sample user workspace for running MoveIt Pro with a generic Universal Robots (UR) arm. For more information, refer to the MoveIt Pro Documentation.

Instructions for building your own MoveIt Pro configuration can be found in the getting started guides.

MoveIt Pro can be used with real robots and full simulators such as Gazebo and NVIDIA Isaac Sim. For testing purposes, you can also use the ROS 2 Control Mock Components, which is what this repo is configured to use.

This workspace offers a reasonable starting point for those users looking to develop with MoveIt Pro using custom base and site configurations. For more information refer to the online documentation.

Universal Robots Configuration Packages

This workspace contains several MoveIt Pro configuration packages for UR arms that inherit from each other for different applications.

graph TB
Base[picknik_ur_base_config] --> Site[picknik_ur_site_config]
Base --> Mock[picknik_ur_mock_hw_config]
Base --> Simulation[picknik_ur_mujoco_config]
Site --> Gazebo[picknik_ur_gazebo_config]
Site --> Picknik[Other PickNik configs]
Gazebo --> ScanAndPlan[picknik_ur_gazebo_scan_and_plan_config]

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Specifically:

• picknik_ur_base_config contains common configuration for all UR arms, real or simulated.
• picknik_ur_mock_hw_config provides overrides for a machine tending application simulated using mock components (no physics).
• picknik_ur_site_config extends the base configuration with capabilities for robots with physics and perception.
• picknik_ur_gazebo_config extends the site configuration with support for the Gazebo simulator.
• picknik_ur_gazebo_scan_and_plan_config extends the Gazebo configuration with an alternate environment for 3D object scanning.
• picknik_ur_multi_arm_config is an example configuration for using multiple arms.
• Other hardware-specific configurations, such as the ones used on PickNik's UR arms, inherit from picknik_ur_site_config.