flexiv_description

URDF description for Flexiv robots.

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. config/robot_types.yaml is the single source of truth and is read by both scripts/create_urdf.py and launch/view_flexiv.launch.py.

Single arm on a mount — one robot_sn, pose from config/single_robot_mounting.yaml:

Enlight-L
Rizon4
Rizon4s
Rizon4M
Rizon4R
Rizon10
Rizon10s

Rizon4R is mirrored Rizon4 kinematics and is the default right arm of a pair.

One robot with two arms — one robot_sn, one FlexivHardwareInterface:

`robot_type`	Arms	Torso
`Enlight-LL`	Two Enlight-L on `world`	—
`MICO-Core`	Two Enlight-L	fixed
`MICO-Plus`	Two Enlight-L	2-DoF (yaw + pitch) pan-tilt
`MICO-Ultra`	Two Enlight-L	2-DoF (waist yaw + pitch) on a mobile base (empty base root, no mesh)

Arm joints and links are prefixed left_${robot_sn}_ and right_${robot_sn}_, the MICO-Plus/Ultra torso uses ${robot_sn}_torso_ (${robot_sn}_torso_joint1/joint2), and all MICO arms reuse the config/Enlight-L parameters.

Single arm on an external axis — one robot_sn; the axis joints join the arm's own hardware interface. Select the arm with arm_type (Rizon4, Rizon4s or Rizon4R; empty picks Rizon4):

`robot_type`	Actuated axis joints
`AICO1-4-V1`	`joint2` (`joint1` is fixed)
`AICO1-4-V2`	`joint1`, `joint2`, `joint_head`

Two paired robots — robot_sn_left and robot_sn_right are both required, driven by one FlexivDualHardwareInterface. Select the arms with arm_type_left and arm_type_right; empty picks the arm the model actually carries:

`robot_type`	External axis	Default arms
`Rizon-Dual`	none, both arms bolt to `world` using `config/dual_arm_mounting.yaml`	`Rizon4` + `Rizon4R`
`AICO2-4-V1`	2-DoF	`Rizon4` + `Rizon4R`
`AICO2-4-V2`	2-DoF	`Rizon4` + `Rizon4R`
`AICO2-10-V1`	2-DoF	`Rizon10` + `Rizon10`

Arm prefixes are left_${robot_sn_left}_ and right_${robot_sn_right}_. Since the two arms are separate robots, each has its own GPIO block.

Note

Digital IO is 16 control-box ports plus 2 per wrist connector, so Enlight-L and MICO expose 20 ports while Rizon exposes 18.

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] [--output_path OUTPUT_PATH]
                      [--external_axis_prefix EXTERNAL_AXIS_PREFIX]
                      [--arm_type ARM_TYPE]
                      [--robot_sn_left ROBOT_SN_LEFT]
                      [--robot_sn_right ROBOT_SN_RIGHT]
                      [--arm_type_left ARM_TYPE_LEFT]
                      [--arm_type_right ARM_TYPE_RIGHT]
                      [--load_gripper_left] [--load_gripper_right]
                      [--gripper_name_left GRIPPER_NAME_LEFT]
                      [--gripper_name_right GRIPPER_NAME_RIGHT]
                      [--load_mounted_ft_sensor_left]
                      [--load_mounted_ft_sensor_right]

Create URDF files from xacro for Flexiv robots.

optional arguments:
  -h, --help            show this help message and exit
  --robot_type ROBOT_TYPE
                        Robot type. See config/robot_types.yaml.
                        (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)
  --output_path OUTPUT_PATH
                        Absolute path to replace package://flexiv_description
                        with. (default: '')

External axis (AICO) arguments:
  --external_axis_prefix EXTERNAL_AXIS_PREFIX
                        External axis prefix. (default: '')
  --arm_type ARM_TYPE   Arm carried by an AICO1 external axis. Empty picks
                        the axis default. (default: '')

Paired-robot arguments (Rizon-Dual and AICO2):
  --robot_sn_left ROBOT_SN_LEFT
                        Left robot serial number. Required. (default: '')
  --robot_sn_right ROBOT_SN_RIGHT
                        Right robot serial number. Required. (default: '')
  --arm_type_left ARM_TYPE_LEFT
                        Left arm type. Empty picks the default. (default: '')
  --arm_type_right ARM_TYPE_RIGHT
                        Right arm type. Empty picks the default. (default: '')
  --load_gripper_left   Load left gripper. (default: False)
  --load_gripper_right  Load right gripper. (default: False)
  --gripper_name_left GRIPPER_NAME_LEFT
                        Left gripper name. (default: 'Flexiv-GN01')
  --gripper_name_right GRIPPER_NAME_RIGHT
                        Right gripper name. (default: 'Flexiv-GN01')
  --load_mounted_ft_sensor_left
                        Load left mounted FT sensor. (default: False)
  --load_mounted_ft_sensor_right
                        Load right 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

Generate URDF for a Rizon:

./scripts/create_urdf.sh --robot_type Rizon4   --robot_sn Rizon4-062001
./scripts/create_urdf.sh --robot_type Rizon10s --robot_sn Rizon10s-062002

Generate URDF for a single arm on an AICO1 external axis:

./scripts/create_urdf.sh --robot_type AICO1-4-V1 --robot_sn Rizon4-062001
./scripts/create_urdf.sh --robot_type AICO1-4-V2 --robot_sn Rizon4-062001 --arm_type Rizon4s

Generate URDF for paired robots. Both serial numbers are required, and the output is named <robot_sn_left>_<robot_sn_right>.urdf:

./scripts/create_urdf.sh --robot_type Rizon-Dual \
  --robot_sn_left Rizon4-062001 --robot_sn_right Rizon4R-062002

./scripts/create_urdf.sh --robot_type AICO2-10-V1 \
  --robot_sn_left Rizon10-062003 --robot_sn_right Rizon10-062004

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. Leave empty for the
                                paired types. (default: '')
  robot_type:=TYPE              Type of the Flexiv robot. (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')
  robot_sn_left:=SN             Left robot serial number, paired types. (default: '')
  robot_sn_right:=SN            Right robot serial number, paired types. (default: '')
  arm_type:=TYPE                Arm on an AICO1 external axis. (default: '')
  arm_type_left:=TYPE           Left arm type, paired types. (default: '')
  arm_type_right:=TYPE          Right arm type, paired types. (default: '')
  external_axis_prefix:=PREFIX  Prefix for external axis links/joints. (default: '')
  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

Visualize a Rizon or an AICO1:

./scripts/visualize_flexiv.sh robot_type:=Rizon4     robot_sn:=Rizon4-062001 gui:=True
./scripts/visualize_flexiv.sh robot_type:=AICO1-4-V2 robot_sn:=Rizon4-062001 gui:=True

Visualize paired robots:

./scripts/visualize_flexiv.sh robot_type:=Rizon-Dual \
  robot_sn_left:=Rizon4-062001 robot_sn_right:=Rizon4R-062002 gui:=True

./scripts/visualize_flexiv.sh robot_type:=AICO2-10-V1 \
  robot_sn_left:=Rizon10-062003 robot_sn_right:=Rizon10-062004 gui:=True

rviz/view_rizon_dual.rviz is also available as an alternative RViz layout for paired robots; pass it with rvizconfig:=.

Note

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

Name		Name	Last commit message	Last commit date
Latest commit History 13 Commits
.docker		.docker
config		config
launch		launch
meshes		meshes
rviz		rviz
scripts		scripts
urdf		urdf
.gitignore		.gitignore
.pre-commit-config.yaml		.pre-commit-config.yaml
CMakeLists.txt		CMakeLists.txt
LICENSE		LICENSE
README.md		README.md
package.xml		package.xml

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flexiv_description

URDF Creation

Supported robot types

Prerequisites

Usage

Parameters

Examples

Visualize in RViz

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flexiv_description

URDF Creation

Supported robot types

Prerequisites

Usage

Parameters

Examples

Visualize in RViz

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