UR5e Robot Description & MoveIt Config Updates

[bondada-a]

Summary

This PR adds pipettor end-effector support and fixes issues in the UR5e robot description and MoveIt configuration packages. Adds use_fake_hardware arg used in hello_orchestrator_py #78

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Key Changes

New: Pipettor End-Effector Support

• ur_with_zivid_pipettor.xacro - Robot description for pipettor configuration
• ur_zivid_pipettor_moveit_config - Complete MoveIt package (kinematics, SRDF, launch files, controllers)
• Transform chain: UR5e → tool0 → zivid_camera_mount → tool_block → pipettor

New: Robot Calibration

• Added config/ur5e_calibration.yaml - Robot-specific kinematics calibration
• Launch files now pass kinematics_params_file to UR driver
• Note: Included calibration is for CMS ur5e robot. New configs/robots would need to generate via ur_calibration

Refactor: Zivid Camera Integration

• Removed local Zivid camera meshes - now uses official zivid_description package from zivid-ros
• Custom arm mount mesh retained (bracket mounted backward for tool exchange clearance)
• Added src/vision/vision.repos for cloning vision dependencies via vcs
• Added src/vision/README.md with setup instructions
• Note: Zivid SDK is NOT required for URDF/MoveIt - only needed for actual camera capture

New: Automatic Payload Configuration

• Launch files now configure UR payload at startup via /io_and_status_controller/set_payload service
• Accounts for end-effector mass (mount + camera + gripper)
• Payload values per configuration:
  • Standalone: 1.43 kg (mount + camera)
  • Hand-E: 2.52 kg (mount + camera + gripper)
  • ePick: 2.15 kg (mount + camera + gripper)
  • Pipettor: 1.63 kg (mount + camera + pipettor)

Fixes & Reliability Improvements

• UR driver disconnects in Docker/VM environments - Added keep_alive_count parameter (default: 10 = 200ms timeout) to all xacros. Related: #418, #507, #941
• IK solver reliability improvement - Increased kinematics_solver_timeout (0.1s → 1.0s) and attempts (3 → 10)
• use_fake_hardware was hardcoded to true in ur_with_zivid_epick.xacro and ur_with_zivid_hande.xacro - Now uses launch argument
• socat_ip_address hardcoded in ur_with_zivid_hande.xacro - Now uses robot_ip argument
• Duplicate dependencies in ur_standalone_moveit_config/package.xml - Removed

Configuration Updates

Camera Mount:

• Changed mount frame from flange to tool0 (aligns with Zivid hand-eye calibration convention)
• Updated mount offsets based on hand-eye calibration results

MoveIt SRDF:

• Standardized moveit_home position: shoulder_lift_joint changed from -1.5782 to -1.5708 (exact -π/2)
• Updated collision rules for new Zivid link names (zivid_camera → zivid_arm_mount + zivid_base_link)

Launch Files (all configs):

• Added use_fake_hardware argument
• Added use_tool_communication: true

URDF Parameters:

• te_robotside.xacro: Made scale and mass configurable (previously hardcoded)