Skip to content

Commit ef96241

Browse files
shaur-kshaur-k
committed
fix: scene for new blocks
1 parent d983da5 commit ef96241

File tree

2 files changed

+58
-11
lines changed

2 files changed

+58
-11
lines changed

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

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -60,7 +60,7 @@
6060
arm_prefix="left"
6161
connected_to= "left_mount">
6262
</xacro:franka_robot>
63-
63+
6464
<!-- This link aligns the axes of the grasp frame to our required convention for motion planning tasks. -->
6565
<link name="left_grasp_link" />
6666
<joint name="left_grasp_link_joint" type="fixed">
@@ -230,7 +230,7 @@
230230
<param name="mujoco_model_package">franka_dual_arm_sim</param>
231231
<param name="render_publish_rate">10</param>
232232
<param name="tf_publish_rate">60</param>
233-
<param name="mujoco_viewer">false</param>
233+
<param name="mujoco_viewer">true</param>
234234
<param name="mujoco_keyframe">home</param>
235235
</hardware>
236236
</ros2_control>

‎src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/scene.xml‎

Lines changed: 56 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,8 @@
22
<include file="franka3.xml" />
33

44
<statistic center="0.2 0.2 0.5" extent="1.8" />
5+
<size nkey="1"/>
6+
<size nuser_jnt="0"/>
57

68
<visual>
79
<global azimuth="120" elevation="-21" fovy="58" />
@@ -76,19 +78,47 @@
7678
rgba="0.3 0.7 0.3 1"
7779
/>
7880

79-
<!-- <replicate count="5" offset="0 0.1 0"> -->
80-
<body name="block_green" pos="0.5 0 0.2">
81-
<freejoint name="block_green" />
81+
<body name="block_green_1" pos="0.5 0 0.2">
82+
<freejoint name="block_green_1" />
83+
<geom type="box" size="0.025 0.025 0.025" rgba="0 0.8 0 1" />
84+
</body>
85+
<body name="block_green_2" pos="0.5 0.1 0.2">
86+
<freejoint name="block_green_2" />
87+
<geom type="box" size="0.025 0.025 0.025" rgba="0 0.8 0 1" />
88+
</body>
89+
<body name="block_green_3" pos="0.5 0.2 0.2">
90+
<freejoint name="block_green_3" />
91+
<geom type="box" size="0.025 0.025 0.025" rgba="0 0.8 0 1" />
92+
</body>
93+
<body name="block_green_4" pos="0.5 -0.1 0.2">
94+
<freejoint name="block_green_4" />
95+
<geom type="box" size="0.025 0.025 0.025" rgba="0 0.8 0 1" />
96+
</body>
97+
<body name="block_green_5" pos="0.5 -0.2 0.2">
98+
<freejoint name="block_green_5" />
8299
<geom type="box" size="0.025 0.025 0.025" rgba="0 0.8 0 1" />
83100
</body>
84-
<!-- </replicate> -->
85101

86-
<!-- <replicate count="5" offset="0 0.1 0"> -->
87-
<body name="block_red" pos="0.6 0 0.2">
88-
<freejoint name="block_red" />
102+
<body name="block_red_1" pos="0.6 0 0.2">
103+
<freejoint name="block_red_1" />
104+
<geom type="box" size="0.025 0.025 0.025" rgba="0.8 0 0 1" />
105+
</body>
106+
<body name="block_red_2" pos="0.6 0.1 0.2">
107+
<freejoint name="block_red_2" />
108+
<geom type="box" size="0.025 0.025 0.025" rgba="0.8 0 0 1" />
109+
</body>
110+
<body name="block_red_3" pos="0.6 0.2 0.2">
111+
<freejoint name="block_red_3" />
112+
<geom type="box" size="0.025 0.025 0.025" rgba="0.8 0 0 1" />
113+
</body>
114+
<body name="block_red_4" pos="0.6 -0.1 0.2">
115+
<freejoint name="block_red_4" />
116+
<geom type="box" size="0.025 0.025 0.025" rgba="0.8 0 0 1" />
117+
</body>
118+
<body name="block_red_5" pos="0.6 -0.2 0.2">
119+
<freejoint name="block_red_5" />
89120
<geom type="box" size="0.025 0.025 0.025" rgba="0.8 0 0 1" />
90121
</body>
91-
<!-- </replicate> -->
92122
</worldbody>
93123

94124
<keyframe>
@@ -97,13 +127,30 @@
97127
qpos="0 -0.7854 0 -2.3562 0 1.5707 0.7853 0 0
98128
0 -0.7854 0 -2.3562 0 1.5707 0.7853 0 0
99129
0.5 0 0.2 1 0 0 0
100-
0.6 0 0.2 1 0 0 0"
130+
0.5 0.1 0.2 1 0 0 0
131+
0.5 0.2 0.2 1 0 0 0
132+
0.5 -0.1 0.2 1 0 0 0
133+
0.5 -0.2 0.2 1 0 0 0
134+
0.6 0 0.2 1 0 0 0
135+
0.6 0.1 0.2 1 0 0 0
136+
0.6 0.2 0.2 1 0 0 0
137+
0.6 -0.1 0.2 1 0 0 0
138+
0.6 -0.2 0.2 1 0 0 0"
101139
qvel="0 0 0 0 0 0 0 0 0
102140
0 0 0 0 0 0 0 0 0
103141
0 0 0 0 0 0
142+
0 0 0 0 0 0
143+
0 0 0 0 0 0
144+
0 0 0 0 0 0
145+
0 0 0 0 0 0
146+
0 0 0 0 0 0
147+
0 0 0 0 0 0
148+
0 0 0 0 0 0
149+
0 0 0 0 0 0
104150
0 0 0 0 0 0"
105151
ctrl="0 -0.7854 0 -2.3562 0 1.5707 0.7853 0 0
106152
0 -0.7854 0 -2.3562 0 1.5707 0.7853 0 0"
107153
/>
108154
</keyframe>
155+
109156
</mujoco>

0 commit comments

Comments
 (0)