Minor fixes

Signed-off-by: Gerardo Puga <glpuga@gmail.com>

Author: glpuga

.clang-format

@@ -6,6 +6,9 @@ ColumnLimit: 120
 AlignAfterOpenBracket: AlwaysBreak
 QualifierAlignment: Left
 ---
+Language: Json
+BasedOnStyle: llvm
+---
 BasedOnStyle: Chromium
 Language: JavaScript
 ...

ar4_isaac/README.md

@@ -20,7 +20,7 @@ Build the packages
 
 ```
 source /opt/ros/humble/setup.bash
-colcon build
+colcon build --packages-up-to ar4_isaac
 ```
 
 Source the built packages

ar4_mujoco_sim/README.md

@@ -1,14 +1,12 @@
 # Description
-A Gazebo simulation of the AR4 Package.
 
-To build the package, run
-`colcon build`
+This package contains the simulation of the AR4 robot in Mujoco.
 
-To run the simulation, source and run
-`ros2 launch ar4_mujoco_sim ar4_sim.launch.py`
+## Instructions to import the model
 
-#### Launch file arguments
-- 'rsp':
-    - Run [`robot state publisher`](https://github.com/ros/robot_state_publisher) node. (default: 'false')
-- 'rviz':
-    - Start RViz. (default: 'false')
+The Mujoco model of the AR4 robot can be imported from the URDF description in the `ar4_description` package. The process requires running the two scripts in the `scripts/` folder in sequence.
+
+1. First run `stage1_create_urdf_from_xacro.sh` from **within** the development container. This script will generate the URDF file from the xacro description.
+1. Then run `stage2_create_mjcf_from_urdf.sh` from **outside** the development container (this script needs to create a new containerized environment running Ubuntu 24.04). This script will generate the Mujoco model from the URDF file.
+
+At this point you'll see the `urdf/` and `mjcf/` folders in the `ar4_mujoco_sim` package as updated. Commit those changes.

ar4_mujoco_sim/launch/main.launch.py

@@ -52,20 +52,19 @@ def generate_launch_description():
         "mj_ar4.urdf.xacro",
     )
 
-    robot_description_urdf = xacro.process_file(mjcf_equiv_robot_description_file).toprettyxml(
-        indent="  "
-    )
+    robot_description_urdf = xacro.process_file(
+        mjcf_equiv_robot_description_file
+    ).toprettyxml(indent="  ")
 
     rsp_robot_description_file = os.path.join(
         get_package_share_directory("ar4_description"),
         "urdf",
         "ar4.urdf.xacro",
     )
 
-    rsp_robot_description_urdf = xacro.process_file(rsp_robot_description_file).toprettyxml(
-        indent="  "
-    )
-
+    rsp_robot_description_urdf = xacro.process_file(
+        rsp_robot_description_file
+    ).toprettyxml(indent="  ")
 
     mujoco_model = os.path.join(
         this_pkg_share,

ar4_mujoco_sim/meta/metadata.json

@@ -12,4 +12,4 @@
       ]
     }
   ]
-}
+}

ar4_mujoco_sim/mjcf/robot/mj_ar4.mjcf

@@ -134,4 +134,4 @@
     <framelinvel name="base_link_vel" objtype="site" objname="base_link_site" />
     <frameangvel name="base_link_ang_vel" objtype="site" objname="base_link_site" />
   </sensor>
-</mujoco>
+</mujoco>

ar4_mujoco_sim/mjcf/scene.xml

@@ -25,4 +25,4 @@
         <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
         <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
     </worldbody>
-</mujoco>
+</mujoco>

ar4_mujoco_sim/scripts/docker/entrypoint.sh

@@ -2,4 +2,4 @@
 
 set +e
 
-exec "$@"
+exec "$@"

ar4_mujoco_sim/urdf/mj_ar4.urdf

@@ -347,11 +347,11 @@
   </joint>
   .
 
-  
+
   <mujoco>
     <compiler balanceinertia="true" discardvisual="false" meshdir=""/>
   </mujoco>
-  <ros2_control name="GazeboSystem" type="system">
+  <ros2_control name="MujocoSystem" type="system">
     <hardware>
       <plugin>mujoco_ros2_control/MujocoSystem</plugin>
     </hardware>

ar4_mujoco_sim/xacro/includes/mujoco.xacro

@@ -11,4 +11,4 @@
 
     </mujoco>
 
-</robot>
+</robot>