Apply changes from moveit_pro core repo

Author: dsobek

src/moveit_pro_franka_configs/franka_behaviors/CMakeLists.txt

@@ -1,9 +1,9 @@
 cmake_minimum_required(VERSION 3.22)
 project(franka_behaviors CXX)
 
-find_package(moveit_studio_common REQUIRED)
+find_package(moveit_pro_package REQUIRED)
 find_package(franka_msgs REQUIRED)
-moveit_studio_package()
+moveit_pro_package()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS moveit_studio_behavior moveit_studio_behavior_interface pluginlib 
 franka_msgs)

src/moveit_pro_franka_configs/franka_behaviors/package.xml

@@ -11,7 +11,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>moveit_studio_common</build_depend>
+  <build_depend>moveit_pro_package</build_depend>
 
   <depend>franka_msgs</depend>
   <depend>moveit_studio_behavior_interface</depend>

src/moveit_pro_franka_configs/franka_dual_arm_sim/description/franka.urdf.xacro

@@ -255,7 +255,7 @@
         <param name="mujoco_model_package">franka_dual_arm_sim</param>
         <param name="render_publish_rate">10</param>
         <param name="tf_publish_rate">60</param>
-        <param name="mujoco_keyframe">home</param>
+        <param name="mujoco_keyframe">default</param>
         <param name="mujoco_viewer">$(arg mujoco_viewer)</param>
       </hardware>
     </ros2_control>

src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/svg_to_yaml.py

@@ -124,7 +124,10 @@ def extract_waypoints_from_paths(paths, density):
         points = path_to_points(path, density)
         log(f"Path has {len(points)} waypoints")
         waypoints = [
-            list(a) for a in zip(points.real, points.imag, np.zeros(len(points.real)))
+            list(a)
+            for a in zip(
+                points.real, points.imag, np.zeros(len(points.real)), strict=True
+            )
         ]
         log(f"Subpath has {len(waypoints)} waypoints")
         # Add a pre-waypoint and post-waypoint with Z clearance for transitions between subpaths.

src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml

@@ -61,6 +61,7 @@ hardware:
       - wrist_realsense: "true"
       - use_internal_bus_gripper_comm: "false"
       - mujoco_model: "description/mujoco/rafti_fingers_scene.xml"
+      - mujoco_viewer: false
 
 # Sets ROS global params for launch.
 # [Optional]

src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml

@@ -168,4 +168,13 @@
       <geom class="collision" mesh="ring_collision_32" />
     </body>
   </worldbody>
+
+  <keyframe>
+    <key
+      name="default"
+      qpos="-1.69695e-17 -2.31038e-12 -2.98065e-17 -7.10814e-12 -9.94764e-17 -1.42119e-11 -1.0432e-16 0.00500747 0.000142046 0.0054543 -0.0057924 0.00500747 0.000142046 0.00545513 -0.00579407 0.43 -0.2 0.133001 0.583914 -1.685e-07 1.03188e-06 0.811816"
+      qvel="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
+      ctrl="0 0 0 0 0 0 0 0"
+    />
+  </keyframe>
 </mujoco>

src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml

@@ -168,4 +168,13 @@
       <geom class="collision" mesh="ring_collision_32" />
     </body>
   </worldbody>
+
+  <keyframe>
+    <key
+      name="default"
+      qpos="-1.69695e-17 -2.31038e-12 -2.98065e-17 -7.10814e-12 -9.94764e-17 -1.42119e-11 -1.0432e-16 0.00500747 0.000142046 0.0054543 -0.0057924 0.00500747 0.000142046 0.00545513 -0.00579407 0.43 -0.2 0.133001 0.583914 -1.685e-07 1.03188e-06 0.811816"
+      qvel="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
+      ctrl="0 0 0 0 0 0 0 0"
+    />
+  </keyframe>
 </mujoco>

src/moveit_pro_kinova_configs/kinova_sim/description/picknik_kinova_gen3.xacro

@@ -689,6 +689,7 @@
         <param name="mujoco_model_package">kinova_sim</param>
         <param name="render_publish_rate">10</param>
         <param name="tf_publish_rate">60</param>
+        <param name="mujoco_viewer">$(arg mujoco_viewer)</param>
       </hardware>
     </ros2_control>
 

src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/CMakeLists.txt

@@ -1,8 +1,8 @@
 cmake_minimum_required(VERSION 3.22)
 project(moveit_studio_kinova_pstop_manager)
 
-find_package(moveit_studio_common REQUIRED)
-moveit_studio_package()
+find_package(moveit_pro_package REQUIRED)
+moveit_pro_package()
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wpedantic)

src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/package.xml

@@ -11,7 +11,7 @@
   <license>Proprietary</license>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
-  <build_depend>moveit_studio_common</build_depend>
+  <build_depend>moveit_pro_package</build_depend>
 
   <depend>controller_manager_msgs</depend>
   <depend>moveit_studio_agent_msgs</depend>