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Merged
MikeWrock merged 3 commits into from
Dec 2, 2024
Merged

Syncing main to 6.5 #25

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632bc53
updating picknik_accesories
MikeWrock Nov 28, 2024
878d137
patching fanuc (#22)
MikeWrock Dec 2, 2024
6e9547c
added dependency (#21)
MikeWrock Dec 2, 2024
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12 changes: 12 additions & 0 deletions src/fanuc_sim/CMakeLists.txt
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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
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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
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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
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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
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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
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