Skip to content

Bring it add scene camera #55

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
henningkayser merged 8 commits into from
Dec 12, 2024
Merged

Bring it add scene camera #55

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
b9beba8
Fix typo
mkhansenbot Dec 12, 2024
cbd9219
Re-add agent_bridge_launch
mkhansenbot Dec 12, 2024
3548bb7
Add scene camera
mkhansenbot Dec 12, 2024
3a81faf
Fix pre-commit errors
mkhansenbot Dec 12, 2024
6fec3db
Change submodule to https URL
mkhansenbot Dec 12, 2024
040d157
Fix Yaml errors
mkhansenbot Dec 12, 2024
32a71f3
Remove cube.stl to fix pre-commit
mkhansenbot Dec 12, 2024
9252708
Add copyright to script
mkhansenbot Dec 12, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion .gitmodules
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,4 +3,4 @@
url = https://github.com/PickNikRobotics/picknik_accessories.git
[submodule "src/external_dependencies/ridgeback/clearpath_mecanum_drive_controller"]
path = src/external_dependencies/ridgeback/clearpath_mecanum_drive_controller
url = git@github.com:clearpathrobotics/clearpath_mecanum_drive_controller.git
url = https://github.com/clearpathrobotics/clearpath_mecanum_drive_controller.git
Binary file removed src/moveit_pro_ur_configs/bring_it_sim/description/assets/cube.stl
View file
Open in desktop
Binary file not shown.
124 changes: 92 additions & 32 deletions src/moveit_pro_ur_configs/bring_it_sim/description/bar.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,33 +1,93 @@
<mujoco model="bar">
<asset>
<mesh name="beer_bottle" file="./assets/beer_bottle.stl"/>
<material name="glass" rgba="0.0 0.7 0.1 0.9"/>
</asset>
<worldbody>
<geom name="bar" type="box" size="2.5 0.75 0.45" pos="0 2 0.45" rgba="0.75 0.75 0.75 1"/>
<geom name="table_1" type="box" size="0.75 0.75 0.45" pos="1.75 5.5 0.45" rgba="0.75 0.75 0.75 1"/>
<geom name="table_2" type="box" size="0.75 0.75 0.45" pos="-1.75 5.5 0.45" rgba="0.75 0.75 0.75 1"/>
<geom name="table_3" type="box" size="0.75 0.75 0.45" pos="1.75 9 0.45" rgba="0.75 0.75 0.75 1"/>
<geom name="table_4" type="box" size="0.75 0.75 0.45" pos="-1.75 9 0.45" rgba="0.75 0.75 0.75 1"/>
<body name="beer_bottle_1" pos="-1 2 0.9">
<freejoint/>
<geom type="mesh" mesh="beer_bottle" mass="0.25" material="glass" friction="0.8"/>
</body>
<body name="beer_bottle_2" pos="-0.5 2 0.9">
<freejoint/>
<geom type="mesh" mesh="beer_bottle" mass="0.25" material="glass" friction="0.8"/>
</body>
<body name="beer_bottle_3" pos="0 2 0.9">
<freejoint/>
<geom type="mesh" mesh="beer_bottle" mass="0.25" material="glass" friction="0.8"/>
</body>
<body name="beer_bottle_4" pos="0.5 2 0.9">
<freejoint/>
<geom type="mesh" mesh="beer_bottle" mass="0.25" material="glass" friction="0.8"/>
</body>
<body name="beer_bottle_5" pos="1 2 0.9">
<freejoint/>
<geom type="mesh" mesh="beer_bottle" mass="0.25" material="glass" friction="0.8"/>
</body>
</worldbody>
</mujoco>
<asset>
<mesh name="beer_bottle" file="./assets/beer_bottle.stl" />
<material name="glass" rgba="0.0 0.7 0.1 0.9" />
</asset>
<worldbody>
<geom
name="bar"
type="box"
size="2.5 0.75 0.45"
pos="0 2 0.45"
rgba="0.75 0.75 0.75 1"
/>
<geom
name="table_1"
type="box"
size="0.75 0.75 0.45"
pos="1.75 5.5 0.45"
rgba="0.75 0.75 0.75 1"
/>
<geom
name="table_2"
type="box"
size="0.75 0.75 0.45"
pos="-1.75 5.5 0.45"
rgba="0.75 0.75 0.75 1"
/>
<geom
name="table_3"
type="box"
size="0.75 0.75 0.45"
pos="1.75 9 0.45"
rgba="0.75 0.75 0.75 1"
/>
<geom
name="table_4"
type="box"
size="0.75 0.75 0.45"
pos="-1.75 9 0.45"
rgba="0.75 0.75 0.75 1"
/>
<body name="beer_bottle_1" pos="-1 2 0.9">
<freejoint />
<geom
type="mesh"
mesh="beer_bottle"
mass="0.25"
material="glass"
friction="0.8"
/>
</body>
<body name="beer_bottle_2" pos="-0.5 2 0.9">
<freejoint />
<geom
type="mesh"
mesh="beer_bottle"
mass="0.25"
material="glass"
friction="0.8"
/>
</body>
<body name="beer_bottle_3" pos="0 2 0.9">
<freejoint />
<geom
type="mesh"
mesh="beer_bottle"
mass="0.25"
material="glass"
friction="0.8"
/>
</body>
<body name="beer_bottle_4" pos="0.5 2 0.9">
<freejoint />
<geom
type="mesh"
mesh="beer_bottle"
mass="0.25"
material="glass"
friction="0.8"
/>
</body>
<body name="beer_bottle_5" pos="1 2 0.9">
<freejoint />
<geom
type="mesh"
mesh="beer_bottle"
mass="0.25"
material="glass"
friction="0.8"
/>
</body>
</worldbody>
</mujoco>
67 changes: 54 additions & 13 deletions src/moveit_pro_ur_configs/bring_it_sim/description/bar_scene.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,26 +1,67 @@
<!-- UR5e inspired from https://github.com/google-deepmind/mujoco_menagerie/tree/main/universal_robots_ur5e -->
<!-- Kitchen inspired by https://github.com/Farama-Foundation/Gymnasium-Robotics/tree/main/gymnasium_robotics/envs/franka_kitchen -->

<mujoco model="bar scene">
<include file="ur5e_ridgeback.xml"/>
<include file="bar.xml"/>
<statistic center="0.3 0 0.4" extent="0.8"/>
<include file="ur5e_ridgeback.xml" />
<include file="bar.xml" />
<statistic center="0.3 0 0.4" extent="0.8" />

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="120" elevation="-20" offwidth="1920" offheight="1080"/>
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="120" elevation="-20" offwidth="1920" offheight="1080" />
</visual>

<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
<texture
type="skybox"
builtin="gradient"
rgb1="0.3 0.5 0.7"
rgb2="0 0 0"
width="512"
height="3072"
/>
<texture
type="2d"
name="groundplane"
builtin="checker"
mark="edge"
rgb1="0.2 0.3 0.4"
rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8"
width="300"
height="300"
/>
<material
name="groundplane"
texture="groundplane"
texuniform="true"
texrepeat="5 5"
reflectance="0.2"
/>
</asset>

<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<geom name="floor" pos="0 0 -0.04" size="0 0 0.05" type="plane" material="groundplane"/>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom
name="floor"
pos="0 0 -0.04"
size="0 0 0.05"
type="plane"
material="groundplane"
/>
<!-- Scene Camera -->
<site
name="scene_camera_optical_frame"
pos="-1.0 -2.0 2.966"
euler="3.99 0.000 0"
/>
<camera
name="scene_camera"
pos="-1.0 -2.0 2.966"
fovy="58"
mode="fixed"
resolution="1920 1080"
euler="0.849 0.000 0.0"
/>
</worldbody>
</mujoco>
Loading
Loading