Mujoco scene cosmetic improvements (#337)

* update scene camera position * rotate scene 90 deg, add adapter to linear rail --------- Co-authored-by: Michael Wrock <[email protected]>
PickNikRobotics · Aug 9, 2024 · 69ea0c7 · 69ea0c7
1 parent 5238d46
commit 69ea0c7
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Showing 3 changed files with 190 additions and 144 deletions.
diff --git a/src/picknik_ur_mujoco_config/description/picknik_ur.xacro b/src/picknik_ur_mujoco_config/description/picknik_ur.xacro
@@ -530,7 +530,7 @@
   <joint name="world-rail" type="fixed">
     <parent link="world"/>
     <child link="linear_rail"/>
-    <origin rpy="0 0 0" xyz="0.0 0 0.6"/>
+    <origin rpy="0 0 1.5707" xyz="0.0 0 0.6"/>
   </joint>
   <!--
     Base UR robot series xacro macro.
@@ -591,7 +591,14 @@
   <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
   <!-- Placeholder for ros2_control transmission which don't yet exist -->
   <!-- links -  main serial chain -->
-  <link name="base_link"/>
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.2"/>
+      <geometry>
+        <box size="0.16 0.2 0.4"/>
+      </geometry>
+    </visual>
+  </link>
   <link name="base_link_inertia">
     <visual>
       <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
@@ -727,7 +734,7 @@
   </link>
   <!-- base_joint fixes base_link to the environment -->
   <joint name="base_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 -0.4 0.0"/>
+    <origin rpy="0 0 0" xyz="-0.06 -0.4 0.0"/>
     <parent link="ur_linear_rail_base"/>
     <child link="base_link"/>
   </joint>
@@ -877,6 +884,42 @@
         <mesh filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae" scale="0.125 0.125 0.05"/>
       </geometry>
     </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.4 0.4 -0.25"/>
+      <geometry>
+        <box size="0.04 0.04 0.5"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.1 0.1 0.1 1.0"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.4 -0.4 -0.25"/>
+      <geometry>
+        <box size="0.04 0.04 0.5"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.1 0.1 0.1 1.0"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.4 -0.4 -0.25"/>
+      <geometry>
+        <box size="0.04 0.04 0.5"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.1 0.1 0.1 1.0"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.4 0.4 -0.25"/>
+      <geometry>
+        <box size="0.04 0.04 0.5"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.1 0.1 0.1 1.0"/>
+      </material>
+    </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
@@ -887,7 +930,7 @@
   <joint name="table_joint" type="fixed">
     <parent link="world"/>
     <child link="table"/>
-    <origin rpy="0 0 0" xyz="1 0 0.45"/>
+    <origin rpy="0 0 0" xyz="0 1 0.45"/>
   </joint>
   <ros2_control name="ur_mujoco_control" type="system">
     <hardware>

diff --git a/src/picknik_ur_mujoco_config/description/scene.xml b/src/picknik_ur_mujoco_config/description/scene.xml
@@ -41,9 +41,9 @@
 
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
-    <geom name="floor" pos="0 0 -1.626" size="0 0 0.05" type="plane" material="groundplane"/>   
+    <geom name="floor" pos="0 0 0" size="0 0 0.05" type="plane" material="groundplane"/>
     <!-- Define the table -->
-    <body name="table" pos="1 0 0.45">
+    <body name="table" pos="0 1 0.45">
         <geom type="box" size="0.5 0.5 0.025" material="wood"/>
     </body>
     <!-- Define the blocks with AprilTags on each face -->
@@ -74,9 +74,9 @@
     <key qpos="
       0 0 -1.5707 1.5707 -1.8 -1.5707 0
       0 0 0 0 0 0 0 0
-      0.75 0.2 0.51 1 0 0 0
-      0.75 0.0 0.51 1 0 0 0
-      0.75 -0.2 0.51 1 0 0 0
+      0.2 0.75 0.51 1 0 0 0
+      0.0 0.75 0.51 1 0 0 0
+      -0.2 0.75 0.51 1 0 0 0
     "
     ctrl="
       0 0 -1.5707 1.5707 -1.8 -1.5707 0 0