config and xacro for hand lite ur10e (#521)

Co-authored-by: carebare47 <[email protected]>

sr_multi_description/urdf/right_srhand_lite_ur10e.urdf.xacro

@@ -0,0 +1,33 @@
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="ur10esrh">
+
+    <!--<xacro:include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />-->
+    <xacro:include filename="$(find ur_e_description)/urdf/ur10e.urdf.xacro"/>
+
+    <link name="world"/>
+    <xacro:arg name="initial_z" default="0.0"/>
+
+    <joint name="world_joint" type="fixed">
+        <parent link="world"/>
+        <child link="ra_base_link"/>
+        <origin xyz="0.0 0.0 $(arg initial_z)" rpy="0.0 0.0 0.0"/>
+    </joint>
+
+    <xacro:arg name="kinematics_config" default="$(find ur_description)/config/ur10e_default.yaml"/>
+    <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
+
+    <xacro:ur10e_robot prefix="ra_" joint_limited="false" transmission_hw_interface="$(arg transmission_hw_interface)" kinematics_file="${load_yaml('$(arg kinematics_config)')}"/>
+
+    <xacro:include filename="$(find sr_description)/materials.urdf.xacro"/>
+    <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro"/>
+    <xacro:include filename="$(find sr_description)/other/xacro/gazebo/gazebo.urdf.xacro"/>
+
+    <xacro:shadowhand muscletrans="false" muscle="false" bio="false" bt_sp="false" ubi="false" eli="false" 
+                      reflect="1.0" prefix="rh_" extra_lite="false" cable_mesh="true"/>
+
+    <joint name="ra_arm_to_hand" type="fixed">
+        <parent link="ra_ee_link"/>
+        <child link="rh_forearm"/>
+        <origin xyz="0.012 0.0 0.0" rpy="${pi/2.0} ${0.0} ${pi/2.0}"/>
+    </joint>
+
+</robot>

sr_multi_moveit/sr_multi_moveit_config/config/robot_configs/right_sh_lite_ur10e.yaml

@@ -0,0 +1,25 @@
+robot:
+  name: ur10esrh
+  manipulators:
+    right_manipulator:
+      side: right
+      arm:
+        name: ur10e
+        main_group: manipulator
+        moveit_path:
+          package: sr_multi_moveit_config
+          relative_path: /config/ur
+        extra_groups_config_path: /config
+        group_states:
+          - home
+          - up
+      hand:
+        name: shadowhand_lite.urdf.xacro
+        is_lite: true
+
+ra_sr_ur_robot_hw:
+  # Hand E lite payload (estimated, need exact from Hardware)
+  payload_mass_kg: 2.4
+
+  # Hand E lite payload centre of inertia (estimated, need exact from Hardware)
+  payload_center_of_mass_m: [0.0, 0.0, 0.1]