# mmp_husky_description

Universal Robots UR5e arm + Robotiq 2F-140 parallel gripper -- the
manipulator subtree of the MYBOTSHOP Husky Mobile Manipulator's flagship
configuration (Clearpath Husky A200 + UR5e + Robotiq 2F-140).

**Scope note:** this package describes the arm + gripper only. The Husky
A200's mobile base geometry lives in Clearpath's own
`clearpath_platform_description` ROS package (part of
`clearpathrobotics/clearpath_common`, MIT-licensed), which is an external
dependency fetched at build time via rosdep and is not redistributed here.
Drop this package into a ROS 2 workspace, RViz, or MoveIt to work with the
arm in isolation; combine it with Clearpath's own package for a full
base+arm model. (Many customer units instead ship a UFactory xArm6 in place
of the UR5e -- see MYBOTSHOP for that variant's description package.)

`urdf/mmp_husky_ur5e_robotiq.urdf` is a pruned extract of the manipulator
kinematic chain from MYBOTSHOP's `hsky_description` package's combined
`urdf/manipulation/hsky_ur5e.urdf` (Husky base + UR5e + gripper + sensor
mounts) -- the Husky-base links/joints, sensor mounts (Hokuyo, IMU) and
`clearpath_platform_description` mesh references were removed, and a
synthetic `world` root link was added in place of the Husky top-plate
attachment frame it was originally bolted to. All UR5e/gripper joint names,
limits and mesh references are otherwise left unmodified from upstream.

## Contents

- `urdf/mmp_husky_ur5e_robotiq.urdf` -- the arm + gripper URDF (12 joints:
  6 UR5e revolute joints + `finger_joint` driving 5 mimic joints on the
  Robotiq 2F-140)
- `meshes/ur5e/` -- UR5e visual (.dae) and collision (.stl) meshes, vendored
  from Universal Robots' `Universal_Robots_ROS2_Description` package
  (`ur_description`, BSD-3-Clause)
- `meshes/visual/`, `meshes/collision/` -- Robotiq 2F-140 gripper meshes
  (.stl), vendored from `robotiq_2f_140_gripper_visualization` (BSD)

## Source & licensing

Both upstream packages are vendored as third-party dependencies inside
MYBOTSHOP's private `mbs_husky_a200` repository (`ros2_ws/src/third_party/`)
and are redistributed here under their original licenses:

- `ur_description` (Universal Robots ROS2 Description) -- BSD-3-Clause
- `robotiq_2f_140_gripper_visualization` -- BSD

Package name and internal `package://ur_description/...` and
`package://robotiq_2f_140_gripper_visualization/...` mesh references are
left unmodified from upstream so both packages drop into a workspace
alongside this one unchanged.
