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robot-arm-simulation.holo
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README.md

Industrial Robot Arm Simulation

HoloScript robotics example with URDF/SDF export for ROS2 and Gazebo.

Overview

Complete 6-DOF industrial robot arm (UR5) with inverse kinematics, path planning, gripper, and sensors. Exports to URDF for ROS2 or SDF for Gazebo simulation.

Features

✓ 6-DOF Articulated Arm - Realistic UR5 kinematics and dynamics ✓ Two-Finger Gripper - Parallel jaw with force sensing ✓ Inverse Kinematics - TRAC-IK solver for end-effector positioning ✓ Path Planning - OMPL integration for collision-free trajectories ✓ Sensors - RGB camera (wrist), force/torque (gripper), proximity ✓ URDF/SDF Export - ROS2 and Gazebo compatible

Quick Start

Compile to URDF (ROS2)

holoscript compile robot-arm-simulation.holo --target urdf --output ./build/

Output: ur5_robot.urdf compatible with ROS2 + MoveIt

Compile to SDF (Gazebo)

holoscript compile robot-arm-simulation.holo --target sdf --output ./build/

Output: ur5_robot.sdf for Gazebo Sim

Visualize in Unity/Unreal

# Unity (robot visualization + training)
holoscript compile robot-arm-simulation.holo --target unity --output ./build/unity/

# Unreal (high-fidelity digital twin)
holoscript compile robot-arm-simulation.holo --target unreal --output ./build/unreal/

Robot Specifications

Universal Robots UR5

  • Reach: 850mm
  • Payload: 5kg
  • Repeatability: ±0.1mm
  • Max Speed: 180°/s
  • DOF: 6 (revolute joints)

Gripper (Robotiq 85)

  • Max Opening: 85mm
  • Gripping Force: 100N
  • Payload: 2kg

Use Cases

Industrial Automation

  • Pick and place operations
  • Assembly line simulation
  • Quality control inspection
  • Warehouse automation

Training & Education

  • Robot programming training
  • Operator safety certification
  • Engineering education
  • Digital twin development

Research

  • Motion planning algorithms
  • Grasp planning
  • Computer vision integration
  • Human-robot collaboration

ROS2 Integration

1. Generate URDF

holoscript compile robot-arm-simulation.holo --target urdf --output ./ros2_ws/src/ur5_description/urdf/

2. Launch in RViz

cd ros2_ws
colcon build
source install/setup.bash

ros2 launch ur5_description display.launch.py

3. MoveIt Configuration

ros2 launch moveit_setup_assistant setup_assistant.launch.py
# Load generated URDF
# Configure planning groups, controllers

4. Execute Motion

from moveit_py import MoveGroupInterface

move_group = MoveGroupInterface("manipulator")

# Move to joint angles
move_group.go([0, -90, 90, -90, -90, 0], wait=True)

# Move to pose
target_pose = Pose()
target_pose.position.x = 0.5
target_pose.position.y = 0.2
target_pose.position.z = 0.8
move_group.set_pose_target(target_pose)
move_group.go(wait=True)

Gazebo Simulation

Launch in Gazebo

gazebo --verbose ur5_robot.sdf

Control via ROS2

ros2 topic pub /joint_commands std_msgs/Float64MultiArray \
  "{data: [0.0, -1.57, 1.57, -1.57, -1.57, 0.0]}"

Customization

Modify Robot Parameters

robot#ur5_arm @industrial @6dof {
  specs {
    reach: 850  // Change reach
    payload: 5  // Change payload
    max_speed: 180  // Adjust speed
  }
}

Add Custom End Effector

tool#vacuum_gripper @suction {
  parent: "tool0"

  suction_cup {
    diameter: 0.05
    max_vacuum: -80  // kPa
  }

  on_activate {
    apply_vacuum: -80
  }

  on_release {
    vent_vacuum: 0
  }
}

Add Sensors

sensor#lidar @laser_scan {
  parent: "wrist_2_link"

  specs {
    min_angle: -180
    max_angle: 180
    resolution: 1  // degree
    range: { min: 0.1, max: 30 }
  }

  publish_topic: "/robot/scan"
}

Resources

Built with HoloScript - Robot definition in 789 lines, exports to ROS2/Gazebo. 🤖