Import picknik_kinova_satellite_sim into new space_satellite_sim

src/moveit_pro_kinova_configs/space_satellite_sim/CMakeLists.txt

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.22)
+project(space_satellite_sim)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY
+    config
+    description
+    launch
+    meshes
+    objectives
+    rviz
+    waypoints
+  DESTINATION
+    share/${PROJECT_NAME}
+)
+
+# Install AR Markers from picknik_accessories into this project's description directory.
+set(PICKNIK_ACCESSORIES_SHARE_DIR
+"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/"
+)
+set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/mujoco")
+install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}"
+        DESTINATION "${DEST_DIR}"
+        FILES_MATCHING PATTERN "*")
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/moveit_pro_kinova_configs/space_satellite_sim/LICENSE

@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

src/moveit_pro_kinova_configs/space_satellite_sim/README.md

@@ -0,0 +1,5 @@
+# space_satellite_sim
+
+A MoveIt Pro configuration to simulate satellite grappling with a Kinova Gen3 robot using mock hardware with MuJoCo.
+
+For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)

src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml

@@ -0,0 +1,64 @@
+###############################################################
+#
+#  This configures the robot to work with MoveIt Pro
+#
+###############################################################
+
+# Extend the basic Kinova MuJoCo configuration
+based_on_package: kinova_sim
+
+# Baseline hardware configuration parameters for MoveIt Pro.
+# [Required]
+hardware:
+  # Parameters used to configure the robot description through XACRO.
+  # A URDF and SRDF are both required.
+  # [Required]
+  robot_description:
+    urdf:
+      package: "space_satellite_sim"
+      path: "description/space_satellite_sim.xacro"
+    srdf:
+      package: "space_satellite_sim"
+      path: "config/moveit/space_satellite_sim.srdf"
+    # Specify any additional parameters required for the URDF.
+    # Many of these are specific to the UR descriptions packages, and can be customized as needed.
+    # [Optional]
+    urdf_params:
+      - arm: "gen3"
+      - dof: "7"
+      - mujoco_keyframe: "view_tag"
+      - mujoco_model: "description/mujoco/scene.xml"
+      - mujoco_viewer: "true"
+
+# Configuration for launching ros2_control processes.
+# [Required, if using ros2_control]
+ros2_control:
+  # 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
+  # for running the application.
+  # [Optional, default=[]]
+  controllers_active_at_startup:
+    - "force_torque_sensor_broadcaster"
+    - "robotiq_gripper_controller"
+    - "joint_state_broadcaster"
+    - "servo_controller"
+  # Load but do not start these controllers so they can be activated later if needed.
+  controllers_inactive_at_startup:
+    - "joint_trajectory_controller"
+    - "joint_trajectory_admittance_controller"
+    - "velocity_force_controller"
+
+# Configuration for loading behaviors and objectives.
+# [Required]
+objectives:
+  # Specify source folder for objectives
+  # [Required]
+  objective_library_paths:
+    core:
+      package_name: "space_satellite_sim"
+      relative_path: "objectives"
+  # Specify the location of the saved waypoints file.
+  # [Required]
+  waypoints_file:
+    package_name: "space_satellite_sim"
+    relative_path: "waypoints/waypoints.yaml"

src/moveit_pro_kinova_configs/space_satellite_sim/config/initial_positions.yaml

@@ -0,0 +1,7 @@
+joint_1: 0.0
+joint_2: 0.0
+joint_3: -3.14
+joint_4: -2.51
+joint_5: 0.0
+joint_6: 0.96
+joint_7: 1.57

src/moveit_pro_kinova_configs/space_satellite_sim/config/moveit/space_satellite_sim.srdf

@@ -0,0 +1,153 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="gen3">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="manipulator">
+        <chain base_link="base_link" tip_link="grasp_link"/>
+    </group>
+    <group name="gripper">
+        <link name="grasp_link"/>
+        <joint name="robotiq_85_base_joint"/>
+        <joint name="robotiq_85_left_inner_knuckle_joint"/>
+        <joint name="robotiq_85_left_knuckle_joint"/>
+        <joint name="robotiq_85_left_finger_joint"/>
+        <joint name="robotiq_85_left_finger_tip_joint"/>
+        <joint name="robotiq_85_right_inner_knuckle_joint"/>
+        <joint name="robotiq_85_right_knuckle_joint"/>
+        <joint name="robotiq_85_right_finger_joint"/>
+        <joint name="robotiq_85_right_finger_tip_joint"/>
+    </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'-->
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="gripper" parent_link="end_effector_link" group="gripper"/>
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="robotiq_85_left_finger_tip_joint"/>
+    <passive_joint name="robotiq_85_right_inner_knuckle_joint"/>
+    <passive_joint name="robotiq_85_right_finger_tip_joint"/>
+    <passive_joint name="robotiq_85_left_inner_knuckle_joint"/>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="base_link" link2="forearm_link" reason="Never"/>
+    <disable_collisions link1="base_link" link2="half_arm_1_link" reason="Never"/>
+    <disable_collisions link1="base_link" link2="half_arm_2_link" reason="Never"/>
+    <disable_collisions link1="base_link" link2="scene_camera_link" reason="Adjacent"/>
+    <disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent"/>
+    <disable_collisions link1="bracelet_link" link2="forearm_link" reason="Never"/>
+    <disable_collisions link1="bracelet_link" link2="half_arm_2_link" reason="Never"/>
+    <disable_collisions link1="bracelet_link" link2="robotiq_85_base_link" reason="Adjacent"/>
+    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_finger_link" reason="Never"/>
+    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
+    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="bracelet_link" link2="spherical_wrist_1_link" reason="Never"/>
+    <disable_collisions link1="bracelet_link" link2="spherical_wrist_2_link" reason="Adjacent"/>
+    <disable_collisions link1="forearm_link" link2="half_arm_1_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="half_arm_2_link" reason="Adjacent"/>
+    <disable_collisions link1="forearm_link" link2="robotiq_85_base_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="robotiq_85_left_finger_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="scene_camera_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="shoulder_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="spherical_wrist_1_link" reason="Adjacent"/>
+    <disable_collisions link1="forearm_link" link2="spherical_wrist_2_link" reason="Never"/>
+    <disable_collisions link1="half_arm_1_link" link2="half_arm_2_link" reason="Adjacent"/>
+    <disable_collisions link1="half_arm_1_link" link2="scene_camera_link" reason="Never"/>
+    <disable_collisions link1="half_arm_1_link" link2="shoulder_link" reason="Adjacent"/>
+    <disable_collisions link1="half_arm_1_link" link2="spherical_wrist_1_link" reason="Never"/>
+    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_base_link" reason="Never"/>
+    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="half_arm_2_link" link2="scene_camera_link" reason="Never"/>
+    <disable_collisions link1="half_arm_2_link" link2="shoulder_link" reason="Never"/>
+    <disable_collisions link1="half_arm_2_link" link2="spherical_wrist_1_link" reason="Never"/>
+    <disable_collisions link1="half_arm_2_link" link2="spherical_wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="spherical_wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_base_link" link2="spherical_wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_finger_tip_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="scene_camera_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="spherical_wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_link" link2="spherical_wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_inner_knuckle_link" reason="Default"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="scene_camera_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="spherical_wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="spherical_wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="scene_camera_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="spherical_wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="spherical_wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="scene_camera_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="spherical_wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="spherical_wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="scene_camera_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="spherical_wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_link" link2="spherical_wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Default"/>
+    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="spherical_wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="spherical_wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="spherical_wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="spherical_wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="scene_camera_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="spherical_wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="spherical_wrist_2_link" reason="Never"/>
+    <disable_collisions link1="scene_camera_link" link2="shoulder_link" reason="Never"/>
+    <disable_collisions link1="scene_camera_link" link2="spherical_wrist_1_link" reason="Never"/>
+    <disable_collisions link1="shoulder_link" link2="spherical_wrist_1_link" reason="Never"/>
+    <disable_collisions link1="spherical_wrist_1_link" link2="spherical_wrist_2_link" reason="Adjacent"/>
+    <disable_collisions link1="base_link" link2="interface" reason="Adjacent"/>
+    <disable_collisions link1="epastar" link2="interface" reason="Adjacent"/>
+    <disable_collisions link1="epastar" link2="pole" reason="Adjacent"/>
+    <disable_collisions link1="epastar" link2="rpo_suite" reason="Adjacent"/>
+    <disable_collisions link1="epastar" link2="rpo_suite" reason="Adjacent"/>
+    <disable_collisions link1="interface" link2="rpo_suite" reason="Adjacent"/>
+    <disable_collisions link1="pole" link2="solar_panels" reason="Adjacent"/>
+</robot>

src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/april_tag.mtl

@@ -0,0 +1,12 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd black_white.png