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MikeWrockMikeWrock
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Syncing main to 6.5 (#25)
* updating picknik_accesories * patching fanuc (#22) * added dependency (#21)
1 parent 2a8a2ef commit 9ece954

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6 files changed

+38
-23
lines changed

6 files changed

+38
-23
lines changed

‎src/fanuc_sim/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -2,7 +2,19 @@ cmake_minimum_required(VERSION 3.22)
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project(fanuc_sim)
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find_package(ament_cmake REQUIRED)
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find_package(picknik_accessories REQUIRED)
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# Install all XML files in directory
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set(PICKNIK_ACCESSORIES_SHARE_DIR
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"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/"
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)
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# Destination directory
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set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/")
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install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}"
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DESTINATION "${DEST_DIR}"
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FILES_MATCHING PATTERN "*")
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install(
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DIRECTORY
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config

‎src/fanuc_sim/description/scene.xml‎

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Original file line numberDiff line numberDiff line change
@@ -6,12 +6,12 @@
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<asset>
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<!-- Define textures and materials -->
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<texture name="wood" type="cube" file="meshes/wood.png" />
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<texture name="wood" type="cube" file="assets/wood.png" />
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<material name="wood" texture="wood" texrepeat="1 1" />
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<!-- Define AprilTag textures -->
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<texture name="apriltag1" type="2d" file="meshes/tag36_11_00000.png" />
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<texture name="apriltag2" type="2d" file="meshes/tag36_11_00001.png" />
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<texture name="apriltag1" type="2d" file="assets/tag36_11_00000.png" />
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<texture name="apriltag2" type="2d" file="assets/tag36_11_00001.png" />
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<!-- Define block materials with AprilTags -->
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<material
@@ -63,7 +63,7 @@
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/>
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</asset>
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<asset>
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<mesh name="cube" file="meshes/Cube.stl" />
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<mesh name="cube" file="assets/Cube.stl" />
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</asset>
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<worldbody>
@@ -117,6 +117,8 @@
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resolution="640 480"
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euler="-0.9 0 3.1415"
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/>
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<include file="lrmate200id/lrmate200id.xml" />
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<body name="arm_mount">
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<include file="lrmate200id/lrmate200id.xml" />
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</body>
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</worldbody>
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</mujoco>

‎src/fanuc_sim/package.xml‎

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Original file line numberDiff line numberDiff line change
@@ -11,6 +11,7 @@
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>picknik_accessories</depend>
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<exec_depend>admittance_controller</exec_depend>
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<exec_depend>kinematics_interface_kdl</exec_depend>
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<exec_depend>moveit_planners_stomp</exec_depend>

‎src/moveit_pro_kinova_configs/kinova_gen3_base_config/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -13,8 +13,8 @@
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>moveit_studio_kinova_pstop_manager</depend>
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<depend>kortex_description</depend>
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<exec_depend>kortex_description</exec_depend>
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<exec_depend>moveit_ros_perception</exec_depend>
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<exec_depend>moveit_studio_agent</exec_depend>
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<exec_depend>moveit_studio_behavior</exec_depend>

‎src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/description/picknik_kinova_gen3.xacro‎

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Original file line numberDiff line numberDiff line change
@@ -52,7 +52,7 @@
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/base_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/base_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.75294 0.75294 0.75294 1"/>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/base_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/base_link.STL"/>
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</geometry>
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</collision>
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</link>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/shoulder_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/shoulder_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.75294 0.75294 0.75294 1"/>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/shoulder_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/shoulder_link.STL"/>
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</geometry>
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</collision>
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</link>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.75294 0.75294 0.75294 1"/>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.STL"/>
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</geometry>
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</collision>
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</link>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.75294 0.75294 0.75294 1"/>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.STL"/>
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</geometry>
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</collision>
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</link>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/forearm_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/forearm_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.75294 0.75294 0.75294 1"/>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/forearm_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/forearm_link.STL"/>
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</geometry>
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</collision>
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</link>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.75294 0.75294 0.75294 1"/>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.STL"/>
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</geometry>
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</collision>
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</link>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.75294 0.75294 0.75294 1"/>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.STL"/>
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</geometry>
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</collision>
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</link>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.75294 0.75294 0.75294 1"/>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.dae"/>
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<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL"/>
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</geometry>
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</collision>
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</link>

‎src/picknik_accessories‎

Submodule picknik_accessories updated 16 files

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