PR comments and general cleanup

src/moveit_studio_agent_examples/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>moveit_studio_agent_examples</name>
-  <version>2.4.0</version>
+  <version>2.5.0</version>
   <description>Package containing scripts for interacting with MoveIt Studio Agent</description>
 
   <maintainer email="[email protected]">Chance Cardona</maintainer>

src/picknik_ur_base_config/README.md

@@ -1,5 +1,5 @@
 # picknik_ur_base_config
 
-A MoveIt Studio base configuration for PickNik's UR5e simulation.
+A MoveIt Studio base configuration for PickNik's Universal Robots (UR) arms.
 
 For detailed documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)

src/picknik_ur_base_config/package.xml

@@ -3,7 +3,7 @@
   <name>picknik_ur_base_config</name>
   <version>2.5.0</version>
 
-  <description>Base config package for a UR5e robot</description>
+  <description>Base configuration package for Picknik's UR robot arms</description>
 
   <maintainer email="[email protected]">MoveIt Studio Maintainer</maintainer>
 

src/picknik_ur_gazebo_config/LICENSE

@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

src/picknik_ur_gazebo_config/package.xml

@@ -3,7 +3,7 @@
   <name>picknik_ur_gazebo_config</name>
   <version>2.5.0</version>
 
-  <description>Site config package for the simulated UR5e in PickNik's space station world simulated by Gazebo.</description>
+  <description>Site configuration package for the UR5e in PickNik's space station world simulated by Gazebo.</description>
 
   <maintainer email="[email protected]">MoveIt Studio Maintainer</maintainer>
 

src/picknik_ur_mock_hw_config/README.md

@@ -1,5 +1,5 @@
 # picknik_ur_mock_hw_config
 
-A MoveIt Studio configuration to simulate a UR5e using mock hardware.
+A MoveIt Studio configuration to simulate a UR arm using mock hardware.
 
 For detailed documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)

src/picknik_ur_mock_hw_config/config/config.yaml

@@ -4,7 +4,7 @@ hardware:
 
   # Be sure to set your robot's IP address.
   ip: "0.0.0.0"
-  simulated: ${MOCK_HARDWARE:-true}
+  simulated: True
 
   # Update robot description for machine tending world.
   robot_description:

src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro

@@ -118,7 +118,7 @@
   <joint name="cnc_machine_joint" type="fixed">
     <parent link="world" />
     <child link="cnc_machine" />
-    <origin xyz="-0.1 -1 0" rpy="0 0 3.14"  />
+    <origin xyz="-0.1 -1.2 0" rpy="0 0 3.14"  />
   </joint>
 
   <!-- Robot base -->

src/picknik_ur_mock_hw_config/package.xml

@@ -3,7 +3,7 @@
   <name>picknik_ur_mock_hw_config</name>
   <version>2.5.0</version>
 
-  <description>Config package for a UR5e that can be simulated with mock hardware</description>
+  <description>Configuration package for a UR arm that can be simulated with mock hardware</description>
 
   <maintainer email="[email protected]">MoveIt Studio Maintainer</maintainer>
 

src/picknik_ur_mock_hw_config/waypoints/machine_tending_waypoints.yaml

@@ -224,7 +224,7 @@
     velocity: []
   name: Look at Left Table
 - description: ''
-  favorite: false
+  favorite: true
   joint_state:
     effort: []
     header:
@@ -240,12 +240,12 @@
       - wrist_2_joint
       - wrist_3_joint
     position:
-      - 0.47702945477493075
-      - -1.0062790980482423
-      - -1.4929256817875407
-      - -1.1832344093653935
-      - 1.238994660290608
-      - 0.29377648188224675
+      - -9.243789166212083e-05
+      - -0.8567979964335799
+      - -1.3708767942937286
+      - -1.4565565939370861
+      - 1.6699628638609312
+      - 3.217637641355396e-05
     velocity: []
   name: Look at Machine
 - description: ''

src/picknik_ur_site_config/README.md

@@ -1,5 +1,5 @@
 # picknik_ur_site_config
 
-A MoveIt Studio site configuration for a UR5e based on the `picknik_ur_base_config` package.
+A MoveIt Studio site configuration for a UR arm based on the `picknik_ur_base_config` package.
 
 For further documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)

src/picknik_ur_site_config/package.xml

@@ -3,7 +3,7 @@
   <name>picknik_ur_site_config</name>
   <version>2.5.0</version>
 
-  <description>Site config package for a UR5e that can be simulated with mock hardware</description>
+  <description>Site configuration package for a UR arm that can be simulated with mock hardware</description>
 
   <maintainer email="[email protected]">MoveIt Studio Maintainer</maintainer>