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Run the linter
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@EzraBrooks
EzraBrooks committed Aug 27, 2024
1 parent dfc572d commit f200ecb
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Showing 164 changed files with 9,548 additions and 3,126 deletions.
974 changes: 615 additions & 359 deletions src/arm_on_rail_sim/description/picknik_ur.xacro
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133 changes: 88 additions & 45 deletions src/arm_on_rail_sim/description/scene.xml
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Original file line number Diff line number Diff line change
@@ -1,64 +1,106 @@
<!-- UR5e inspired from https://github.com/google-deepmind/mujoco_menagerie/tree/main/universal_robots_ur5e -->

<mujoco model="ur5e scene">
<include file="ur5e.xml"/>
<include file="ur5e.xml" />

<asset>
<!-- Define textures and materials -->
<texture name="wood" type="cube" file="assets/wood.png"/>
<material name="wood" texture="wood" texrepeat="1 1"/>
<asset>
<!-- Define textures and materials -->
<texture name="wood" type="cube" file="assets/wood.png" />
<material name="wood" texture="wood" texrepeat="1 1" />

<!-- Define AprilTag textures -->
<texture name="apriltag1" type="2d" file="assets/tag36_11_00000.png"/>
<texture name="apriltag2" type="2d" file="assets/tag36_11_00001.png"/>
<!-- Define AprilTag textures -->
<texture name="apriltag1" type="2d" file="assets/tag36_11_00000.png" />
<texture name="apriltag2" type="2d" file="assets/tag36_11_00001.png" />

<!-- Define block materials with AprilTags -->
<material name="apriltag_material1" texture="apriltag1" texuniform="false" />
<material name="apriltag_material2" texture="apriltag2" texuniform="false" />
</asset>
<!-- Define block materials with AprilTags -->
<material
name="apriltag_material1"
texture="apriltag1"
texuniform="false"
/>
<material
name="apriltag_material2"
texture="apriltag2"
texuniform="false"
/>
</asset>

<statistic center="0.3 0 0.4" extent="0.8"/>
<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"/>
<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" />
</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"/>
</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"
/>
</asset>
<asset>
<mesh name="cube" file="assets/Cube.stl"/>
<mesh name="cube" file="assets/Cube.stl" />
</asset>


<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<geom name="floor" pos="0 0 0" 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"
size="0 0 0.05"
type="plane"
material="groundplane"
/>
<!-- Define the table -->
<body name="table" pos="0 1 0.45">
<geom type="box" size="0.5 0.5 0.025" material="wood"/>
<geom type="box" size="0.5 0.5 0.025" material="wood" />
</body>
<!-- Define the block with AprilTags on each face -->
<body name="block1" pos="0.2 0.75 0.575">
<freejoint name="block1" />
<geom
type="box"
size="0.025 0.025 0.025"
rgba="1 1 1 1"
material="apriltag_material1"
/>
</body>
<body name="block2" pos="0.0 0.75 0.575">
<freejoint name="block2" />
<geom class="visual" mesh="cube" pos="0 0 -0.03" />
<geom class="collision" type="box" size="0.025 0.025 0.025" pos="0 0 0" />
</body>
<body name="block3" pos="-0.2 0.75 0.575">
<freejoint name="block3" />
<geom
type="box"
size="0.025 0.025 0.025"
rgba="1 1 1 1"
material="apriltag_material2"
/>
</body>
<!-- Define the block with AprilTags on each face -->
<body name="block1" pos="0.2 0.75 0.575">
<freejoint name="block1"/>
<geom type="box" size="0.025 0.025 0.025" rgba="1 1 1 1" material="apriltag_material1"/>
</body>
<body name="block2" pos="0.0 0.75 0.575">
<freejoint name="block2"/>
<geom class="visual" mesh="cube" pos="0 0 -0.03"/>
<geom class="collision" type="box" size="0.025 0.025 0.025" pos="0 0 0"/>
</body>
<body name="block3" pos="-0.2 0.75 0.575">
<freejoint name="block3"/>
<geom type="box" size="0.025 0.025 0.025" rgba="1 1 1 1" material="apriltag_material2"/>
</body>


</worldbody>

<keyframe>
Expand All @@ -70,14 +112,15 @@
<!-- block3 [x, y, z, qw, qx, qy, qz] -->
<!-- ctrl -->
<!-- linear_rail, shoulder_pan, shoulder_lift, elbow, wrist_1, wrist_2, wrist_3, robotiq_85_left_knuckle_joint -->
<key qpos="
<key
qpos="
0 0 -1.5707 1.5707 -1.8 -1.5707 0
0 0 0 0 0 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="
ctrl="
0 0 -1.0 1.0 -1.57 -1.57 0 0
"
/>
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