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Mujoco scene cosmetic improvements #337

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merged 3 commits into from
Aug 9, 2024
Merged

Mujoco scene cosmetic improvements #337

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545efaf
update scene camera position
marioprats Aug 7, 2024
fa5bb29
rotate scene 90 deg, add adapter to linear rail
marioprats Aug 7, 2024
e8ed364
Merge branch 'main' into scene-updates
MikeWrock Aug 9, 2024
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51 changes: 47 additions & 4 deletions src/picknik_ur_mujoco_config/description/picknik_ur.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
Expand Down Expand Up @@ -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"/>
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -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>
Expand All @@ -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>
Expand Down
10 changes: 5 additions & 5 deletions src/picknik_ur_mujoco_config/description/scene.xml
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -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 -->
Expand Down Expand Up @@ -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
Expand Down
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