Mujoco Curobo ROS2 Package

This ROS2 package integrates the Curobo robot with the Mujoco simulation. The system is configured through a demos.yml file, which acts as the master configuration for various robot and world setups.

Folder Structure

ros2_ws/
├── assets
├── config
├── src
└── ReadMe.md

• assets/: Robot meshes and Mujoco models.
• config/: Configuration files, including demos.yml.
• src/: ROS2 source code.

Configuration

The demos.yml file defines demo setups, including:

• Robot & World Configurations
• Mujoco Model Path & Meshes

Example:

ur5e_with_gantry:
  curobo:
    world_config_file: config/curobo/world_config/gantry_table.yml
    robot_config_file: ur5e_robotiq_2f_140_x.yml
  mujoco:
    xml_path: assets/ur5e/scene_ur5e_2f140_obj_gantry.xml
    meshes:
      - bs_link: assets/ur5e/mesh/gantry/bs_link.STL

Running the Demo

To launch a demo, use the following command:

ros2 launch curobo_api curobo.launch.py demo:=ur5e_with_gantry

This will load the robot and world configuration, and start the Mujoco simulation.

Demo GIF

Requirements

• ROS2 (e.g., Foxy, Galactic)
• Mujoco
• Curobo configurations

Building the Workspace

Build the workspace before launching:

cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash