Description, deployments, tooling, and configuration files for the WilbUR robot mobile manipulation platform. WilbUR is part of Johnson Space Center's iMETRO facility. The robot consists of,
- A UR10e serial manipulator with Robotiq Hand-E Gripper
- A Clearpath Warthog mobile base
Additional sensors (such as cameras, lidar, etc) are a work in progress.
This project is under active development. For now, description files and a basic Gazebo simulation are included.
To launch the gazebo simulation:
# Launch the Warthog only
ros2 launch wilbur_gz sim_gz.launch.py include_ur:=false
# Launch the Warthog and attached UR10e + Gripper
ros2 launch wilbur_gz sim_gz.launch.pyThis project falls under the purview of the iMETRO project. If you use this in your own work, please cite the following paper:
@INPROCEEDINGS{imetro-facility-2025,
author={Dunkelberger, Nathan and Sheetz, Emily and Rainen, Connor and Graf, Jodi and Hart, Nikki and Zemler, Emma and Azimi, Shaun},
booktitle={2025 22nd International Conference on Ubiquitous Robots (UR)},
title={Design of the iMETRO Facility: A Platform for Intravehicular Space Robotics Research},
year={2025},
volume={},
number={},
pages={390-397},
keywords={NASA;Moon;Seals;Maintenance engineering;Maintenance;Robots;Standards;Open source software;Testing;Logistics},
doi={10.1109/UR65550.2025.11077983}}