E05_Robotiq-2f-85

A ROS package for simulation in gazebo and mujoco, include Hansrobot E05 Arm and Robotiq 2f-85 gripper.

I converted from the Solidworks model on the Hansrobot official website to the URDF model, added the Robotiq 2f-85 gripper model according to this link, and performed Moveit. I adjusted the parameters and fixed some bugs. Currently, the robot can be controlled using the Moveit Panel in Gazebo and rviz.

And the mujoco configuration process also be finished, it can be seen in e05/urdf_mujoco/e05_mujoco.xml.

Environment Required:

• Ubuntu 20.04
• ROR Noetic (Make sure you have installed moveit package: sudo apt install ros-noetic-moveit)

Quick Start

(1) Prepare the ros workspace

mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
git clone https://github.com/HaofeiMa/E05_Robotiq-2f-85.git
cd ..
catkin_make

(2) Launch Gazebo simulation

View robot with gripper in rviz:

source ./devel/setup.bash
roslaunch e05 display_e05_with_gripper.launch

View robot with gripper in gazebo:

roslaunch e05 gazebo_e05_with_gripper.launch

Visulaize the motion in gazebo, using moveit pannel in rviz.

roslaunch e05_moveit demo_gazebo.launch

(3) Prepare the mujoco environment

Install the mujoco-210:

wget https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz
mkdir ~/.mujoco
tar -xvzf mujoco210-linux-x86_64.tar.gz -C ~/.mujoco
gedit ~/.bashrc

Add following config in ~/.bashrc

# Mujoco environment
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/USERNAME/.mujoco/mujoco210/bin
export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so

Install the mujoco-py

pip install mujoco-py
pip install "cython<3"

Test the mujoco

source ~/.bashrc
cd ~/.mujoco/mujoco210/bin
./simulate ../model/arm26.xml

(4) Simulate in mujoco

cd ~/.mujoco/mujoco210/bin
./simulate /path/to/workspace/src/E05_Robotiq-2f-85/e05_mujoco/mujoco/e05_with_robotiq_exp.xml

More

If you want to know the complete creation process of the repository, or if you want to use your own Solidworks model to create Gazebo simulations and Moveit controls, please refer to my blog for gazebo and moveit configuration process and this blog for mujoco configuration process.