MALONI Robotics · lab simulation
Payload transfer with ROS 2 and MoveIt 2 in Gazebo
A simulated UR5e transfers a fixed payload. Watch the Gazebo recording and review ten runs, the simulation setup and the limits of the test.
Simulation recording
The silent recording shows the UR5e moving the orange payload between two poses in Gazebo.
Task and result
MoveIt 2 planned the six-joint trajectory. The gz_ros2_control controller executed it in Gazebo. We measured joint error and payload displacement from the simulated joint states and payload transform.
- Completed 10 of 10 internal runs. No failure was recorded in this set.
- The centre of the payload moved 37.4–38.8 cm. The success threshold was at least 20 cm.
- The largest endpoint joint error was 0.00985 rad with a tolerance of 0.02 rad.
Tools and reproduction
Ubuntu 24.04 · ROS 2 Jazzy · Gazebo Harmonic (Gazebo Sim 8.15.0) · MoveIt 2.12.4 · UR Gazebo Simulation 2.5.0 · gz_ros2_control 1.2.20
- Measurement code · SHA-256
1f4a3c7d684d3b6d6ead7e510532cdb1b71ac2f3a5b200a678b1347816aca90c - Payload model · SHA-256
8b808a61a754ecc950e6b9ddcfb66e0f1282f04032e00c18d2a9907d4f2709c0 - Per-run measurements
Limits and physical pilot
A fixed joint secures the payload in simulation and both targets are known in advance. The demonstration measures transfer in a prepared virtual scene. A physical pilot must validate object localisation, gripping and release, payload limits, collisions and workcell safety separately.
Robot programming →This is a separate motion-planning test. We develop visitor scenarios in our own MALONI Showroom environment.
MALONI Showroom →