Merge pull request #356 from PickNikRobotics/merge-6.0.1-to-main

Merge 6.0.1 to main

.github/workflows/ci.yaml

@@ -15,7 +15,7 @@ on:
 
 jobs:
   integration-test-in-studio-container:
-    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@main
+    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@virtual-buffer
     with:
       image_tag: ${{ github.event.inputs.image_tag || null }}
       colcon_test_args: "--executor sequential"

README.md

@@ -19,6 +19,7 @@ This workspace contains several MoveIt Pro configuration packages for UR arms th
 graph TB
 Base[picknik_ur_base_config] --> Site[picknik_ur_site_config]
 Base --> Mock[picknik_ur_mock_hw_config]
+Base --> Simulation[picknik_ur_mujoco_config]
 Site --> Gazebo[picknik_ur_gazebo_config]
 Site --> Picknik[Other PickNik configs]
 Gazebo --> ScanAndPlan[picknik_ur_gazebo_scan_and_plan_config]

src/picknik_ur_mujoco_config/CMakeLists.txt → src/arm_on_rail_sim/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(picknik_ur_mujoco_config)
+project(arm_on_rail_sim)
 
 find_package(ament_cmake REQUIRED)
 

src/picknik_ur_mujoco_config/README.md → src/arm_on_rail_sim/README.md

@@ -1,4 +1,4 @@
-# picknik_ur_mujoco_config
+# arm_on_rail_sim
 
 A MoveIt Pro MuJoCo simulation for PickNik's Universal Robots (UR) arms.
 

src/picknik_ur_mujoco_config/config/config.yaml → src/arm_on_rail_sim/config/config.yaml

@@ -10,23 +10,23 @@ hardware:
   # [Required]
   robot_description:
     urdf:
-      package: "picknik_ur_mujoco_config"
+      package: "arm_on_rail_sim"
       path: "description/picknik_ur.xacro"
     srdf:
-      package: "picknik_ur_mujoco_config"
+      package: "arm_on_rail_sim"
       path: "config/moveit/picknik_ur.srdf"
     urdf_params:
       - mujoco_model: "description/scene.xml"
 
 moveit_params:
   servo:
-    package: "picknik_ur_mujoco_config"
+    package: "arm_on_rail_sim"
     path: "config/moveit/ur_servo.yaml"
   joint_limits:
-    package: "picknik_ur_mujoco_config"
+    package: "arm_on_rail_sim"
     path: "config/moveit/joint_limits.yaml"
   servo_joint_limits:
-    package: "picknik_ur_mujoco_config"
+    package: "arm_on_rail_sim"
     path: "config/moveit/hard_joint_limits.yaml"
 
 # Configuration for loading behaviors and objectives.
@@ -42,25 +42,24 @@ objectives:
       - "moveit_studio::behaviors::MTCCoreBehaviorsLoader"
       - "moveit_studio::behaviors::ServoBehaviorsLoader"
       - "moveit_studio::behaviors::VisionBehaviorsLoader"
-      - "moveit_studio::behaviors::ConverterBehaviorsLoader"
   # Specify source folder for objectives
   # [Required]
   objective_library_paths:
     sim_objectives:
-      package_name: "picknik_ur_mujoco_config"
+      package_name: "arm_on_rail_sim"
       relative_path: "objectives"
   # Specify the location of the saved waypoints file.
   # [Required]
   waypoints_file:
-    package_name: "picknik_ur_mujoco_config"
+    package_name: "arm_on_rail_sim"
     relative_path: "waypoints/ur_waypoints.yaml"
 
 
 # Configuration for launching ros2_control processes.
 # [Required, if using ros2_control]
 ros2_control:
   config:
-    package: "picknik_ur_mujoco_config"
+    package: "arm_on_rail_sim"
     path: "config/control/picknik_ur.ros2_control.yaml"
   # MoveIt Pro will load and activate these controllers at start up to ensure they are available.
   # If not specified, it is up to the user to ensure the appropriate controllers are active and available

src/picknik_ur_mujoco_config/config/control/picknik_ur.ros2_control.yaml → src/arm_on_rail_sim/config/control/picknik_ur.ros2_control.yaml

@@ -16,6 +16,7 @@ controller_manager:
     velocity_force_controller:
       type: velocity_force_controller/VelocityForceController
 
+
 joint_state_broadcaster:
   ros__parameters:
     use_local_topics: false

src/picknik_ur_mujoco_config/config/moveit/hard_joint_limits.yaml → src/arm_on_rail_sim/config/moveit/hard_joint_limits.yaml

@@ -17,9 +17,9 @@ joint_limits:
     has_velocity_limits: true
     max_acceleration: 0.1
     max_effort: 150.0
-    max_position: 5.0
+    max_position: 2.9
     max_velocity: 0.175
-    min_position: -5.0
+    min_position: -2.1
   shoulder_pan_joint:
     has_acceleration_limits: true
     has_effort_limits: true

src/picknik_ur_mujoco_config/config/moveit/joint_limits.yaml → src/arm_on_rail_sim/config/moveit/joint_limits.yaml

@@ -15,11 +15,11 @@ joint_limits:
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
-    max_acceleration: 0.1
-    max_effort: 150.0
-    max_position: 5.0
-    max_velocity: 0.175
-    min_position: -5.0
+    max_acceleration: 10.0
+    max_effort: 1500.0
+    max_position: 2.9
+    max_velocity: 1.0
+    min_position: -2.1
   shoulder_pan_joint:
     has_acceleration_limits: true
     has_effort_limits: true

src/picknik_ur_mujoco_config/config/moveit/picknik_ur.srdf → src/arm_on_rail_sim/config/moveit/picknik_ur.srdf

@@ -31,12 +31,12 @@
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="open" group="gripper">
-        <joint name="robotiq_85_left_knuckle_joint" value="0"/>
-        <joint name="robotiq_85_right_knuckle_joint" value="0"/>
+        <joint name="robotiq_85_left_knuckle_joint" value="0.05"/>
+        <joint name="robotiq_85_right_knuckle_joint" value="0.05"/>
     </group_state>
     <group_state name="close" group="gripper">
-        <joint name="robotiq_85_left_knuckle_joint" value="0.7929"/>
-        <joint name="robotiq_85_right_knuckle_joint" value="-0.7929"/>
+        <joint name="robotiq_85_left_knuckle_joint" value="0.79"/>
+        <joint name="robotiq_85_right_knuckle_joint" value="-0.79"/>
     </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
     <end_effector name="moveit_ee" parent_link="tool0" group="gripper"/>

src/picknik_ur_mujoco_config/description/picknik_ur.xacro → src/arm_on_rail_sim/description/picknik_ur.xacro

@@ -648,29 +648,64 @@
   <!-- Linear rail -->
   <link name="linear_rail">
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.05" />
+      <origin rpy="0 0 0" xyz="0 0 0" />
       <geometry>
-        <mesh
-          filename="package://picknik_ur_mujoco_config/description/assets/rail.stl"
-        />
+        <box size="5.0 0.6 0.30" />
+      </geometry>
+      <material name="grey">
+        <color rgba="0.1 0.1 0.1 1.0" />
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0.14 0.125" />
+      <geometry>
+        <box size="5.0 0.2 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 -0.22 0.125" />
+      <geometry>
+        <box size="5.0 0.12 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 0.05" />
+      <origin rpy="0 0 0" xyz="0 0 0" />
       <geometry>
-        <mesh
-          filename="package://picknik_ur_mujoco_config/description/assets/rail.stl"
-        />
+        <box size="5.0 0.6 0.3" />
       </geometry>
+      <material name="grey">
+        <color rgba="0.1 0.1 0.1 1.0" />
+      </material>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.14 0.125" />
+      <geometry>
+        <box size="5.0 0.2 0.5" />
+      </geometry>
+      <material name="grey">
+        <color rgba="0.1 0.1 0.1 1.0" />
+      </material>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.22 0.125" />
+      <geometry>
+        <box size="5.0 0.12 0.5" />
+      </geometry>
+      <material name="grey">
+        <color rgba="0.1 0.1 0.1 1.0" />
+      </material>
     </collision>
   </link>
   <joint name="world-rail" type="fixed">
     <parent link="world" />
     <child link="linear_rail" />
-    <origin rpy="0 0 1.5707" xyz="0.0 0 0.6" />
+    <origin rpy="0 0 0" xyz="0.0 0 0.0" />
   </joint>
   <!--
     Base UR robot series xacro macro.
@@ -949,7 +984,7 @@
   </link>
   <!-- base_joint fixes base_link to the environment -->
   <joint name="base_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.06 -0.4 0.0" />
+    <origin rpy="0 0 1.5707" xyz="0.4 -0.06 0.6" />
     <parent link="ur_linear_rail_base" />
     <child link="base_link" />
   </joint>
@@ -1045,6 +1080,12 @@
     />
     <dynamics damping="0" friction="0" />
   </joint>
+  <link name="ft_frame" />
+  <joint name="wrist_3_link-ft_frame" type="fixed">
+    <parent link="wrist_3_link" />
+    <child link="ft_frame" />
+    <origin rpy="3.141592653589793 0 0" xyz="0 0 0" />
+  </joint>
   <!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
   <link name="base" />
   <joint name="base_link-base_fixed_joint" type="fixed">
@@ -1117,61 +1158,61 @@
     <origin rpy="0 0 0.19634954084936207" xyz="0 0 0" />
   </joint>
   <joint name="linear_rail_joint" type="prismatic">
-    <axis xyz="0 1 0" />
+    <axis xyz="-1 0 0" />
     <parent link="linear_rail" />
     <child link="ur_linear_rail_base" />
     <origin rpy="0 0 0" xyz="0 0 0" />
     <limit
       acceleration="10.0"
       effort="1000.0"
-      lower="-5.0"
-      upper="5.0"
+      lower="-2.1"
+      upper="2.9"
       velocity="0.175"
     />
     <dynamics damping="20.0" friction="500.0" />
   </joint>
   <!-- Table -->
   <link name="table">
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0.025" />
       <geometry>
         <mesh
           filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae"
-          scale="0.125 0.125 0.05"
+          scale="0.125 0.125 0.00625"
         />
       </geometry>
     </visual>
     <visual>
-      <origin rpy="0 0 0" xyz="0.4 0.4 -0.25" />
+      <origin rpy="0 0 0" xyz="0.4 0.4 -0.2" />
       <geometry>
-        <box size="0.04 0.04 0.5" />
+        <box size="0.04 0.04 0.45" />
       </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" />
+      <origin rpy="0 0 0" xyz="0.4 -0.4 -0.2" />
       <geometry>
-        <box size="0.04 0.04 0.5" />
+        <box size="0.04 0.04 0.45" />
       </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" />
+      <origin rpy="0 0 0" xyz="-0.4 -0.4 -0.2" />
       <geometry>
-        <box size="0.04 0.04 0.5" />
+        <box size="0.04 0.04 0.45" />
       </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" />
+      <origin rpy="0 0 0" xyz="-0.4 0.4 -0.2" />
       <geometry>
-        <box size="0.04 0.04 0.5" />
+        <box size="0.04 0.04 0.45" />
       </geometry>
       <material name="grey">
         <color rgba="0.1 0.1 0.1 1.0" />
@@ -1182,7 +1223,7 @@
       <geometry>
         <mesh
           filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae"
-          scale="0.125 0.125 0.05"
+          scale="0.125 0.125 0.00625"
         />
       </geometry>
     </collision>
@@ -1196,7 +1237,7 @@
     <hardware>
       <plugin>picknik_mujoco_ros/MujocoSystem</plugin>
       <param name="mujoco_model">$(arg mujoco_model)</param>
-      <param name="mujoco_model_package">picknik_ur_mujoco_config</param>
+      <param name="mujoco_model_package">arm_on_rail_sim</param>
       <param name="render_publish_rate">10</param>
       <param name="tf_publish_rate">60</param>
       <param name="lidar_publish_rate">10</param>