From 7fd2a7356b4d0e579ffc5ef0ce7d2f07bb128aaa Mon Sep 17 00:00:00 2001
From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
Date: Wed, 26 Apr 2023 17:27:53 -0400
Subject: [PATCH] Add Gazebo site config package (#8)

* Add Gazebo site config and fix licensing

* Move switch panel outside robot URDF, add Push Button

* Add comments from developing tutorial

* Remove unused parameters

* Fixes from doc PR review

* Add launch_cameras_when_simulated params to config files

* Add initial positions to base config

* Add extra comment on launch_robot_state_publisher

* Fix bad links and fix typos/capitalization

* MoveIt Studio -> MoveIt Studio Agent
---
 LICENSE                                       | 230 ++-----------
 src/picknik_ur_base_config/README.md          |   4 +-
 .../config/base_config.yaml                   |  10 +-
 .../description/picknik_ur5e.xacro            |   4 +
 .../launch/hardware.launch.py                 |  32 +-
 .../launch/robot_drivers_to_persist.launch.py |  30 +-
 .../launch/sim/hardware_sim.launch.py         |  30 +-
 .../robot_drivers_to_persist_sim.launch.py    |  30 +-
 src/picknik_ur_base_config/package.xml        |   4 +-
 src/picknik_ur_gazebo_config/CMakeLists.txt   |  22 ++
 src/picknik_ur_gazebo_config/README.md        |   7 +
 .../config/cameras.yaml                       |  40 +++
 .../control/picknik_ur5e.ros2_control.yaml    |  71 ++++
 .../config/initial_positions.yaml             |   6 +
 .../config/moveit/picknik_ur_gazebo.srdf      | 181 ++++++++++
 .../config/moveit/sensors_3d.yaml             |  28 ++
 .../config/moveit/ur5e_servo.yaml             |  65 ++++
 .../config/site_config.yaml                   | 104 ++++++
 .../description/picknik_ur_gazebo.xacro       | 198 +++++++++++
 .../description/simulation_scene.urdf.xacro   |  13 +
 .../launch/bringup.launch.py                  |   0
 .../launch/sim/hardware_sim.launch.py         | 316 ++++++++++++++++++
 .../objectives/inspect_surface.xml            |  18 +
 .../objectives/push_button.xml                |  48 +++
 .../objectives/push_button_config.yaml        |  21 ++
 .../objectives/take_snapshot.xml              |  11 +
 src/picknik_ur_gazebo_config/package.xml      |  33 ++
 .../waypoints/waypoints.yaml                  |  91 +++++
 src/picknik_ur_site_config/README.md          |   4 +-
 src/picknik_ur_site_config/package.xml        |   6 +-
 30 files changed, 1431 insertions(+), 226 deletions(-)
 create mode 100644 src/picknik_ur_gazebo_config/CMakeLists.txt
 create mode 100644 src/picknik_ur_gazebo_config/README.md
 create mode 100644 src/picknik_ur_gazebo_config/config/cameras.yaml
 create mode 100644 src/picknik_ur_gazebo_config/config/control/picknik_ur5e.ros2_control.yaml
 create mode 100644 src/picknik_ur_gazebo_config/config/initial_positions.yaml
 create mode 100644 src/picknik_ur_gazebo_config/config/moveit/picknik_ur_gazebo.srdf
 create mode 100644 src/picknik_ur_gazebo_config/config/moveit/sensors_3d.yaml
 create mode 100644 src/picknik_ur_gazebo_config/config/moveit/ur5e_servo.yaml
 create mode 100644 src/picknik_ur_gazebo_config/config/site_config.yaml
 create mode 100644 src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro
 create mode 100644 src/picknik_ur_gazebo_config/description/simulation_scene.urdf.xacro
 create mode 100644 src/picknik_ur_gazebo_config/launch/bringup.launch.py
 create mode 100644 src/picknik_ur_gazebo_config/launch/sim/hardware_sim.launch.py
 create mode 100644 src/picknik_ur_gazebo_config/objectives/inspect_surface.xml
 create mode 100644 src/picknik_ur_gazebo_config/objectives/push_button.xml
 create mode 100644 src/picknik_ur_gazebo_config/objectives/push_button_config.yaml
 create mode 100644 src/picknik_ur_gazebo_config/objectives/take_snapshot.xml
 create mode 100644 src/picknik_ur_gazebo_config/package.xml
 create mode 100644 src/picknik_ur_gazebo_config/waypoints/waypoints.yaml

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+BSD 3-Clause License
+
+Copyright (c) 2023 PickNik Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/src/picknik_ur_base_config/README.md b/src/picknik_ur_base_config/README.md
index 5b06bc8e..5e630de3 100644
--- a/src/picknik_ur_base_config/README.md
+++ b/src/picknik_ur_base_config/README.md
@@ -1,3 +1,5 @@
 # picknik_ur_base_config
 
-A MoveIt Studio base configuration for PickNik's UR5e simulation, for detailed documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)
+A MoveIt Studio base configuration for PickNik's UR5e simulation.
+
+For detailed documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)
diff --git a/src/picknik_ur_base_config/config/base_config.yaml b/src/picknik_ur_base_config/config/base_config.yaml
index 31bb1a92..7a7ce028 100644
--- a/src/picknik_ur_base_config/config/base_config.yaml
+++ b/src/picknik_ur_base_config/config/base_config.yaml
@@ -17,14 +17,20 @@ hardware:
   # [Required]
   simulated: True
 
-  # If MoveIt Studio should launch the ros2 controller node.
+  # If the MoveIt Studio Agent should launch the ros2 controller node.
   # [Optional, default=True]
   launch_control_node: True
 
-  # If MoveIt Studio should launch the robot state publisher.
+  # If the MoveIt Studio Agent should launch the robot state publisher.
+  # This should be false if you are launching the robot state publisher as part of drivers.
   # [Optional, default=True]
   launch_robot_state_publisher: True
 
+  # If the MoveIt Studio Agent should launch cameras when simulated.
+  # This must be False when using mock hardware, since there are no cameras simulated.
+  # [Optional, default=True]
+  launch_cameras_when_simulated: False
+
   # The robot's IP address.
   # [Required]
   ip: "0.0.0.0"
diff --git a/src/picknik_ur_base_config/description/picknik_ur5e.xacro b/src/picknik_ur_base_config/description/picknik_ur5e.xacro
index 2e4dfa94..1a9374b9 100644
--- a/src/picknik_ur_base_config/description/picknik_ur5e.xacro
+++ b/src/picknik_ur_base_config/description/picknik_ur5e.xacro
@@ -32,6 +32,9 @@
   <!-- Import environment macros -->
   <xacro:include filename="$(find picknik_accessories)/descriptions/geometry/collision_and_visual/cube_collision_and_visual.urdf.xacro" />
 
+  <!-- initial positions for simulations (Mock Hardware and Gazebo) -->
+  <xacro:arg name="initial_positions_file" default="$(find picknik_ur5e_base_config)/config/initial_positions.yaml"/>
+
   <link name="world" />
   <!-- arm -->
   <xacro:ur_robot
@@ -43,6 +46,7 @@
     physical_parameters_file="$(arg physical_parameters_file)/$(arg name)/physical_parameters.yaml"
     visual_parameters_file="$(arg visual_parameters_file)/$(arg name)/visual_parameters.yaml"
     use_fake_hardware="$(arg use_fake_hardware)"
+    initial_positions="${xacro.load_yaml(initial_positions_file)}"
     headless_mode="$(arg headless_mode)"
     robot_ip="$(arg robot_ip)"
     script_filename="$(find ur_robot_driver)/resources/ros_control.urscript"
diff --git a/src/picknik_ur_base_config/launch/hardware.launch.py b/src/picknik_ur_base_config/launch/hardware.launch.py
index 2455e4a0..3974fa93 100644
--- a/src/picknik_ur_base_config/launch/hardware.launch.py
+++ b/src/picknik_ur_base_config/launch/hardware.launch.py
@@ -1,8 +1,32 @@
-# Copyright 2023 PickNik Inc.
+# Copyright (c) 2023 PickNik Inc.
 # All rights reserved.
-#
-# Unauthorized copying of this code base via any medium is strictly prohibited.
-# Proprietary and confidential.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
 from launch import LaunchDescription
 from launch_ros.actions import Node
 from moveit_studio_utils_py.system_config import SystemConfigParser
diff --git a/src/picknik_ur_base_config/launch/robot_drivers_to_persist.launch.py b/src/picknik_ur_base_config/launch/robot_drivers_to_persist.launch.py
index 1ade7038..11277e2f 100644
--- a/src/picknik_ur_base_config/launch/robot_drivers_to_persist.launch.py
+++ b/src/picknik_ur_base_config/launch/robot_drivers_to_persist.launch.py
@@ -1,8 +1,30 @@
-# Copyright 2023 PickNik Inc.
+# Copyright (c) 2023 PickNik Inc.
 # All rights reserved.
-#
-# Unauthorized copying of this code base via any medium is strictly prohibited.
-# Proprietary and confidential.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
 from launch import LaunchDescription
diff --git a/src/picknik_ur_base_config/launch/sim/hardware_sim.launch.py b/src/picknik_ur_base_config/launch/sim/hardware_sim.launch.py
index 8df34629..5efdeeaa 100644
--- a/src/picknik_ur_base_config/launch/sim/hardware_sim.launch.py
+++ b/src/picknik_ur_base_config/launch/sim/hardware_sim.launch.py
@@ -1,8 +1,30 @@
-# Copyright 2023 PickNik Inc.
+# Copyright (c) 2023 PickNik Inc.
 # All rights reserved.
-#
-# Unauthorized copying of this code base via any medium is strictly prohibited.
-# Proprietary and confidential.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 from launch import LaunchDescription
 from launch_ros.actions import Node
diff --git a/src/picknik_ur_base_config/launch/sim/robot_drivers_to_persist_sim.launch.py b/src/picknik_ur_base_config/launch/sim/robot_drivers_to_persist_sim.launch.py
index a7e6ca37..ea52ee2b 100644
--- a/src/picknik_ur_base_config/launch/sim/robot_drivers_to_persist_sim.launch.py
+++ b/src/picknik_ur_base_config/launch/sim/robot_drivers_to_persist_sim.launch.py
@@ -1,8 +1,30 @@
-# Copyright 2023 PickNik Inc.
+# Copyright (c) 2023 PickNik Inc.
 # All rights reserved.
-#
-# Unauthorized copying of this code base via any medium is strictly prohibited.
-# Proprietary and confidential.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
 from launch import LaunchDescription
diff --git a/src/picknik_ur_base_config/package.xml b/src/picknik_ur_base_config/package.xml
index ebc78977..b76ef6ac 100644
--- a/src/picknik_ur_base_config/package.xml
+++ b/src/picknik_ur_base_config/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_base_config</name>
-  <version>1.11.0</version>
+  <version>2.0.0</version>
 
-  <description>Base config package for a UR-5e that can be simulated with mock hardware</description>
+  <description>Base config package for a UR5e that can be simulated with mock hardware</description>
 
   <maintainer email="studio.maintainers@picknik.ai">MoveIt Studio Maintainer</maintainer>
 
diff --git a/src/picknik_ur_gazebo_config/CMakeLists.txt b/src/picknik_ur_gazebo_config/CMakeLists.txt
new file mode 100644
index 00000000..a9d8301b
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/CMakeLists.txt
@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.16.3)
+project(picknik_ur_gazebo_config)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY
+    config
+    description
+    launch
+    objectives
+    waypoints
+  DESTINATION
+    share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/src/picknik_ur_gazebo_config/README.md b/src/picknik_ur_gazebo_config/README.md
new file mode 100644
index 00000000..e610b044
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/README.md
@@ -0,0 +1,7 @@
+# picknik_ur_gazebo_config
+
+A MoveIt Studio site configuration for a UR5e simulated in Gazebo, based on the `picknik_ur_base_config` package.
+
+This package follows the required structure described in [Creating a New Site Config Package](https://docs.picknik.ai/en/stable/concepts/config_package/config_package.html#creating-a-new-site-config-package), and may be used to add environments, Behaviors, and Objectives on top of the UR5e base configuration specified in `site_config.yaml`.
+
+For further documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)
diff --git a/src/picknik_ur_gazebo_config/config/cameras.yaml b/src/picknik_ur_gazebo_config/config/cameras.yaml
new file mode 100644
index 00000000..0efba4da
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/config/cameras.yaml
@@ -0,0 +1,40 @@
+- wrist_mounted_camera:
+    camera_name: "wrist_mounted_camera"
+    type: "sim"
+    use: True
+
+    # These values must match those specified in realsense_d415.urdf.xacro
+    image_width: 640
+    image_height: 480
+
+    # information about the topics the camera publishes the raw image and info
+    rgb_info: "/wrist_mounted_camera/color/camera_info"
+    rgb_image: "/wrist_mounted_camera/color/image_raw"
+
+    # By adding registered_rgb_depth_pair, this camera can be used for "Set Transform From Click"
+    # Since this is simulation, assume registered image is simply the raw image.
+    registered_rgb_depth_pair:
+      depth_info: "/wrist_mounted_camera/color/camera_info"
+      depth_image: "/wrist_mounted_camera/depth/image_rect_raw"
+      registered_info: "/wrist_mounted_camera/depth_registered/camera_info"
+      registered_image: "/wrist_mounted_camera/depth_registered/image_rect_raw"
+
+- scene_camera:
+    camera_name: "scene_camera"
+    type: "sim"
+    use: True
+    # These values must match those specified in realsense_d435.urdf.xacro
+    image_width: 640
+    image_height: 480
+
+    # information about the topics the camera publishes the raw image and info
+    rgb_info: "/scene_camera/color/camera_info"
+    rgb_image: "/scene_camera/color/image_raw"
+
+    # By adding registered_rgb_depth_pair, this camera can be used for "Set Transform From Click"
+    # Since this is simulation, assume registered image is simply the raw image.
+    registered_rgb_depth_pair:
+      depth_info: "/scene_camera/color/camera_info"
+      depth_image: "/scene_camera/depth/image_rect_raw"
+      registered_info: "/scene_camera/depth_registered/camera_info"
+      registered_image: "/scene_camera/depth_registered/image_rect_raw"
diff --git a/src/picknik_ur_gazebo_config/config/control/picknik_ur5e.ros2_control.yaml b/src/picknik_ur_gazebo_config/config/control/picknik_ur5e.ros2_control.yaml
new file mode 100644
index 00000000..3bebe184
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/config/control/picknik_ur5e.ros2_control.yaml
@@ -0,0 +1,71 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 200  # Hz
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+    robotiq_gripper_controller:
+      type: position_controllers/GripperActionController
+    streaming_controller:
+      type: position_controllers/JointGroupPositionController
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    command_joints:
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    constraints:
+      stopped_velocity_tolerance: 0.0
+      goal_time: 0.0
+      shoulder_pan_joint:
+        goal: 0.05
+      shoulder_lift_joint:
+        goal: 0.05
+      elbow_joint:
+        goal: 0.05
+      wrist_1_joint:
+        goal: 0.05
+      wrist_2_joint:
+        goal: 0.05
+      wrist_3_joint:
+        goal: 0.05
+
+streaming_controller:
+  ros__parameters:
+    joints:
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+
+robotiq_gripper_controller:
+  ros__parameters:
+    default: true
+    joint: robotiq_85_left_knuckle_joint
+    allow_stalling: true
diff --git a/src/picknik_ur_gazebo_config/config/initial_positions.yaml b/src/picknik_ur_gazebo_config/config/initial_positions.yaml
new file mode 100644
index 00000000..ace7747c
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/config/initial_positions.yaml
@@ -0,0 +1,6 @@
+shoulder_pan_joint: 0.0
+shoulder_lift_joint: -0.6
+elbow_joint: -1.4
+wrist_1_joint: -1.2
+wrist_2_joint: 1.7
+wrist_3_joint: 0.0
diff --git a/src/picknik_ur_gazebo_config/config/moveit/picknik_ur_gazebo.srdf b/src/picknik_ur_gazebo_config/config/moveit/picknik_ur_gazebo.srdf
new file mode 100644
index 00000000..a2e235ae
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/config/moveit/picknik_ur_gazebo.srdf
@@ -0,0 +1,181 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="ur5e">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="manipulator">
+        <chain base_link="base_link" tip_link="manual_grasp_link"/>
+    </group>
+    <group name="gripper">
+        <link name="robotiq_85_base_link"/>
+        <link name="robotiq_85_left_inner_knuckle_link"/>
+        <link name="robotiq_85_left_finger_tip_link"/>
+        <link name="robotiq_85_left_knuckle_link"/>
+        <link name="robotiq_85_left_finger_link"/>
+        <link name="robotiq_85_right_inner_knuckle_link"/>
+        <link name="robotiq_85_right_finger_tip_link"/>
+        <link name="robotiq_85_right_knuckle_link"/>
+        <link name="robotiq_85_right_finger_link"/>
+        <joint name="robotiq_85_left_knuckle_joint"/>
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="open" group="gripper">
+        <joint name="robotiq_85_left_finger_tip_joint" value="0"/>
+        <joint name="robotiq_85_left_inner_knuckle_joint" value="0"/>
+        <joint name="robotiq_85_left_knuckle_joint" value="0"/>
+        <joint name="robotiq_85_right_finger_tip_joint" value="0"/>
+        <joint name="robotiq_85_right_inner_knuckle_joint" value="0"/>
+        <joint name="robotiq_85_right_knuckle_joint" value="0"/>
+    </group_state>
+    <group_state name="close" group="gripper">
+        <joint name="robotiq_85_left_finger_tip_joint" value="-0.7929"/>
+        <joint name="robotiq_85_left_inner_knuckle_joint" value="0.7929"/>
+        <joint name="robotiq_85_left_knuckle_joint" value="0.7929"/>
+        <joint name="robotiq_85_right_finger_tip_joint" value="0.7929"/>
+        <joint name="robotiq_85_right_inner_knuckle_joint" value="-0.7929"/>
+        <joint name="robotiq_85_right_knuckle_joint" value="-0.7929"/>
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="moveit_ee" parent_link="tool0" group="gripper"/>
+    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link"/>
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="robotiq_85_left_finger_tip_joint"/>
+    <passive_joint name="robotiq_85_right_inner_knuckle_joint"/>
+    <passive_joint name="robotiq_85_right_finger_tip_joint"/>
+    <passive_joint name="robotiq_85_left_inner_knuckle_joint"/>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent"/>
+    <disable_collisions link1="base_link_inertia" link2="environment" reason="Adjacent"/>
+    <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent"/>
+    <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent"/>
+    <disable_collisions link1="forearm_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_base_link" reason="Never"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_finger_link" reason="Never"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="tool_changer_link" reason="Adjacent"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_mounted_camera_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="tool_changer_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="wrist_mounted_camera_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="tool_changer_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="ur_to_robotiq_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_mounted_camera_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="tool_changer_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="ur_to_robotiq_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_mounted_camera_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="tool_changer_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="tool_changer_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="tool_changer_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="ur_to_robotiq_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_mounted_camera_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="tool_changer_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="ur_to_robotiq_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_mounted_camera_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="tool_changer_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="tool_changer_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
+    <disable_collisions link1="shoulder_link" link2="environment" reason="Never"/>
+    <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent"/>
+    <disable_collisions link1="tool_changer_link" link2="ur_to_robotiq_link" reason="Never"/>
+    <disable_collisions link1="tool_changer_link" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="tool_changer_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="tool_changer_link" link2="wrist_3_link" reason="Adjacent"/>
+    <disable_collisions link1="tool_changer_link" link2="wrist_mounted_camera_link" reason="Never"/>
+    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_mounted_camera_link" reason="Never"/>
+    <disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent"/>
+    <disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="wrist_1_link" link2="wrist_mounted_camera_link" reason="Never"/>
+    <disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent"/>
+    <disable_collisions link1="wrist_2_link" link2="wrist_mounted_camera_link" reason="Never"/>
+    <disable_collisions link1="wrist_3_link" link2="wrist_mounted_camera_link" reason="Never"/>
+</robot>
diff --git a/src/picknik_ur_gazebo_config/config/moveit/sensors_3d.yaml b/src/picknik_ur_gazebo_config/config/moveit/sensors_3d.yaml
new file mode 100644
index 00000000..081fef62
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/config/moveit/sensors_3d.yaml
@@ -0,0 +1,28 @@
+sensors:
+  - scene_scan_camera
+scene_scan_camera:
+  # The name of the Octomap updater plugin that we are using.
+  sensor_plugin: "moveit_studio_plugins/PointCloudServiceOctomapUpdater"
+  # Specifies the topic to listen on for a point cloud.
+  # Set to an empty topic to disable.
+  point_cloud_service_name: "/point_cloud_service"
+  # Points further than this will not be used (in meters).
+  max_range: 1.5
+  # Choose one of every 'point_subsample' points (select all if set to 1).
+  point_subsample: 1
+  # Should always be >= 1.0. Scale up collision shapes in the scene before excluding them from the octomap.
+  padding_scale: 1.0
+  # Absolute padding around scaled collision shapes when excluding them from the octomap (in meters).
+  padding_offset: 0.01
+  # The octomap representation will be updated at rate less than or equal to this value.
+  max_update_rate: 0.1
+  # This parameter is not required by moveit_studio_plugins/PointCloudServiceOctomapUpdater, but it is needed by the Studio UpdatePlanningScene behavior so we keep it in for now.
+  # TODO(10856): Delete this parameter
+  point_cloud_topic: "/scene_camera/depth/color/points/snapshot"
+
+# Specifies the resolution at which the octomap is maintained (in meters).
+octomap_resolution: 0.01
+# Specifies the coordinate frame in which the Octomap representation will be stored.
+# Note! When an OccupancyMonitor instance is initialized by the PlanningSceneMonitor,
+# this frame parameter will not be used. Instead, the frame defaults to the planning frame.
+octomap_frame: "base_link"
diff --git a/src/picknik_ur_gazebo_config/config/moveit/ur5e_servo.yaml b/src/picknik_ur_gazebo_config/config/moveit/ur5e_servo.yaml
new file mode 100644
index 00000000..663eae44
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/config/moveit/ur5e_servo.yaml
@@ -0,0 +1,65 @@
+###############################################
+# Modify all parameters related to servoing here
+###############################################
+use_gazebo: true  # Whether the robot is started in a Gazebo simulation environment
+
+## Properties of incoming commands
+command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
+scale:
+  # Scale parameters are only used if command_in_type=="unitless"
+  linear: 2.0  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
+  rotational: 3.0  # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
+  # Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
+  joint: 2.0
+
+# Disable Servo velocity scaling calculation and drive the arm at 50% max speed.
+override_velocity_scaling_factor: 0.5
+
+## Properties of outgoing commands
+publish_period: 0.005  # 1/Nominal publish rate [seconds]
+low_latency_mode: true  # Set this to true to publish as soon as an incoming Twist command is received (publish_period is ignored)
+
+# What type of topic does your robot driver expect?
+# Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
+command_out_type: std_msgs/Float64MultiArray
+
+# What to publish? Can save some bandwidth as most robots only require positions or velocities
+publish_joint_positions: true
+publish_joint_velocities: false
+publish_joint_accelerations: false
+
+## Plugins for smoothing outgoing commands
+smoothing_filter_plugin_name: "online_signal_smoothing::ButterworthFilterPlugin"
+
+## Incoming Joint State properties
+low_pass_filter_coeff: 4.0  # Larger --> trust the filtered data more, trust the measurements less.
+
+## MoveIt properties
+move_group_name: manipulator  # Often 'manipulator' or 'arm'
+planning_frame: base_link  # The MoveIt planning frame. Often 'base_link' or 'world'
+is_primary_planning_scene_monitor: false  # The MoveGroup node maintains the planning scene, so Servo needs to get its world info from there.
+
+## Other frames
+ee_frame_name: manual_grasp_link  # The name of the end effector link, used to return the EE pose
+robot_link_command_frame: base_link  # commands must be given in the frame of a robot link. Usually either the base or end effector
+
+## Stopping behaviour
+incoming_command_timeout: 0.1  # Stop servoing if X seconds elapse without a new command
+
+## Configure handling of singularities and joint limits
+lower_singularity_threshold: 30.0  # Start decelerating when the condition number hits this (close to singularity)
+hard_stop_singularity_threshold: 50.0 # Stop when the condition number hits this
+joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
+
+## Topic names
+cartesian_command_in_topic: ~/delta_twist_cmds  # Topic for incoming Cartesian twist commands
+joint_command_in_topic: ~/delta_joint_cmds # Topic for incoming joint angle commands
+joint_topic: /joint_states
+status_topic: ~/status # Publish status to this topic
+command_out_topic: /robot_controllers/commands # Publish outgoing commands here
+
+## Collision checking for the entire robot body
+check_collisions: true # Check collisions?
+collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
+self_collision_proximity_threshold: 0.01 # Start decelerating when a self-collision is this far [m]
+scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]
diff --git a/src/picknik_ur_gazebo_config/config/site_config.yaml b/src/picknik_ur_gazebo_config/config/site_config.yaml
new file mode 100644
index 00000000..39ecb5ad
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/config/site_config.yaml
@@ -0,0 +1,104 @@
+#
+#  This contains information for a unique instance of a robot.
+#
+
+# Name of the package to specialize
+based_on_package: "picknik_ur_base_config"
+
+# Optional parameters that can be read in your launch files for specific functionality
+optional_feature_params:
+  gazebo_world_name: "space_station.sdf"
+  gazebo_gui: False
+  gazebo_verbose: True
+
+# Enable simulation time so nodes are synced with the Gazebo block.
+ros_global_params:
+  use_sim_time: True
+
+hardware:
+  # Used by the ur_description package to set kinematics and geometry for a specific robot type.
+  # You can change this to another UR model but you must update any configuration affected by the different arm size
+  # UR models in the ur_description package are ur3, ur3e, ur5, ur5e, ur10, ur10e, and ur16e.
+  type: "ur5e"
+  
+  # This is the only option for this site_config
+  simulated: True
+
+  # Gazebo starts its own controller manager through the ros2_control plugin, so set this to False
+  launch_control_node: False
+
+  # If the MoveIt Studio Agent should launch the robot state publisher
+  # This should be false if you are launching the robot state publisher as part of drivers.
+  launch_robot_state_publisher: True
+
+  # If the MoveIt Studio Agent should launch cameras when simulated.
+  launch_cameras_when_simulated: True
+
+  # The robot's IP address
+  ip: "0.0.0.0"
+
+  # The following launch file is started when hardware.simulated is True
+  simulated_hardware_launch_file:
+    package: "picknik_ur_gazebo_config"
+    path: "launch/sim/hardware_sim.launch.py"
+
+  # Override other parameters from the base config package, including
+  # the camera configuration and the robot description model.
+  camera_config_file:
+    package: "picknik_ur_gazebo_config"
+    path: "config/cameras.yaml"
+  robot_description:
+    srdf:
+      package: "picknik_ur_gazebo_config"
+      path: "config/moveit/picknik_ur_gazebo.srdf"
+    urdf:
+      package: "picknik_ur_gazebo_config"
+      path: "description/picknik_ur_gazebo.xacro"
+    urdf_params:
+      - name: "%>> hardware.type"
+      # Using the ogre renderer as it is compatible with most host hardware.
+      # ogre2 (which is the Gazebo default) is also an option if your system supports it.
+      - gazebo_renderer: ${GAZEBO_RENDERER:-ogre}
+      - kinematics_parameters_file:
+          package: "ur_description"
+          path: "config"
+      - physical_parameters_file:
+          package: "ur_description"
+          path: "config"
+      - visual_parameters_file:
+          package: "ur_description"
+          path: "config"
+
+# Override MoveIt parameters
+moveit_params:
+  sensors_3d:
+    package: "picknik_ur_gazebo_config"
+    path: "config/moveit/sensors_3d.yaml"
+  servo:
+    package: "picknik_ur_gazebo_config"
+    path: "config/moveit/ur5e_servo.yaml"
+
+octomap_manager:
+  # Input point cloud topic name. The *output* point cloud topic published by
+  # the Octomap manager node is defined in sensors_3d.yaml.
+  input_point_cloud_topic: "/wrist_mounted_camera/depth/color/points"
+
+# This configures what controllers gets run at startup
+ros2_control:
+  controllers_active_at_startup:
+    - "joint_state_broadcaster"
+    - "streaming_controller"
+    - "robotiq_gripper_controller"
+  controllers_inactive_at_startup:
+    - "joint_trajectory_controller"
+
+objectives:
+  # Override with a new set of waypoints based on the Gazebo world.
+  waypoints_file:
+    package_name: "picknik_ur_gazebo_config"
+    relative_path: "waypoints/waypoints.yaml"
+  # Add new simulation Objectives in addition to the one in the base config package.
+  objective_library_paths:
+    sim:
+      package_name: "picknik_ur_gazebo_config"
+      relative_path: "objectives"
diff --git a/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro b/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro
new file mode 100644
index 00000000..6bec95b4
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro
@@ -0,0 +1,198 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
+  <!-- parameters -->
+  <xacro:arg name="name" default="" />
+  <xacro:arg name="joint_limits_parameters_file" default="" />
+  <xacro:arg name="kinematics_parameters_file" default="" />
+  <xacro:arg name="physical_parameters_file" default="" />
+  <xacro:arg name="visual_parameters_file" default="" />
+  <xacro:arg name="use_extra_camera" default="false"/>
+  <xacro:arg name="gazebo_renderer" default="ogre"/>
+
+  <!-- Import macros for main hardware components -->
+  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro" />
+  <xacro:include filename="$(find robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro" />
+  <xacro:include filename="$(find robotiq_description)/urdf/robotiq_gripper_macro.urdf.xacro" />
+  <xacro:include filename="$(find picknik_accessories)/descriptions/brackets/mtc_ur_tool_changer/mtc_ur_tool_changer.urdf.xacro" />
+  <xacro:include filename="$(find picknik_accessories)/descriptions/brackets/ur_realsense_camera_adapter/picknik_ur_camera_adapter.urdf.xacro" />
+  <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro" />
+  <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d435.urdf.xacro" />
+
+  <!-- Import environment macros -->
+  <xacro:include filename="$(find picknik_accessories)/descriptions/geometry/collision_and_visual/cube_collision_and_visual.urdf.xacro" />
+
+  <!-- initial position for simulations (Fake Hardware and Gazebo) -->
+  <xacro:arg name="initial_positions_file" default="$(find picknik_ur_base_config)/config/initial_positions.yaml"/>
+
+  <!-- convert to properties to use substitution in function -->
+  <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
+  <xacro:property name="gazebo_renderer" default="$(arg gazebo_renderer)"/>
+
+  <!-- create link fixed to the "world" -->
+  <link name="world" />
+
+  <!-- arm -->
+  <xacro:ur_robot
+    name="$(arg name)"
+    prefix=""
+    parent="world"
+    joint_limits_parameters_file="$(arg joint_limits_parameters_file)"
+    kinematics_parameters_file="$(arg kinematics_parameters_file)/$(arg name)/default_kinematics.yaml"
+    physical_parameters_file="$(arg physical_parameters_file)/$(arg name)/physical_parameters.yaml"
+    visual_parameters_file="$(arg visual_parameters_file)/$(arg name)/visual_parameters.yaml"
+    sim_ignition="true"
+    initial_positions="${xacro.load_yaml(initial_positions_file)}">
+    <origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
+  </xacro:ur_robot>
+
+  <!-- tool changer-->
+  <xacro:mtc_ur_tool_changer prefix="" connected_to="tool0" rotation="0" />
+
+  <!-- wrist camera adapter and camera-->
+  <xacro:ur_realsense_camera_adapter prefix="" connected_to="tool_changer_tool0" rotation="0" />
+  <!-- TODO: With ogre renderer and use_mesh="true",
+  the camera image will be obstructed by the mesh-->
+  <xacro:realsense_d415 parent="d415_mount_link" name="wrist_mounted_camera" use_mesh="${gazebo_renderer == 'ogre2'}">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </xacro:realsense_d415>
+
+  <!-- Gripper and UR adapter-->
+  <xacro:ur_to_robotiq prefix="" connected_to="realsense_camera_adapter_tool0" rotation="0" />
+
+  <xacro:robotiq_gripper name="RobotiqGripperHardwareInterface" prefix="" parent="gripper_mount_link" sim_ignition="true">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </xacro:robotiq_gripper>
+
+  <link name="grasp_link" />
+  <joint name="grasp_link_joint" type="fixed">
+    <parent link="gripper_mount_link" />
+    <child link="grasp_link" />
+    <origin xyz="0.0 0.0 0.134" rpy="0.0 0.0 ${pi}" />
+  </joint>
+
+  <!-- Moveit Studio requires a link name called manual_grasp_link to perform quick tasks such as inspect surface -->
+  <link name="manual_grasp_link" />
+  <joint name="manual_grasp_joint" type="fixed">
+    <parent link="grasp_link" />
+    <child link="manual_grasp_link" />
+    <origin xyz="0 0 0" rpy="${pi / 180.0 * 5} 0 0" />
+  </joint>
+
+  <!-- Environment -->
+  <link name="environment">
+    <!-- Table -->
+    <xacro:cube_collision_and_visual length="2.0" width="2.0" height="0.25" alpha="0.0">
+      <origin rpy="0 0 0" xyz="0 0 ${-0.25/2}" />
+    </xacro:cube_collision_and_visual>
+  </link>
+
+  <joint name="base_to_environment" type="fixed">
+    <parent link="base" />
+    <child link="environment" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+  </joint>
+
+  <!-- External camera -->
+  <link name="external_camera_link" />
+  <joint name="external_camera_joint" type="fixed">
+    <parent link="world" />
+    <child link="external_camera_link" />
+    <origin xyz="0.3 -0.3 1.0" rpy="0.0 0.4 3.14" />
+  </joint>
+
+  <xacro:realsense_d435 parent="external_camera_link" name="scene_camera" visible="false" simulate_depth="true">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </xacro:realsense_d435>
+
+  <!-- Additional Camera -->
+  <xacro:if value="$(arg use_extra_camera)">
+    <link name="extra_scene_camera_link" />
+    <joint name="extra_scene_camera_joint" type="fixed">
+      <parent link="world" />
+      <child link="extra_scene_camera_link" />
+      <origin xyz="-0.3 0.3 0.5" rpy="0.0 0.0 -3.14" />
+    </joint>
+    <xacro:realsense_d435 parent="extra_scene_camera_link" name="extra_camera" visible="false" simulate_depth="false">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </xacro:realsense_d435>
+  </xacro:if>
+
+  <!-- Force/Torque Sensor -->
+  <link name="robot/wrist_3_joint/force_torque_sensor" />
+  <joint name="wrist_to_fts" type="fixed">
+    <parent link="wrist_3_link" />
+    <child link="robot/wrist_3_joint/force_torque_sensor" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+  </joint>
+  <gazebo reference="wrist_3_joint">
+    <sensor name="tcp_fts_sensor" type="force_torque">
+      <always_on>1</always_on>
+      <update_rate>50</update_rate>
+      <visualize>0</visualize>
+      <topic>tcp_fts_sensor/ft_data</topic>
+      <pose>0 0 0 0 0 0</pose>
+      <force_torque>
+        <frame>child</frame>
+        <measure_direction>parent_to_child</measure_direction>
+        <force>
+          <x>
+            <noise type="gaussian">
+              <mean>0</mean>
+              <stddev>0</stddev>
+            </noise>
+          </x>
+          <y>
+            <noise type="gaussian">
+              <mean>0</mean>
+              <stddev>0</stddev>
+            </noise>
+          </y>
+          <z>
+            <noise type="gaussian">
+              <mean>0</mean>
+              <stddev>0</stddev>
+            </noise>
+          </z>
+        </force>
+        <torque>
+          <x>
+            <noise type="gaussian">
+              <mean>0</mean>
+              <stddev>0</stddev>
+            </noise>
+          </x>
+          <y>
+            <noise type="gaussian">
+              <mean>0</mean>
+              <stddev>0</stddev>
+            </noise>
+          </y>
+          <z>
+            <noise type="gaussian">
+              <mean>0</mean>
+              <stddev>0</stddev>
+            </noise>
+          </z>
+        </torque>
+      </force_torque>
+    </sensor>
+  </gazebo>
+
+  <!-- Gazebo Plugins -->
+  <gazebo>
+    <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+      <parameters>$(find picknik_ur_gazebo_config)/config/control/picknik_ur5e.ros2_control.yaml</parameters>
+      <ros>
+        <remapping>/streaming_controller/commands:=/robot_controllers/commands</remapping>
+        <remapping>/joint_trajectory_controller/joint_trajectory:=/robot_controllers/joint_trajectory</remapping>
+      </ros>
+    </plugin>
+  </gazebo>
+
+  <gazebo>
+    <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
+      <render_engine>${gazebo_renderer}</render_engine>
+    </plugin>
+  </gazebo>
+
+</robot>
diff --git a/src/picknik_ur_gazebo_config/description/simulation_scene.urdf.xacro b/src/picknik_ur_gazebo_config/description/simulation_scene.urdf.xacro
new file mode 100644
index 00000000..517bff7c
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/description/simulation_scene.urdf.xacro
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<robot name="simulation_scene" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find picknik_accessories)/descriptions/furniture/switch_panel/switch_panel.urdf.xacro"/>
+  
+  <!-- Environment -->
+  <link name="world"/>
+  
+  <xacro:picknik_switch_panel parent="world" >
+    <origin xyz="-0.8 0.0 0" rpy="0 0 -0.44"/>
+  </xacro:picknik_switch_panel>
+
+</robot>
diff --git a/src/picknik_ur_gazebo_config/launch/bringup.launch.py b/src/picknik_ur_gazebo_config/launch/bringup.launch.py
new file mode 100644
index 00000000..e69de29b
diff --git a/src/picknik_ur_gazebo_config/launch/sim/hardware_sim.launch.py b/src/picknik_ur_gazebo_config/launch/sim/hardware_sim.launch.py
new file mode 100644
index 00000000..576698ca
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/launch/sim/hardware_sim.launch.py
@@ -0,0 +1,316 @@
+# Copyright (c) 2023 PickNik Inc.
+# All rights reserved.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+import os
+import re
+import shlex
+
+from ament_index_python import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, OpaqueFunction
+from launch_ros.actions import Node
+
+from moveit_studio_utils_py.launch_common import get_launch_file, get_ros_path, xacro_to_urdf
+from moveit_studio_utils_py.system_config import get_config_folder, SystemConfigParser
+from moveit_studio_utils_py.generate_camera_frames import generate_camera_frames
+
+
+def path_pattern_change_for_ignition(urdf_string):
+    """
+    Replaces strings in a URDF file such as
+        package://package_name/path/to/file
+    to the actual full path of the file.
+    """
+    data = urdf_string
+    package_expressions = re.findall("(package://([^//]*))", data)
+    for expr in set(package_expressions):
+        data = data.replace(expr[0], get_ros_path(expr[1]))
+    return data
+
+
+def generate_simulation_description(context, *args, **settings):
+    world_name = settings.get("gazebo_world_name", "space_station.sdf")
+    use_gui = settings.get("gazebo_gui", False)
+    is_verbose = settings.get("gazebo_verbose", False)
+    gz_renderer = os.environ.get("GAZEBO_RENDERER", "ogre")
+
+    # Create a Gazebo world file that swaps out package:// paths with absolute path.
+    original_world_file = os.path.join(
+        get_package_share_directory("picknik_accessories"),
+        "descriptions",
+        "simulation_worlds",
+        world_name,
+    )
+    modified_world_file = os.path.join(
+        get_config_folder(), "auto_created", "gazebo_world.sdf"
+    )
+    with open(original_world_file, "r") as file:
+        world_sdf = path_pattern_change_for_ignition(file.read())
+    with open(modified_world_file, "w") as file:
+        file.write(world_sdf)
+
+    # Launch Gazebo.
+    print(f"Starting Gazebo with world {world_name}")
+    print(f"GUI: {use_gui}, Verbose: {is_verbose}")
+
+    sim_args = f"-r --render-engine {gz_renderer}"
+    if is_verbose:
+        sim_args += " -v 4"
+    if not use_gui:
+        sim_args += " -s --headless-rendering"
+
+    gazebo = IncludeLaunchDescription(
+        get_launch_file("ros_gz_sim", "launch/gz_sim.launch.py"),
+        launch_arguments=[("gz_args", [f"{sim_args} {modified_world_file}"])],
+    )
+    return [gazebo]
+
+
+def generate_launch_description():
+    system_config_parser = SystemConfigParser()
+    optional_feature_setting = system_config_parser.get_optional_feature_configs()
+    cameras_config = system_config_parser.get_cameras_config()
+
+    # The path to the auto_created urdf files
+    robot_urdf = system_config_parser.get_processed_urdf()
+    robot_urdf_ignition = path_pattern_change_for_ignition(robot_urdf)
+
+    # Launch Gazebo
+    gazebo = OpaqueFunction(
+        function=generate_simulation_description, kwargs=optional_feature_setting
+    )
+
+    init_pose_args = shlex.split("-x 0.0 -y 0.0 -z 1.03 -R 0.0 -P 0.0 -Y 0.0")
+    spawn_robot = Node(
+        package="ros_gz_sim",
+        executable="create",
+        output="screen",
+        arguments=[
+            "-string",
+            robot_urdf_ignition,
+            "-name",
+            "robot",
+            "-allow_renaming",
+            "true",
+        ]
+        + init_pose_args,
+    )
+
+    ########################
+    # Camera Topic Bridges #
+    ########################
+    # For the scene camera, enable RGB image topics only.
+    scene_image_rgb_ignition_bridge = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        name="scene_image_rgb_ignition_bridge",
+        arguments=[
+            "/scene_camera/image",
+        ],
+        remappings=[
+            ("/scene_camera/image", "/scene_camera/color/image_raw"),
+        ],
+        parameters=[{"qos": "sensor_data"}],
+        output="screen",
+    )
+    scene_image_depth_ignition_bridge = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        name="scene_image_depth_ignition_bridge",
+        arguments=[
+            "/scene_camera/depth_image",
+        ],
+        remappings=[
+            (
+                "/scene_camera/depth_image",
+                "/scene_camera/depth/image_rect_raw",
+            ),
+        ],
+        parameters=[{"qos": "sensor_data"}],
+        output="screen",
+    )
+
+    scene_camera_info_ignition_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        name="scene_camera_info_ignition_bridge",
+        arguments=[
+            "/scene_camera/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo",
+        ],
+        remappings=[
+            ("/scene_camera/camera_info", "/scene_camera/color/camera_info"),
+        ],
+        output="screen",
+    )
+
+    # For the wrist mounted camera, enable RGB and depth topics.
+    wrist_image_rgb_ignition_bridge = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        name="wrist_image_rgb_ignition_bridge",
+        arguments=[
+            "/wrist_mounted_camera/image",
+        ],
+        remappings=[
+            ("/wrist_mounted_camera/image", "/wrist_mounted_camera/color/image_raw"),
+        ],
+        parameters=[{"qos": "sensor_data"}],
+        output="screen",
+    )
+    wrist_image_depth_ignition_bridge = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        name="wrist_image_depth_ignition_bridge",
+        arguments=[
+            "/wrist_mounted_camera/depth_image",
+        ],
+        remappings=[
+            (
+                "/wrist_mounted_camera/depth_image",
+                "/wrist_mounted_camera/depth/image_rect_raw",
+            ),
+        ],
+        parameters=[{"qos": "sensor_data"}],
+        output="screen",
+    )
+    wrist_camera_pointcloud_ignition_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        name="wrist_camera_pointcloud_ignition_bridge",
+        arguments=[
+            "/wrist_mounted_camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked",
+        ],
+        remappings=[
+            (
+                "/wrist_mounted_camera/points",
+                "/wrist_mounted_camera/depth/color/points",
+            ),
+        ],
+        output="screen",
+    )
+    wrist_camera_info_ignition_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        name="wrist_camera_info_ignition_bridge",
+        arguments=[
+            "/wrist_mounted_camera/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo",
+        ],
+        remappings=[
+            (
+                "/wrist_mounted_camera/camera_info",
+                "/wrist_mounted_camera/color/camera_info",
+            ),
+        ],
+        output="screen",
+    )
+
+    #######################
+    # Force Torque Sensor #
+    #######################
+    fts_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        name="fts_bridge",
+        arguments=[
+            "/tcp_fts_sensor/ft_data@geometry_msgs/msg/WrenchStamped[ignition.msgs.Wrench",
+        ],
+        remappings=[
+            (
+                "/tcp_fts_sensor/ft_data",
+                "/force_torque_sensor_broadcaster/wrench",
+            ),
+        ],
+        output="screen",
+    )
+
+    clock_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        name="clock_bridge",
+        arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"],
+        output="screen",
+    )
+
+    frame_pair_params = [
+        {
+            "world_frame": "world",
+            "camera_frames": generate_camera_frames(cameras_config),
+        }
+    ]
+
+    camera_transforms_node = Node(
+        package="moveit_studio_agent",
+        executable="camera_transforms_node",
+        name="camera_transforms_node",
+        output="screen",
+        parameters=frame_pair_params,
+        arguments=["--ros-args"],
+    )
+
+    #####################
+    # Environment Scene #
+    #####################
+    scene_xacro_path = get_ros_path(
+        "picknik_ur_gazebo_config", "description/simulation_scene.urdf.xacro"
+    )
+    scene_urdf = xacro_to_urdf(scene_xacro_path, None)
+    scene_urdf_ignition = path_pattern_change_for_ignition(scene_urdf)
+
+    spawn_scene = Node(
+        package="ros_gz_sim",
+        executable="create",
+        output="screen",
+        arguments=[
+            "-string",
+            scene_urdf_ignition,
+            "-name",
+            "cabinet",
+            "-allow_renaming",
+            "true",
+        ]
+        + init_pose_args,
+    )
+
+    return LaunchDescription(
+        [
+            scene_image_rgb_ignition_bridge,
+            scene_image_depth_ignition_bridge,
+            scene_camera_info_ignition_bridge,
+            wrist_image_rgb_ignition_bridge,
+            wrist_camera_info_ignition_bridge,
+            wrist_image_depth_ignition_bridge,
+            wrist_camera_pointcloud_ignition_bridge,
+            clock_bridge,
+            fts_bridge,
+            gazebo,
+            spawn_robot,
+            spawn_scene,
+            camera_transforms_node,
+        ]
+    )
diff --git a/src/picknik_ur_gazebo_config/objectives/inspect_surface.xml b/src/picknik_ur_gazebo_config/objectives/inspect_surface.xml
new file mode 100644
index 00000000..404e08e0
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/objectives/inspect_surface.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<root BTCPP_format="4" main_tree_to_execute="Inspect Surface">
+    <BehaviorTree ID="Inspect Surface" _description="Move the wrist camera to point towards a selected surface">
+        <Sequence>
+            <Action ID="InitializeMTCTask" controller_names="/joint_trajectory_controller" task="{move_to_pose_task}"/>
+            <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>
+            <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{inspect_surface.target_pose}" task="{move_to_pose_task}"/>
+            <Action ID="PlanMTCTask" solution="{move_to_pose_solution}" task="{move_to_pose_task}"/>
+            <Fallback name="wait_for_approval_if_user_available">
+                <Inverter>
+                    <Action ID="IsUserAvailable" />
+                </Inverter>
+                <Action ID="WaitForUserTrajectoryApproval" solution="{move_to_pose_solution}" />
+            </Fallback>
+            <Action ID="ExecuteMTCTask" solution="{move_to_pose_solution}" />
+        </Sequence>
+    </BehaviorTree>
+</root>
diff --git a/src/picknik_ur_gazebo_config/objectives/push_button.xml b/src/picknik_ur_gazebo_config/objectives/push_button.xml
new file mode 100644
index 00000000..5d5acfc7
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/objectives/push_button.xml
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<root BTCPP_format="4" main_tree_to_execute="Push Button">
+    <BehaviorTree ID="Push Button" _description="Push a button with the end effector">
+        <Sequence>
+            <Action ID="LoadObjectiveParameters" config_file_name="push_button_config.yaml" parameters="{parameters}" />
+            <SubTree ID="CloseGripper" />
+            <Action ID="SaveCurrentState" saved_robot_state="{initial_robot_state}" />
+            <Sequence>
+                <Action ID="InitializeMTCTask" controller_names="/joint_trajectory_controller" task="{push_button_task}"/>
+                <Action ID="SetupMTCCurrentState" task="{push_button_task}"/>
+                <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{push_button.target_pose}" task="{push_button_task}"/>
+                <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="0.2" min_distance="0.05" parameters="{parameters}" task="{push_button_task}" />
+                <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
+                <Action ID="PlanMTCTask" solution="{full_push_button_solution}" task="{push_button_task}"/>
+                <Action ID="SplitMTCSolution" solution_in="{full_push_button_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
+                <Action ID="WaitForUserTrajectoryApproval" solution="{full_push_button_solution}"/>
+                <Action ID="ExecuteMTCTask" solution="{move_to_approach_solution}"/>
+
+                <Action ID="SaveCurrentState" saved_robot_state="{pre_approach_robot_state}" />
+                <ForceSuccess>
+                    <ReactiveSequence>
+                        <Action ID="IsForceWithinThreshold" parameters="{parameters}" />
+                        <Action ID="ExecuteMTCTask" solution="{push_solution}" />
+                    </ReactiveSequence>
+                </ForceSuccess>
+            </Sequence>
+            <SubTree ID="RetreatToInitialPose" pre_approach_robot_state="{pre_approach_robot_state}" initial_robot_state="{initial_robot_state}" parameters="{parameters}" />
+        </Sequence>
+    </BehaviorTree>
+    <BehaviorTree ID="CloseGripper">
+        <Sequence name="close_gripper_main">
+            <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929" />
+        </Sequence>
+    </BehaviorTree>
+    <BehaviorTree ID="RetreatToInitialPose">
+        <Sequence>
+            <Action ID="InitializeMTCTask" controller_names="/joint_trajectory_controller" task="{retreat_task}" />
+            <Action ID="SetupMTCCurrentState" task="{retreat_task}" />
+            <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{retreat_task}" />
+            <Action ID="SetupMTCCartesianMoveToJointState" joint_state="{pre_approach_robot_state}" planning_group_name="manipulator" task="{retreat_task}" />
+            <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{retreat_task}" />
+            <Action ID="SetupMTCMoveToJointState" joint_state="{initial_robot_state}" planning_group_name="manipulator" task="{retreat_task}" />
+            <Action ID="PlanMTCTask" solution="{return_to_initial_waypoint_solution}" task="{retreat_task}" />
+            <Action ID="ExecuteMTCTask" solution="{return_to_initial_waypoint_solution}" />
+        </Sequence>
+    </BehaviorTree>
+</root>
diff --git a/src/picknik_ur_gazebo_config/objectives/push_button_config.yaml b/src/picknik_ur_gazebo_config/objectives/push_button_config.yaml
new file mode 100644
index 00000000..ec3e8de0
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/objectives/push_button_config.yaml
@@ -0,0 +1,21 @@
+IsForceWithinThreshold:
+  wrench_topic_name: "/force_torque_sensor_broadcaster/wrench"
+  hand_frame_name: "manual_grasp_link"
+  wrench_frame_name: "tool0"
+  minimum_consecutive_wrench_values: 10
+  force_threshold: 10.0  # Newtons
+
+SetupMTCMoveAlongFrameAxis:
+  arm_group_name: "manipulator"
+  hand_frame_name: "manual_grasp_link"
+  velocity_acceleration_scaling_factor: 0.05
+
+AllowGripperCollisionWithOctomap:
+  group_name: "gripper"
+  object_name: "<octomap>"
+  allow_collision: true
+
+ForbidGripperCollisionWithOctomap:
+  group_name: "gripper"
+  object_name: "<octomap>"
+  allow_collision: false
diff --git a/src/picknik_ur_gazebo_config/objectives/take_snapshot.xml b/src/picknik_ur_gazebo_config/objectives/take_snapshot.xml
new file mode 100644
index 00000000..924cf0bd
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/objectives/take_snapshot.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+  <root BTCPP_format="4" main_tree_to_execute="Take Snapshot">
+    <!-- ////////// -->
+    <BehaviorTree ID="Take Snapshot" _description="Take a point cloud snapshot and add to collision scene">
+        <Sequence>
+            <Action ID="GetPointCloud" target_point_cloud_topic="/wrist_mounted_camera/depth/color/points" uuid="{take_snapshot.uuid}" point_cloud="{point_cloud}" point_cloud_uuid="{request_uuid}" />
+            <Action ID="UpdatePlanningSceneService" point_cloud="{point_cloud}" point_cloud_service="/point_cloud_service"/>
+            <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures" point_cloud_uuid="{request_uuid}"/>
+        </Sequence>
+    </BehaviorTree>
+</root>
diff --git a/src/picknik_ur_gazebo_config/package.xml b/src/picknik_ur_gazebo_config/package.xml
new file mode 100644
index 00000000..a262786a
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/package.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>picknik_ur_gazebo_config</name>
+  <version>2.0.0</version>
+
+  <description>Site config package for the simulated UR5e in PickNik's space station world simulated by Gazebo.</description>
+
+  <maintainer email="studio.maintainers@picknik.ai">MoveIt Studio Maintainer</maintainer>
+
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>picknik_ur_base_config</depend>
+
+  <exec_depend>moveit_ros_perception</exec_depend>
+  <exec_depend>ros_gz</exec_depend>
+  <exec_depend>ign_ros2_control</exec_depend>
+  <exec_depend>picknik_accessories</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+
+  <test_depend>ament_clang_format</test_depend>
+  <test_depend>ament_clang_tidy</test_depend>
+  <test_depend>ament_cmake_copyright</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>picknik_ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/picknik_ur_gazebo_config/waypoints/waypoints.yaml b/src/picknik_ur_gazebo_config/waypoints/waypoints.yaml
new file mode 100644
index 00000000..13830b81
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/waypoints/waypoints.yaml
@@ -0,0 +1,91 @@
+- name: Pick
+  description: ""
+  favorite: true
+  joint_state:
+    header:
+      frame_id: world
+      stamp:
+        sec: 0
+        nanosec: 0
+    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
+    position: [2.8157092106861623, -1.9585495223351144, -1.8538526703106895, -0.9022145649749891, 1.5886272630938514, -0.30698284674804727]
+    velocity: []
+    effort: []
+- name: Place
+  description: ""
+  favorite: true
+  joint_state:
+    header:
+      frame_id: world
+      stamp:
+        sec: 0
+        nanosec: 0
+    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
+    position: [1.7077460201246053, -1.5006596832027697, -2.3454511166929226, -0.8653959721204787, 1.5428337120843727, 0.13671324329727]
+    velocity: []
+    effort: []
+- name: Behind
+  description: ""
+  favorite: true
+  joint_state:
+    header:
+      frame_id: world
+      stamp:
+        sec: 0
+        nanosec: 0
+    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
+    position: [3.03, -0.78, -0.51, -2.39, 1.65, 0]
+    velocity: []
+    effort: []
+- name: Forward Down
+  description: ""
+  favorite: true
+  joint_state:
+    header:
+      frame_id: world
+      stamp:
+        sec: 0
+        nanosec: 0
+    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
+    position: [0, -1.41, -0.7, -2.12, 1.67, 0]
+    velocity: []
+    effort: []
+- name: Right Corner
+  description: ""
+  favorite: true
+  joint_state:
+    header:
+      frame_id: world
+      stamp:
+        sec: 0
+        nanosec: 0
+    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
+    position: [-0.61, -0.78, -0.45, -2.49, 1.64, 0]
+    velocity: []
+    effort: []
+- name: Left Corner
+  description: ""
+  favorite: true
+  joint_state:
+    header:
+      frame_id: world
+      stamp:
+        sec: 0
+        nanosec: 0
+    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
+    position: [0.58, -0.78, -0.45, -2.33, 1.64, 0]
+    velocity: []
+    effort: []
+- name: Home
+  description: ""
+  favorite: true
+  joint_state:
+    header:
+      frame_id: world
+      stamp:
+        sec: 0
+        nanosec: 0
+    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
+    position: [0, -0.78, -0.51, -2.4, 1.65, 0]
+    velocity: []
+    effort: []
diff --git a/src/picknik_ur_site_config/README.md b/src/picknik_ur_site_config/README.md
index dce3afc5..dc550c7c 100644
--- a/src/picknik_ur_site_config/README.md
+++ b/src/picknik_ur_site_config/README.md
@@ -1,5 +1,7 @@
 # picknik_ur_site_config
 
-A MoveIt Studio site configuration for UR5e based on the picknik_ur_base_config package available [here](https://github.com/PickNikRobotics/ur5e_sim_base_config). This package follows the required structure described in [Creating a New Site Config Package](https://docs.picknik.ai/en/stable/concepts/config_package/config_package.html#creating-a-new-site-config-package), and may be used to add environments, behaviors, and objectives on top of the UR5e base configuration specified in `site_config.yaml`
+A MoveIt Studio site configuration for a UR5e based on the `picknik_ur_base_config` package.
+
+This package follows the required structure described in [Creating a New Site Config Package](https://docs.picknik.ai/en/stable/concepts/config_package/config_package.html#creating-a-new-site-config-package), and may be used to add environments, Behaviors, and Objectives on top of the UR5e base configuration specified in `site_config.yaml`.
 
 For further documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)
diff --git a/src/picknik_ur_site_config/package.xml b/src/picknik_ur_site_config/package.xml
index 3f8ecdfd..c7ae74b8 100644
--- a/src/picknik_ur_site_config/package.xml
+++ b/src/picknik_ur_site_config/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_site_config</name>
-  <version>1.11.0</version>
+  <version>2.0.0</version>
 
-  <description>Site config package for a UR-5e</description>
+  <description>Site config package for a UR5e that can be simulated with mock hardware</description>
 
   <maintainer email="studio.maintainers@picknik.ai">MoveIt Studio Maintainer</maintainer>
 
@@ -11,7 +11,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>ur5e_sim_base_config</depend>
+  <depend>picknik_ur_base_config</depend>
 
   <export>
     <build_type>ament_cmake</build_type>