From 545efaffaf66008b0d4fa1ac959b708c26498e44 Mon Sep 17 00:00:00 2001 From: Mario Prats Date: Wed, 7 Aug 2024 13:25:59 +0200 Subject: [PATCH 1/2] update scene camera position --- src/picknik_ur_mujoco_config/description/ur5e.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/picknik_ur_mujoco_config/description/ur5e.xml b/src/picknik_ur_mujoco_config/description/ur5e.xml index 9cd356b0..09b73b86 100644 --- a/src/picknik_ur_mujoco_config/description/ur5e.xml +++ b/src/picknik_ur_mujoco_config/description/ur5e.xml @@ -121,8 +121,8 @@ - - + + From fa5bb29e50b94444fe36b193bfd6f7851608ee7a Mon Sep 17 00:00:00 2001 From: Mario Prats Date: Wed, 7 Aug 2024 16:52:07 +0200 Subject: [PATCH 2/2] rotate scene 90 deg, add adapter to linear rail --- .../description/picknik_ur.xacro | 51 +++- .../description/scene.xml | 10 +- .../description/ur5e.xml | 273 +++++++++--------- 3 files changed, 190 insertions(+), 144 deletions(-) diff --git a/src/picknik_ur_mujoco_config/description/picknik_ur.xacro b/src/picknik_ur_mujoco_config/description/picknik_ur.xacro index de03a457..ca3c56dd 100644 --- a/src/picknik_ur_mujoco_config/description/picknik_ur.xacro +++ b/src/picknik_ur_mujoco_config/description/picknik_ur.xacro @@ -530,7 +530,7 @@ - + - + + + + + + + + @@ -727,7 +734,7 @@ - + @@ -877,6 +884,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -887,7 +930,7 @@ - + diff --git a/src/picknik_ur_mujoco_config/description/scene.xml b/src/picknik_ur_mujoco_config/description/scene.xml index 3bcbc651..d7f99f14 100644 --- a/src/picknik_ur_mujoco_config/description/scene.xml +++ b/src/picknik_ur_mujoco_config/description/scene.xml @@ -41,21 +41,21 @@ - + - + - + - + - + diff --git a/src/picknik_ur_mujoco_config/description/ur5e.xml b/src/picknik_ur_mujoco_config/description/ur5e.xml index 09b73b86..75f4cfa0 100644 --- a/src/picknik_ur_mujoco_config/description/ur5e.xml +++ b/src/picknik_ur_mujoco_config/description/ur5e.xml @@ -121,149 +121,152 @@ - - + + - - + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + +