flexiv_description

URDF description for Flexiv robots.

Important

This branch works with Flexiv software package v4 and Flexiv ROS 2 Humble v2 versions.

Flexiv software v4 series is only for Enlight/MICO product family use. For Flexiv Rizon and AICO products, please refer to the humble-v1 branch.

URDF Creation

The URDF files for Flexiv robots can be generated from xacro files using the provided script. This script runs inside a Docker container to ensure a consistent environment.

Supported robot types

The same robot_type values are used by both URDF creation and visualization:

robot_type	Arms	Torso	Notes
Enlight-L	single	—	Single 7-DoF arm
Enlight-LL	dual	—	Two Enlight-L arms mounted on world
MICO-Core	dual	fixed	Two Enlight-L arms on a fixed torso
MICO-Plus	dual	2-DoF (yaw + pitch)	Pan-tilt torso
MICO-Ultra	dual	2-DoF (waist yaw + pitch)	Torso on a mobile base (modeled as an empty base root, no mesh)

Dual-arm robots (Enlight-LL, MICO-*) share one serial number; their arm joints/links are prefixed left_${robot_sn}_ and right_${robot_sn}_, and the MICO-Plus/Ultra torso uses the prefix ${robot_sn}_torso_ (${robot_sn}_torso_joint1/joint2). All MICO arms reuse the config/Enlight-L parameters.

Prerequisites

• Docker

Usage

Run the create_urdf.sh script from the package root directory:

./scripts/create_urdf.sh --robot_type <ROBOT_TYPE> [OPTIONS]

Parameters

usage: create_urdf.py [-h] [--robot_type ROBOT_TYPE]
                      [--arm_prefix ARM_PREFIX] [--robot_sn ROBOT_SN]
                      [--load_gripper] [--gripper_name GRIPPER_NAME]
                      [--load_mounted_ft_sensor]

Create URDF files from xacro for Flexiv robots.

optional arguments:
  -h, --help            show this help message and exit
  --robot_type ROBOT_TYPE
                        Robot type. Options: ['Enlight-L', 'Enlight-LL',
                        'MICO-Core', 'MICO-Plus', 'MICO-Ultra']. (default: 'Enlight-L')
  --arm_prefix ARM_PREFIX
                        Arm prefix. (default: '')
  --robot_sn ROBOT_SN   Robot serial number. (default: '')
  --load_gripper        Load gripper. (default: False)
  --gripper_name GRIPPER_NAME
                        Gripper name. (default: 'Flexiv-GN01')
  --load_mounted_ft_sensor
                        Load mounted FT sensor. (default: False)

Examples

Generate URDF for Enlight-L:

./scripts/create_urdf.sh --robot_type Enlight-L

Generate URDF for Enlight-L with a specific serial number:

./scripts/create_urdf.sh --robot_type Enlight-L --robot_sn Enlight-L-123456

Generate URDF for Enlight-L with gripper:

./scripts/create_urdf.sh --robot_type Enlight-L --robot_sn Enlight-L-123456 --load_gripper

Generate URDF for a dual-arm robot (Enlight-LL or any MICO variant):

./scripts/create_urdf.sh --robot_type Enlight-LL --robot_sn Enlight-LL-123456
./scripts/create_urdf.sh --robot_type MICO-Core  --robot_sn MICO-Core-123456
./scripts/create_urdf.sh --robot_type MICO-Plus  --robot_sn MICO-Plus-123456
./scripts/create_urdf.sh --robot_type MICO-Ultra --robot_sn MICO-Ultra-123456

Visualize in RViz

The robot models can be visualized in RViz using the provided script. This script runs inside a Docker container and requires a GUI environment.

usage: visualize_flexiv.sh [OPTIONS]

Visualize Flexiv robots in RViz.

Arguments:
  robot_sn:=ROBOT_SN            Serial number of the robot to connect to.
  robot_type:=TYPE              Type of the Flexiv robot (single- or dual-arm). (default: 'Enlight-L')
  load_gripper:=BOOL            Flag to load the Flexiv Grav gripper. (default: 'False')
  gripper_name:=NAME            Full name of the gripper to be controlled. (default: 'Flexiv-GN01')
  load_mounted_ft_sensor:=BOOL  Flag to load the mounted force torque sensor. (default: 'False')
  gui:=BOOL                     Flag to enable joint_state_publisher_gui. (default: 'False')

Visualize Enlight-L:

./scripts/visualize_flexiv.sh robot_type:=Enlight-L robot_sn:=Enlight-L-123456 gui:=True

Visualize a dual-arm robot (Enlight-LL or any MICO variant):

./scripts/visualize_flexiv.sh robot_type:=Enlight-LL robot_sn:=Enlight-LL-123456 gui:=True
./scripts/visualize_flexiv.sh robot_type:=MICO-Core  robot_sn:=MICO-Core-123456  gui:=True
./scripts/visualize_flexiv.sh robot_type:=MICO-Plus  robot_sn:=MICO-Plus-123456  gui:=True
./scripts/visualize_flexiv.sh robot_type:=MICO-Ultra robot_sn:=MICO-Ultra-123456 gui:=True

Note

The launch files can also be run directly using ros2 launch if the package is built and sourced in your ROS 2 workspace.