From d111c2c1c81a487e92b4bbf058ba02bc45511b47 Mon Sep 17 00:00:00 2001 From: Michael Wrock Date: Thu, 5 Dec 2024 23:50:02 -0800 Subject: [PATCH] Squashed 'src/fanuc_sim/' changes from 0b1e054c..6bf7e238 6bf7e238 Merge pull request #1 from PickNikRobotics/subtree-sync 6c95bd1c Sync 6.5 to main (#37) 964e43fb Sync V6.5 to main (#29) baf81139 patching fanuc (#22) 6db5e61f Removes visualization pane changes in teleoperation ca45e9aa version bump c19efc19 formatting git-subtree-dir: src/fanuc_sim git-subtree-split: 6bf7e238341a69ffc88faca491423f88de4a31d9 --- CMakeLists.txt | 11 ++++ description/scene.xml | 12 ++-- objectives/interpolate_to_joint_state.xml | 3 + objectives/move_to_joint_state.xml | 3 + objectives/move_to_pose.xml | 3 + objectives/move_to_waypoint.xml | 73 +++++++++++++++++------ objectives/request_teleoperation.xml | 20 ------- objectives/teleoperate.xml | 20 +++++-- package.xml | 3 +- waypoints/waypoints.yaml | 2 +- 10 files changed, 99 insertions(+), 51 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 98ed68c5..e3d195d7 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -2,7 +2,18 @@ cmake_minimum_required(VERSION 3.22) project(fanuc_sim) find_package(ament_cmake REQUIRED) +find_package(picknik_accessories REQUIRED) +# Install all XML files in directory +set(PICKNIK_ACCESSORIES_SHARE_DIR +"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/" +) +# Destination directory +set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/") + +install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}" + DESTINATION "${DEST_DIR}" + FILES_MATCHING PATTERN "*") install( DIRECTORY config diff --git a/description/scene.xml b/description/scene.xml index aec8caad..d55cd798 100644 --- a/description/scene.xml +++ b/description/scene.xml @@ -6,12 +6,12 @@ - + - - + + - + @@ -117,6 +117,8 @@ resolution="640 480" euler="-0.9 0 3.1415" /> - + + + diff --git a/objectives/interpolate_to_joint_state.xml b/objectives/interpolate_to_joint_state.xml index 892d8e83..e4f99ff4 100644 --- a/objectives/interpolate_to_joint_state.xml +++ b/objectives/interpolate_to_joint_state.xml @@ -34,6 +34,9 @@ + + + diff --git a/objectives/move_to_joint_state.xml b/objectives/move_to_joint_state.xml index 60b6c5d1..63ab4a8e 100644 --- a/objectives/move_to_joint_state.xml +++ b/objectives/move_to_joint_state.xml @@ -32,6 +32,9 @@ + + + diff --git a/objectives/move_to_pose.xml b/objectives/move_to_pose.xml index 1e58a85e..4009dca1 100644 --- a/objectives/move_to_pose.xml +++ b/objectives/move_to_pose.xml @@ -36,6 +36,9 @@ + + + diff --git a/objectives/move_to_waypoint.xml b/objectives/move_to_waypoint.xml index 6e9ca2a0..ad9ec51d 100644 --- a/objectives/move_to_waypoint.xml +++ b/objectives/move_to_waypoint.xml @@ -1,20 +1,55 @@ - - - - - - - - - - - - - - - - - - - \ No newline at end of file + + + + + + + + + + + + + + + + + + + + + + diff --git a/objectives/request_teleoperation.xml b/objectives/request_teleoperation.xml index d2c3bca4..e4c00eaa 100644 --- a/objectives/request_teleoperation.xml +++ b/objectives/request_teleoperation.xml @@ -29,10 +29,6 @@ - - - - - - - - - - \ No newline at end of file + + + + + diff --git a/package.xml b/package.xml index 749e1327..3e125fd9 100644 --- a/package.xml +++ b/package.xml @@ -1,7 +1,7 @@ fanuc_sim - 6.0.0 + 6.5.0 Base configuration package for Picknik's Fanuc arms @@ -11,6 +11,7 @@ ament_cmake + picknik_accessories admittance_controller kinematics_interface_kdl moveit_planners_stomp diff --git a/waypoints/waypoints.yaml b/waypoints/waypoints.yaml index 0637a088..fe51488c 100644 --- a/waypoints/waypoints.yaml +++ b/waypoints/waypoints.yaml @@ -1 +1 @@ -[] \ No newline at end of file +[]