Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Syncing main to 6.5 #25

Merged
merged 3 commits into from
Dec 2, 2024
Merged

Syncing main to 6.5 #25

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
632bc53
updating picknik_accesories
MikeWrock Nov 28, 2024
878d137
patching fanuc (#22)
MikeWrock Dec 2, 2024
6e9547c
added dependency (#21)
MikeWrock Dec 2, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 12 additions & 0 deletions src/fanuc_sim/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,19 @@ cmake_minimum_required(VERSION 3.22)
project(fanuc_sim)

find_package(ament_cmake REQUIRED)
find_package(picknik_accessories REQUIRED)

# Install all XML files in directory
set(PICKNIK_ACCESSORIES_SHARE_DIR
"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/"
)
# Destination directory
set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/")

install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}"
DESTINATION "${DEST_DIR}"
FILES_MATCHING PATTERN "*")

install(
DIRECTORY
config
Expand Down
12 changes: 7 additions & 5 deletions src/fanuc_sim/description/scene.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,12 +6,12 @@

<asset>
<!-- Define textures and materials -->
<texture name="wood" type="cube" file="meshes/wood.png" />
<texture name="wood" type="cube" file="assets/wood.png" />
<material name="wood" texture="wood" texrepeat="1 1" />

<!-- Define AprilTag textures -->
<texture name="apriltag1" type="2d" file="meshes/tag36_11_00000.png" />
<texture name="apriltag2" type="2d" file="meshes/tag36_11_00001.png" />
<texture name="apriltag1" type="2d" file="assets/tag36_11_00000.png" />
<texture name="apriltag2" type="2d" file="assets/tag36_11_00001.png" />

<!-- Define block materials with AprilTags -->
<material
Expand Down Expand Up @@ -63,7 +63,7 @@
/>
</asset>
<asset>
<mesh name="cube" file="meshes/Cube.stl" />
<mesh name="cube" file="assets/Cube.stl" />
</asset>

<worldbody>
Expand Down Expand Up @@ -117,6 +117,8 @@
resolution="640 480"
euler="-0.9 0 3.1415"
/>
<include file="lrmate200id/lrmate200id.xml" />
<body name="arm_mount">
<include file="lrmate200id/lrmate200id.xml" />
</body>
</worldbody>
</mujoco>
1 change: 1 addition & 0 deletions src/fanuc_sim/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>picknik_accessories</depend>
<exec_depend>admittance_controller</exec_depend>
<exec_depend>kinematics_interface_kdl</exec_depend>
<exec_depend>moveit_planners_stomp</exec_depend>
Expand Down
2 changes: 1 addition & 1 deletion src/moveit_pro_kinova_configs/kinova_gen3_base_config/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,8 @@
<buildtool_depend>ament_cmake</buildtool_depend>

<depend>moveit_studio_kinova_pstop_manager</depend>
<depend>kortex_description</depend>

<exec_depend>kortex_description</exec_depend>
<exec_depend>moveit_ros_perception</exec_depend>
<exec_depend>moveit_studio_agent</exec_depend>
<exec_depend>moveit_studio_behavior</exec_depend>
Expand Down
32 changes: 16 additions & 16 deletions ...moveit_pro_kinova_configs/kinova_gen3_mujoco_config/description/picknik_kinova_gen3.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/base_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/base_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
Expand All @@ -61,7 +61,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/base_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/base_link.STL"/>
</geometry>
</collision>
</link>
Expand All @@ -74,7 +74,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/shoulder_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/shoulder_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
Expand All @@ -83,7 +83,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/shoulder_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/shoulder_link.STL"/>
</geometry>
</collision>
</link>
Expand All @@ -103,7 +103,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
Expand All @@ -112,7 +112,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.STL"/>
</geometry>
</collision>
</link>
Expand All @@ -132,7 +132,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
Expand All @@ -141,7 +141,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.STL"/>
</geometry>
</collision>
</link>
Expand All @@ -161,7 +161,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/forearm_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/forearm_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
Expand All @@ -170,7 +170,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/forearm_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/forearm_link.STL"/>
</geometry>
</collision>
</link>
Expand All @@ -190,7 +190,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
Expand All @@ -199,7 +199,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.STL"/>
</geometry>
</collision>
</link>
Expand All @@ -219,7 +219,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
Expand All @@ -228,7 +228,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.STL"/>
</geometry>
</collision>
</link>
Expand All @@ -248,7 +248,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
Expand All @@ -257,7 +257,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.dae"/>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL"/>
</geometry>
</collision>
</link>
Expand Down
2 changes: 1 addition & 1 deletion src/picknik_accessories
Open in desktop
Submodule picknik_accessories updated 16 files
+3 −0 mujoco_assets/assets/lrmate200id/collision/base_link.stl
+3 −0 mujoco_assets/assets/lrmate200id/collision/link_1.stl
+3 −0 mujoco_assets/assets/lrmate200id/collision/link_2.stl
+3 −0 mujoco_assets/assets/lrmate200id/collision/link_3.stl
+3 −0 mujoco_assets/assets/lrmate200id/collision/link_4.stl
+3 −0 mujoco_assets/assets/lrmate200id/collision/link_5.stl
+3 −0 mujoco_assets/assets/lrmate200id/collision/link_6.stl
+3 −0 mujoco_assets/assets/lrmate200id/visual/base_link.stl
+3 −0 mujoco_assets/assets/lrmate200id/visual/link_1.stl
+3 −0 mujoco_assets/assets/lrmate200id/visual/link_2.stl
+3 −0 mujoco_assets/assets/lrmate200id/visual/link_3.stl
+3 −0 mujoco_assets/assets/lrmate200id/visual/link_4.stl
+3 −0 mujoco_assets/assets/lrmate200id/visual/link_5.stl
+3 −0 mujoco_assets/assets/lrmate200id/visual/link_6.stl
+125 −0 mujoco_assets/lrmate200id/lrmate200id.xml
+73 −0 mujoco_assets/lrmate200id/lrmate200id_globals.xml
Loading