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Make demos a project folder and setup for GitHub (#1)
* Rename and move the existing project * Update the README * Add pre-commit workflow * Apply pre-commit fixes * Hide the model in the planning rviz view
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‎.github/workflows/format.yml‎

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name: format
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on:
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push:
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tags:
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- '*'
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branches:
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- humble
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- jazzy
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- '*-devel'
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pull_request:
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branches:
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- '*'
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workflow_dispatch:
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# Do not run multiple jobs for the same branch
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concurrency:
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group: ${{ github.workflow }}-${{ github.ref }}
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cancel-in-progress: true
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jobs:
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pre-commit:
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name: pre-commit
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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- uses: pre-commit/action@v3.0.1

‎README.md‎

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# CLR CTB Grasping Demonstration
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# CLR Sim Demos
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This package contains a demonstration of a perception-enabled CTB picking and placing task.
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This repository contains demonstration applications using the [MuJoCo simulation](https://github.com/NASA-JSC-Robotics/chonkur_l_raile/) of ChonkUR L Rail-E.
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The application has been used to trial a sim-to-real transfer of simulated behaviors using [MuJoCo](https://mujoco.readthedocs.io/en/stable/overview.html).
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This project is intended to be included in an application workspace such as the [clr_dynamic_sim_demo](https://github.com/NASA-JSC-Robotics/clr_dynamic_sim_demo) repository.
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![alt text](./dynamic_sim_rviz.png "Rviz Rendering of CLR")
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## Overview
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## Simulation Instructions
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The examples here, as well as the simulation itself, have been used to trial a sim-to-real pipeline for developing behaviors to run in iMETRO facilities.
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These include behaviors requiring color/depth perception, force/torque sensors, or realistic dynamics of the robot in its environment.
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To run this demo in simulation, run the following in a dynamic sim container:
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As of now there is a single example available for public consumption made with open-source tools:
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```bash
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# Start the mujoco ros2 control-based simulation including the environment
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ros2 launch clr_mujoco_config clr_mujoco.launch.py
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* [Pick and Place with a CTB](./clr_pick_and_place_demo/README.md)
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# Launch the moveit group and the demo's planning GUI
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ros2 launch clr_dynamic_sim_demo demo_planning_viz.launch.py
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# Start the demonstration, the console will display prompts from MoveItVisualTools and provide
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# other information.
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ros2 launch clr_dynamic_sim_demo demo.launch.py
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```
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By default, each stage of the demonstration requires operator approval by clicking `next` in the RViz console.
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To disable this and just let the simulation run, use (still click `next` to start the sim):
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```bash
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ros2 launch clr_dynamic_sim_demo demo.launch.py wait_for_prompt:=false
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```
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## Hardware Instructions
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To run this demo on hardware, run the following in a dynamic sim container on the controls PC:
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```bash
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ros2 launch clr_deploy clr_hw.launch.py include_mockups_in_description:=true
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ros2 launch chonkur_deploy ur_tools.launch.py
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```
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Then run the following in the dynamic sim container on the console PC:
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```bash
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ros2 launch clr_moveit_config clr_moveit.launch.py launch_rviz:=false include_mockups_in_description:=true
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ros2 launch clr_dynamic_sim_demo demo_planning_viz.launch.py sim:=false
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ros2 launch clr_dynamic_sim_demo demo.launch.py sim:=false
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```
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![alt text](./clr_mujoco_simulation.png "CLR MuJoCo simulation")

‎clr_mujoco_simulation.png‎

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CMakeLists.txt renamed to clr_pick_and_place_demo/CMakeLists.txt

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cmake_minimum_required(VERSION 3.8)
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project(clr_dynamic_sim_demo)
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project(clr_pick_and_place_demo)
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)

‎clr_pick_and_place_demo/README.md‎

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# CLR CTB Grasping Demonstration
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This package contains a demonstration of a perception-enabled CTB picking and placing task.
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The application has been used to trial a sim-to-real transfer of simulated behaviors using [MuJoCo](https://mujoco.readthedocs.io/en/stable/overview.html).
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![alt text](./dynamic_sim_rviz.png "Rviz Rendering of CLR")
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## Simulation Instructions
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To run this demo in simulation, run the following in a dynamic sim container:
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```bash
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# Start the mujoco ros2 control-based simulation including the environment
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ros2 launch clr_mujoco_config clr_mujoco.launch.py
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# Launch the moveit group and the demo's planning GUI
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ros2 launch clr_pick_and_place_demo demo_planning_viz.launch.py
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# Start the demonstration, the console will display prompts from MoveItVisualTools and provide
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# other information.
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ros2 launch clr_pick_and_place_demo demo.launch.py
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```
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By default, each stage of the demonstration requires operator approval by clicking `next` in the RViz console.
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To disable this and just let the simulation run, use (still click `next` to start the sim):
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```bash
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ros2 launch clr_pick_and_place_demo demo.launch.py wait_for_prompt:=false
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```
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## Hardware Instructions
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To run this demo on hardware, run the following in a dynamic sim container on the controls PC:
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```bash
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ros2 launch clr_deploy clr_hw.launch.py include_mockups_in_description:=true
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ros2 launch chonkur_deploy ur_tools.launch.py
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```
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Then run the following in the dynamic sim container on the console PC:
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```bash
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ros2 launch clr_moveit_config clr_moveit.launch.py launch_rviz:=false include_mockups_in_description:=true
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ros2 launch clr_pick_and_place_demo demo_planning_viz.launch.py sim:=false
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ros2 launch clr_pick_and_place_demo demo.launch.py sim:=false
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```

config/waypoints.yaml renamed to clr_pick_and_place_demo/config/waypoints.yaml

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dynamic_sim_rviz.png renamed to clr_pick_and_place_demo/dynamic_sim_rviz.png

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launch/demo.launch.py renamed to clr_pick_and_place_demo/launch/demo.launch.py

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sim = LaunchConfiguration("sim")
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wp_cfg_file_name = LaunchConfiguration("waypoint_cfg")
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waypoint_cfg = PathJoinSubstitution(
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[get_package_share_directory("clr_dynamic_sim_demo"), "config", wp_cfg_file_name]
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[get_package_share_directory("clr_pick_and_place_demo"), "config", wp_cfg_file_name]
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)
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description_package = "clr_imetro_environments"
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nodes_to_start = [
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Node(
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package="clr_dynamic_sim_demo",
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package="clr_pick_and_place_demo",
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executable="run_demo",
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output="both",
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parameters=[

launch/demo_planning_viz.launch.py renamed to clr_pick_and_place_demo/launch/demo_planning_viz.launch.py

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description_file = "clr_trainer_multi_hatch.urdf.xacro"
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moveit_config_file_path = "srdf/clr_and_sim_mockups.srdf.xacro"
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description_full_path = os.path.join(get_package_share_directory(description_package), "urdf", description_file)
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rviz_config_file = os.path.join(get_package_share_directory("clr_dynamic_sim_demo"), "rviz", "demo_config.rviz")
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rviz_config_file = os.path.join(get_package_share_directory("clr_pick_and_place_demo"), "rviz", "demo_config.rviz")
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moveit_config = (
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MoveItConfigsBuilder("clr", package_name="clr_moveit_config")
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],
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(get_package_share_directory("clr_moveit_config"), "launch", "clr_moveit.launch.py"),
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),
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launch_arguments={
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"launch_rviz" : "false",
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"include_mockups_in_description": "true",
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"use_sim_time": sim,
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}.items(),
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)
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PythonLaunchDescriptionSource(
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os.path.join(get_package_share_directory("clr_moveit_config"), "launch", "clr_moveit.launch.py"),
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),
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launch_arguments={
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"launch_rviz": "false",
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"include_mockups_in_description": "true",
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"use_sim_time": sim,
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}.items(),
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),
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]
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return LaunchDescription(declared_arguments + launches)

package.xml renamed to clr_pick_and_place_demo/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>clr_dynamic_sim_demo</name>
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<name>clr_pick_and_place_demo</name>
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<version>1.0.0</version>
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<description>Application demonstration of the CLR robot operating in its dynamic simulation</description>
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<maintainer email="nikki.j.hart@nasa.gov">njhart</maintainer>

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