Setup a Manipulator

Learning Objectives

After completing this tutorial, you will have learned:

• How to import the UR10e robot from a URDF file
• How to import the Robotiq 2F-140 gripper from a URDF file
• How to connect the robot arm and gripper via GUI operations
• How to use the Robot Assembler for connection

Getting Started

Prerequisites

• Complete Tutorial 5: Rig a Mobile Robot before starting this tutorial.
• Linux environment (required for the ROS 2 URDF Importer)

Estimated Time

Approximately 20-30 minutes.

Overview

In this tutorial, you will import the UR10e robot arm and Robotiq 2F-140 gripper from URDF files and connect them as a single articulation. You will learn two methods: manual connection via GUI and automated connection using the Robot Assembler.

Build and Install the UR Description Package

1. Clone the UR Description Package.

2. Build using Python 3.11 or system ROS.

Import the UR10e Robot

1. Enable the ROS 2 URDF Importer Extension.

2. Launch the URDF Publisher Topic.

3. Import UR10e into Isaac Sim.

   

Import the Robotiq 2F-140 Gripper

1. Convert XACRO to URDF.

2. Import the gripper into Isaac Sim.

   

Connect UR10e with Robotiq 2F-140

Option 1: GUI-based Connection

Manually connect the gripper to the robot arm's end effector.

Option 2: Robot Assembler Connection

Use the Robot Assembler tool for automated connection.

Summary

This tutorial covered the following topics:

1. Importing robot arm and gripper from URDF
2. Manual connection using GUI
3. Automated connection using Robot Assembler

Next Steps

Proceed to the next tutorial, "Configure a Manipulator", to learn how to tune physics properties and joint drive gains.