add mujoco model

rbs_simulation/launch/get_urdf.launch.py

@@ -0,0 +1,32 @@
+import os
+import xacro
+import launch
+import launch_ros.actions
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+
+    initial_joint_controllers_file_path = os.path.join(
+        get_package_share_directory('ur_moveit_config'), 'config', 'ur_controllers.yaml'
+    )
+
+    doc = xacro.process_file(os.path.join(get_package_share_directory("ur_description"), 'urdf', 'ur.urdf.xacro'), mappings={
+            "safety_limits": "true",
+            "safety_pos_margin": "0.15",
+            "safety_k_position": "20",
+            "name": "ur",
+            "ur_type": "ur5e",
+            "prefix": "",
+            "sim_mujoco": "true",
+            "simulation_controllers": str(initial_joint_controllers_file_path),
+            "with_gripper": "false"
+    })
+
+    robot_desc = doc.toprettyxml(indent='  ')
+    part1, part2 = robot_desc.split('?>')
+    m_encoding = 'UTF-8'
+    with open("current.urdf", 'w') as xfile:
+        xfile.write(part1 + 'encoding=\"{}\"?>\n'.format(m_encoding) + part2)
+        xfile.close()
+    return launch.LaunchDescription()