diff --git a/.gitmodules b/.gitmodules index 38091a9a1..21f12e46f 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,6 +1,3 @@ -[submodule "src/picknik_accessories"] - path = src/picknik_accessories - url = https://github.com/PickNikRobotics/picknik_accessories.git [submodule "src/external_dependencies/Universal_Robots_ROS2_Description"] path = src/external_dependencies/ur_description url = https://github.com/PickNikRobotics/Universal_Robots_ROS2_Description.git @@ -10,6 +7,9 @@ [submodule "src/external_dependencies/fanuc"] path = src/external_dependencies/fanuc url = https://github.com/PickNikRobotics/fanuc.git +[submodule "src/picknik_accessories/src/dependencies/fanuc"] + path = src/picknik_accessories/src/dependencies/fanuc + url = https://github.com/PickNikRobotics/fanuc.git [submodule "src/external_dependencies/ros2_kortex_vision"] path = src/external_dependencies/ros2_kortex_vision url = https://github.com/PickNikRobotics/ros2_kortex_vision.git diff --git a/src/picknik_accessories b/src/picknik_accessories deleted file mode 160000 index aad29faca..000000000 --- a/src/picknik_accessories +++ /dev/null @@ -1 +0,0 @@ -Subproject commit aad29faca2ba7ed632ad3bbe86db4700b52a60aa diff --git a/src/picknik_accessories/.gitattributes b/src/picknik_accessories/.gitattributes new file mode 100644 index 000000000..85b56903e --- /dev/null +++ b/src/picknik_accessories/.gitattributes @@ -0,0 +1,5 @@ +*.stl filter=lfs diff=lfs merge=lfs -text +*.obj filter=lfs diff=lfs merge=lfs -text +*.pcd filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.dae filter=lfs diff=lfs merge=lfs -text diff --git a/src/picknik_accessories/.gitmodules b/src/picknik_accessories/.gitmodules new file mode 100644 index 000000000..79a7272fe --- /dev/null +++ b/src/picknik_accessories/.gitmodules @@ -0,0 +1,3 @@ +[submodule "src/dependencies/fanuc"] + path = src/dependencies/fanuc + url = https://github.com/PickNikRobotics/fanuc.git diff --git a/src/picknik_accessories/.pre-commit-config.yaml b/src/picknik_accessories/.pre-commit-config.yaml new file mode 100644 index 000000000..e7ca621b3 --- /dev/null +++ b/src/picknik_accessories/.pre-commit-config.yaml @@ -0,0 +1,72 @@ +# To use: +# +# pre-commit run -a +# +# Or: +# +# pre-commit install # (runs every time you commit in git) +# +# To update this file: +# +# pre-commit autoupdate +# +# See https://github.com/pre-commit/pre-commit +repos: + # Standard hooks + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v3.4.0 + hooks: + - id: check-ast + - id: check-case-conflict + - id: check-docstring-first + - id: check-merge-conflict + - id: check-symlinks + - id: check-yaml + args: ["--unsafe"] # Fixes errors parsing custom YAML constructors like ur_description's !degrees + - id: debug-statements + - id: end-of-file-fixer + - id: mixed-line-ending + - id: fix-byte-order-marker + + - repo: https://github.com/psf/black + rev: 22.3.0 + hooks: + - id: black + + - repo: https://github.com/codespell-project/codespell + rev: v2.0.0 + hooks: + - id: codespell + args: ["--write-changes", "-L", "atleast,inout,ether"] # Provide a comma-separated list of misspelled words that codespell should ignore (for example: '-L', 'word1,word2,word3'). + exclude: (\.(svg|pyc|stl|dae|asc)|pnpm-lock.yaml)$ + + - repo: https://github.com/pre-commit/mirrors-clang-format + rev: v14.0.6 + hooks: + - id: clang-format + files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|m|proto|vert)$ + # -i arg is included by default by the hook + args: ["-fallback-style=none"] + + - repo: https://github.com/adrienverge/yamllint + rev: v1.27.1 + hooks: + - id: yamllint + args: + [ + "--no-warnings", + "--config-data", + "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}}}", + ] + types: [text] + files: \.(yml|yaml)$ + + - repo: https://github.com/tcort/markdown-link-check + rev: v3.10.3 + hooks: + - id: markdown-link-check + + - repo: https://github.com/hadolint/hadolint + rev: v2.12.0 + hooks: + - id: hadolint-docker diff --git a/src/picknik_accessories/CMakeLists.txt b/src/picknik_accessories/CMakeLists.txt new file mode 100644 index 000000000..d1a0209c0 --- /dev/null +++ b/src/picknik_accessories/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 3.22) +project(picknik_accessories) + +find_package(ament_cmake REQUIRED) +find_package(fanuc_lrmate200id_support REQUIRED) + +install( + DIRECTORY + descriptions + macros + mujoco_assets + DESTINATION + share/${PROJECT_NAME} +) + +# Mujoco models in this package use relative paths to assets such as meshes and textures +# To simplify building relative paths to assets in other packages, we will copy those assets into this project's file structure + +# Paths we will copy from - the assets we want to easily reference in our Mujoco model +set(FANUC_LRMATE200ID_SUPPORT_PATH "${fanuc_lrmate200id_support_DIR}/../meshes") + +# Path we will copy to - the folder where the other Mujoco assets are located +set(DEST_DIR "share/${PROJECT_NAME}/mujoco_assets/") + +# Copy all contents into the installed description folder +install(DIRECTORY "${FANUC_LRMATE200ID_SUPPORT_PATH}" + DESTINATION "${DEST_DIR}" + FILES_MATCHING PATTERN "*") + +# TODO: is this lint process hanging somehow? +# if(BUILD_TESTING) +# find_package(ament_lint_auto REQUIRED) +# ament_lint_auto_find_test_dependencies() +# endif() + +ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in") + + +ament_package() diff --git a/src/picknik_accessories/LICENSE b/src/picknik_accessories/LICENSE new file mode 100644 index 000000000..bffc7d173 --- /dev/null +++ b/src/picknik_accessories/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2024 PickNik Inc. +All rights reserved. + +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. diff --git a/src/picknik_accessories/README.md b/src/picknik_accessories/README.md new file mode 100644 index 000000000..0effe5799 --- /dev/null +++ b/src/picknik_accessories/README.md @@ -0,0 +1,75 @@ +# PickNik Accessories + +PickNik assets for common objects and attachments. + +# Using MuJoCo assets: + +The `mujoco_assets` folder in this package can be used in any `picknik_mujoco_ros/MujocoSystem` based simulation using the `include` tag in MuJoCo XML. +Since MuJoCo XML files all assume that included files are relative to the main XML file (the `mujoco_model` parameter set as part of the `ros2_control` entry in your robot description), shared assets must be moved to the same directory as the top level XML file. +To achieve this without duplicating assets, we can place symlinks in the install directory of your package that point back to the `mujoco_assets` folder of this package. +Add the following to your CMakeLists.txt to add symlinks to this package's assets: + +``` +# 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 "*") +``` + +Alternatively, if some files in this package conflict with files in your workspace, you can choose specific files to symlink: + +``` +# Install individual XML files +set(PICKNIK_ACCESSORIES_SHARE_DIR +"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/" +) +# Destination directory +set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/") + +set(EXTERNAL_XML_FILES + "${PICKNIK_ACCESSORIES_SHARE_DIR}/ur5e/ur5e_globals.xml" + "${PICKNIK_ACCESSORIES_SHARE_DIR}/ur5e/ur5e.xml" + # Add additional files here if desired +) +foreach(xml_file IN LISTS EXTERNAL_XML_FILES) + install(FILES "${xml_file}" + DESTINATION "${DEST_DIR}" + ) +endforeach() +``` + +Whether you chose to install all assets or just a selection, the above CMake code will merge the contents of `picknik_accessories/mujoco_assets/` with `your_package_name/description/` in the install folder, so that XML files in the `picknik_accessories` package can be included as if they were within your package. + +# UR5e Example + +Below is a minimal example using the UR5e asset: + +``` + + + + + + + + + + + + +``` + +Note: Since you cannot define global properties within a `worldbody` tag, the assets must be divided in to two XML files. +The `ur5e_globals.xml` file contains properties that must be defined as global properties outside `worldbody` (like `default` and `actuator`), while the `ur5e.xml` contains only `body` tags (and XML tags that are allowed within a `body`). diff --git a/src/picknik_accessories/blender/README.md b/src/picknik_accessories/blender/README.md new file mode 100644 index 000000000..554815aec --- /dev/null +++ b/src/picknik_accessories/blender/README.md @@ -0,0 +1,3 @@ +Folder for maintaining Blender source files for various scene descriptions. + +This folder should NOT be included in this package's build, as these files should not be included in binary Docker images. diff --git a/src/picknik_accessories/blender/picknik_ur_mock_hw_config/cnc-textured.blend b/src/picknik_accessories/blender/picknik_ur_mock_hw_config/cnc-textured.blend new file mode 100644 index 000000000..6171f0686 --- /dev/null +++ b/src/picknik_accessories/blender/picknik_ur_mock_hw_config/cnc-textured.blend @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0aa431e96c9e35c5eba3eb2758baa19dfe1a91ae3c6809d950ffdf58635eaebe +size 1818880 diff --git a/src/picknik_accessories/blender/picknik_ur_mock_hw_config/cnc.blend b/src/picknik_accessories/blender/picknik_ur_mock_hw_config/cnc.blend new file mode 100644 index 000000000..8a57b8067 --- /dev/null +++ b/src/picknik_accessories/blender/picknik_ur_mock_hw_config/cnc.blend @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56f3b8e41833228e23695a46407b048db4825a3c4b97a8d15ff1b77b4a42426c +size 2535816 diff --git a/src/picknik_accessories/blender/picknik_ur_mock_hw_config/logo.png b/src/picknik_accessories/blender/picknik_ur_mock_hw_config/logo.png new file mode 100644 index 000000000..2695c2c21 --- /dev/null +++ b/src/picknik_accessories/blender/picknik_ur_mock_hw_config/logo.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6bb1c79bdf48d1ae43db6a1353bccc28311fb54fa57bdaec6caf87a17e2add3 +size 84729 diff --git a/src/picknik_accessories/blender/picknik_ur_mock_hw_config/logo.svg b/src/picknik_accessories/blender/picknik_ur_mock_hw_config/logo.svg new file mode 100644 index 000000000..683105a62 --- /dev/null +++ b/src/picknik_accessories/blender/picknik_ur_mock_hw_config/logo.svg @@ -0,0 +1,104 @@ + + + +R diff --git a/src/picknik_accessories/blender/picknik_ur_mock_hw_config/tormach-logo.png b/src/picknik_accessories/blender/picknik_ur_mock_hw_config/tormach-logo.png new file mode 100644 index 000000000..04f4780a1 --- /dev/null +++ b/src/picknik_accessories/blender/picknik_ur_mock_hw_config/tormach-logo.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d98251a0512a4501d68ca85ea304f08ca7d14f90d5affd1c80d1d91d98935bdd +size 16543 diff --git 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https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ShelfD_01 + + 4.73156 -3.038551 0 0 0 0 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ShelfD_01 + + 4.73156 -6.750542 0 0 0 0 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_GroundB_01 + + 0.0 0.0 0.01 0 0 0 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_Lamp_01 + + 0 0 -4 0 0 0 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_Bucket_01 + + 0.433449 9.631706 0 0 0 -1.563161 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_Bucket_01 + + -1.8321 -6.3752 0 0 0 -1.563161 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_Bucket_01 + + 0.433449 8.59 0 0 0 -1.563161 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ClutteringA_01 + + 5.708138 8.616844 -0.017477 0 0 0 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ClutteringA_01 + + 3.408638 8.616844 -0.017477 0 0 0 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ClutteringA_01 + + -1.491287 5.222435 -0.017477 0 0 -1.583185 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ClutteringC_01 + + 3.324959 3.822449 -0.012064 0 0 1.563871 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ClutteringC_01 + + 5.54171 3.816475 -0.015663 0 0 -1.583191 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ClutteringC_01 + + 5.384239 6.137154 0 0 0 3.150000 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ClutteringC_01 + + 3.236 6.137154 0 0 0 3.150000 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ClutteringC_01 + + -1.573677 2.301994 -0.015663 0 0 -3.133191 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ClutteringC_01 + + -1.2196 9.407 -0.015663 0 0 1.563871 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ClutteringD_01 + + -1.634682 -7.811813 -0.319559 0 0 0 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_TrashCanC_01 + + -1.592441 7.715420 0 0 0 0 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_PalletJackB_01 + + -0.276098 -9.481944 0.023266 0 0 0 + true + + + + 0 0 8.5 0 0 0 + 0.5 0.5 0.5 1 + 0.2 0.2 0.2 1 + + 80 + 0.3 + 0.01 + 0.001 + + 0 + 0.1 0.1 -1 + + + + true + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Table + + table1 + 0 0.4 0 0 0 0 + + + + true + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Table + + table2 + 0 -0.4 0 0 0 0 + + + + 0.5 -0.3 1.1 0 0 0 + + + + 0.0001875 + 0 + 0 + 0.0001875 + 0 + 0.0001875 + + 0.2 + + + + + 0.05 0.05 0.05 + + + + + + 100000.0 + 100000.0 + + + + + 1e+5 + 1 + 0 + 0.2 + 0.001 + + + + + + + + + 0.05 0.05 0.05 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + + 0.5 0.0 1.1 0 0 0 + + + + 0.0001875 + 0 + 0 + 0.0001875 + 0 + 0.0001875 + + 0.2 + + + + + 0.05 0.05 0.05 + + + + + + 100000.0 + 100000.0 + + + + + 1e+5 + 1 + 0 + 0.2 + 0.001 + + + + + + + + + 0.05 0.05 0.05 + + + + 0 1 0 1 + 0 1 0 1 + 0 1 0 1 + + + + + + + 0.5 0.3 1.1 0 0 0 + + + + 0.0001875 + 0 + 0 + 0.0001875 + 0 + 0.0001875 + + 0.2 + + + + + 0.05 0.05 0.05 + + + + + + 100000.0 + 100000.0 + + + + + 1e+5 + 1 + 0 + 0.2 + 0.001 + + + + + + + + + 0.05 0.05 0.05 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + + + + + diff --git a/src/picknik_accessories/descriptions/simulation_worlds/warehouse_simple.sdf b/src/picknik_accessories/descriptions/simulation_worlds/warehouse_simple.sdf new file mode 100644 index 000000000..493d3b81d --- /dev/null +++ b/src/picknik_accessories/descriptions/simulation_worlds/warehouse_simple.sdf @@ -0,0 +1,313 @@ + + + + + 0.005 + 0.005 + 1.0 + + + + + + + + + + + + + + + 0.0 0.0 0.0 1.0 + 0 + + + + false + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + 100 100 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_WallB_01 + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ShelfD_01 + + -2.84739 -1.94956 0 0 -0 1.57 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ShelfD_01 + + -2.8401 1.95913 0 0 -0 1.57 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_GroundB_01 + + 0.0 0.0 0.01 0 0 0 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ClutteringC_01 + + -0.667597 2.80109 -0.015663 0 0 -1.57 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ClutteringC_01 + + -0.669001 -3.59125 -0.015663 0 -0 1.57 + + + + 0 0 8.5 0 0 0 + 0.5 0.5 0.5 1 + 0.2 0.2 0.2 1 + + 80 + 0.3 + 0.01 + 0.001 + + 0 + 0.1 0.1 -1 + + + + true + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Table + + table1 + 0 0.4 0 0 0 0 + + + + true + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Table + + table2 + 0 -0.4 0 0 0 0 + + + + 0.5 -0.3 1.1 0 0 0 + + + + 0.0001875 + 0 + 0 + 0.0001875 + 0 + 0.0001875 + + 0.2 + + + + + 0.05 0.05 0.05 + + + + + + 100000.0 + 100000.0 + + + + + 1e+5 + 1 + 0 + 0.2 + 0.001 + + + + + + + + + 0.05 0.05 0.05 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + + 0.5 0.0 1.1 0 0 0 + + + + 0.0001875 + 0 + 0 + 0.0001875 + 0 + 0.0001875 + + 0.2 + + + + + 0.05 0.05 0.05 + + + + + + 100000.0 + 100000.0 + + + + + 1e+5 + 1 + 0 + 0.2 + 0.001 + + + + + + + + + 0.05 0.05 0.05 + + + + 0 1 0 1 + 0 1 0 1 + 0 1 0 1 + + + + + + + 0.5 0.3 1.1 0 0 0 + + + + 0.0001875 + 0 + 0 + 0.0001875 + 0 + 0.0001875 + + 0.2 + + + + + 0.05 0.05 0.05 + + + + + + 100000.0 + 100000.0 + + + + + 1e+5 + 1 + 0 + 0.2 + 0.001 + + + + + + + + + 0.05 0.05 0.05 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + + + + + diff --git a/src/picknik_accessories/env-hooks/picknik_accessories.dsv.in b/src/picknik_accessories/env-hooks/picknik_accessories.dsv.in new file mode 100644 index 000000000..2c8515d08 --- /dev/null +++ b/src/picknik_accessories/env-hooks/picknik_accessories.dsv.in @@ -0,0 +1 @@ +prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/@PROJECT_NAME@/descriptions/simulation_worlds diff --git a/src/picknik_accessories/macros/manipulators/universal_robots.xacro b/src/picknik_accessories/macros/manipulators/universal_robots.xacro new file mode 100644 index 000000000..af1123fa5 --- /dev/null +++ b/src/picknik_accessories/macros/manipulators/universal_robots.xacro @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/macros/robot_macro.xacro b/src/picknik_accessories/macros/robot_macro.xacro new file mode 100644 index 000000000..bd4590812 --- /dev/null +++ b/src/picknik_accessories/macros/robot_macro.xacro @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/macros/tool_adapters/ur_robotiq.xacro b/src/picknik_accessories/macros/tool_adapters/ur_robotiq.xacro new file mode 100644 index 000000000..7dd325936 --- /dev/null +++ b/src/picknik_accessories/macros/tool_adapters/ur_robotiq.xacro @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/macros/tools/robotiq_2f_85.xacro b/src/picknik_accessories/macros/tools/robotiq_2f_85.xacro new file mode 100644 index 000000000..0dc92611f --- /dev/null +++ b/src/picknik_accessories/macros/tools/robotiq_2f_85.xacro @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/macros/tools/robotiq_epick.xacro b/src/picknik_accessories/macros/tools/robotiq_epick.xacro new file mode 100644 index 000000000..48549890d --- /dev/null +++ b/src/picknik_accessories/macros/tools/robotiq_epick.xacro @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/macros/workcell_macro.xacro b/src/picknik_accessories/macros/workcell_macro.xacro new file mode 100644 index 000000000..176709346 --- /dev/null +++ b/src/picknik_accessories/macros/workcell_macro.xacro @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/macros/workcells/table.xacro b/src/picknik_accessories/macros/workcells/table.xacro new file mode 100644 index 000000000..ffcdbb5d7 --- /dev/null +++ b/src/picknik_accessories/macros/workcells/table.xacro @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/mujoco_assets/assets/Cube.stl b/src/picknik_accessories/mujoco_assets/assets/Cube.stl new file mode 100644 index 000000000..e0e461ee6 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/Cube.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34ae6951786b5330f05c5da9f34f1747ee06bb6cca9bb65919408aca5f8c4eee +size 129384 diff --git a/src/picknik_accessories/mujoco_assets/assets/LICENSE b/src/picknik_accessories/mujoco_assets/assets/LICENSE new file mode 100644 index 000000000..655281de8 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/LICENSE @@ -0,0 +1,33 @@ +This repository includes meshes imported from (or inspired by) other sources, including: +https://grabcad.com/ +https://pushcorp.com/ +https://github.com/ + +When available, licenses and provenance are provided. +All other resources fall under the following license: + +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. diff --git a/src/picknik_accessories/mujoco_assets/assets/airfoil.stl b/src/picknik_accessories/mujoco_assets/assets/airfoil.stl new file mode 100644 index 000000000..2e71d992a --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/airfoil.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:265df32c1b2e7779197d6c3b6a12e011181f3f5ee73088801c09e849c860659c +size 11384 diff --git a/src/picknik_accessories/mujoco_assets/assets/base.stl b/src/picknik_accessories/mujoco_assets/assets/base.stl new file mode 100644 index 000000000..a057c9b74 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/base.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bffbe738b446415fa887ea6422e0bcfa4864fc56f0e0de17266c628d1b8a0c41 +size 49284 diff --git a/src/picknik_accessories/mujoco_assets/assets/base_0.obj b/src/picknik_accessories/mujoco_assets/assets/base_0.obj new file mode 100644 index 000000000..9f5edd6b0 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/base_0.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a3b21f1524baef6af8a52d7af90b6e94b79f7e3c2b04a0f6581f74d22291b0b +size 556543 diff --git a/src/picknik_accessories/mujoco_assets/assets/base_1.obj b/src/picknik_accessories/mujoco_assets/assets/base_1.obj new file mode 100644 index 000000000..3f7197b26 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/base_1.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf7d54691a2c1eeda280955ebd6bd83c2dbecfc46fb53c10198f05d107511b50 +size 638415 diff --git a/src/picknik_accessories/mujoco_assets/assets/base_platform.stl b/src/picknik_accessories/mujoco_assets/assets/base_platform.stl new file mode 100644 index 000000000..ca0275fa1 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/base_platform.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:746e067dd1b6142610ed644cc9fa32b3ccf5b5978cba6aa3b413eeef64a09e99 +size 49884 diff --git a/src/picknik_accessories/mujoco_assets/assets/beaker.obj b/src/picknik_accessories/mujoco_assets/assets/beaker.obj new file mode 100644 index 000000000..1665698ec --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/beaker.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a98e6a1c9d005858664a74392335f76232378fb9894f4f2bc0af0dd491530007 +size 192239 diff --git a/src/picknik_accessories/mujoco_assets/assets/bottle.mtl b/src/picknik_accessories/mujoco_assets/assets/bottle.mtl new file mode 100644 index 000000000..e92f047ef --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/bottle.mtl @@ -0,0 +1,12 @@ +# Blender 4.2.0 MTL File: 'scene.blend' +# www.blender.org + +newmtl bottle_Baked.001 +Ns 360.000000 +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 bottle.png diff --git a/src/picknik_accessories/mujoco_assets/assets/bottle.obj b/src/picknik_accessories/mujoco_assets/assets/bottle.obj new file mode 100644 index 000000000..dd2b51abd --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/bottle.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcf3504102652b2c74f641c413252aca8f839af60ec273772821f172c86185ac +size 329385 diff --git a/src/picknik_accessories/mujoco_assets/assets/bottle.png b/src/picknik_accessories/mujoco_assets/assets/bottle.png new file mode 100644 index 000000000..6f8e3d0a3 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/bottle.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e50bd081b959cbcb5b5853922a47fcc1db01b734fce65d5523cd0ce0399e929 +size 2834775 diff --git a/src/picknik_accessories/mujoco_assets/assets/bottle.stl b/src/picknik_accessories/mujoco_assets/assets/bottle.stl new file mode 100644 index 000000000..e9a27d339 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/bottle.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0e1c614edf4c0ad92e9e73af54fa79f0f7d356a4c6ba4c51d04237ed09ca5e4 +size 264084 diff --git a/src/picknik_accessories/mujoco_assets/assets/bowl.stl b/src/picknik_accessories/mujoco_assets/assets/bowl.stl new file mode 100644 index 000000000..f9ca19831 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/bowl.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27f5de6bb4e388f6fe2cbfa8a24707f58d2cd3292d6c2e04ba701e38b289d7a4 +size 500084 diff --git a/src/picknik_accessories/mujoco_assets/assets/bowl_concave_hemisphere.stl b/src/picknik_accessories/mujoco_assets/assets/bowl_concave_hemisphere.stl new file mode 100644 index 000000000..4baf2f962 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/bowl_concave_hemisphere.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f79d1420324dcb1a76ea27d00abd73b40865fbca0fceed0b51de07e93129207 +size 508884 diff --git a/src/picknik_accessories/mujoco_assets/assets/bowl_convex_hemisphere.stl b/src/picknik_accessories/mujoco_assets/assets/bowl_convex_hemisphere.stl new file mode 100644 index 000000000..b1ef71c96 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/bowl_convex_hemisphere.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9918bd200dc33e62c818c8e20fd312a9b0c7b106c2905781a1262c36e2f18916 +size 508884 diff --git a/src/picknik_accessories/mujoco_assets/assets/bracket_sample1.stl b/src/picknik_accessories/mujoco_assets/assets/bracket_sample1.stl new file mode 100644 index 000000000..a72fee262 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/bracket_sample1.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab8bb0032248391fe90a0c056b175be229d30769f4ae53449ac79dd0a5fb7890 +size 1080084 diff --git a/src/picknik_accessories/mujoco_assets/assets/camera_adapter.stl b/src/picknik_accessories/mujoco_assets/assets/camera_adapter.stl new file mode 100644 index 000000000..96912110c --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/assets/camera_adapter.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9569607b57ac42b9df0f1859cfce821418265141a5cb1266bed3a356a2f5a05e +size 9384 diff --git 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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 TU Delft Robotics Institute 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. 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Redistributions of source code must retain the above copyright notice, this list of conditions and the following +disclaimer. + +2. 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. + +3. 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. 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Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. 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. + +3. 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. 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b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_1.mtl new file mode 100644 index 000000000..0ddec4955 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_1.mtl @@ -0,0 +1,12 @@ +# Blender 4.3.2 MTL File: 'untitled.blend' +# www.blender.org + +newmtl light_green +Ns 250.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.664596 0.654664 0.439257 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 2 diff --git a/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_1.obj b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_1.obj new file mode 100644 index 000000000..cab1e67bd --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_1.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e675ba476e385ec1fecf56db669905f71142117235bad38e355384a3205d067 +size 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https://git-lfs.github.com/spec/v1 +oid sha256:5295206549a1790c7df24602d759a7a5997039f2a8bcb9f18cafb7c3f2b8b309 +size 124023 diff --git a/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_3.mtl b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_3.mtl new file mode 100644 index 000000000..8a4645e46 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_3.mtl @@ -0,0 +1,12 @@ +# Blender 4.3.2 MTL File: 'untitled.blend' +# www.blender.org + +newmtl mid_green +Ns 250.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.470413 0.463482 0.313260 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 2 diff --git a/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_3.obj b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_3.obj new file mode 100644 index 000000000..f20b9d531 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_3.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7127ae074833fde5b630cb166651f70a3c7ed11d603102a30b9afd0238bef2b8 +size 849521 diff --git a/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_4.mtl b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_4.mtl new file mode 100644 index 000000000..865b04092 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_4.mtl @@ -0,0 +1,12 @@ +# Blender 4.3.2 MTL File: 'untitled.blend' +# www.blender.org + +newmtl Material.002 +Ns 250.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.835831 0.835831 0.835831 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 2 diff --git a/src/picknik_accessories/mujoco_assets/grinding_sim_assets/tool0_tool/tool0_tool_4.obj 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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. diff --git a/src/picknik_accessories/mujoco_assets/grinding_sim_assets/ur20/base/UR20_DIFF_8bit_2K.png b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/ur20/base/UR20_DIFF_8bit_2K.png new file mode 100644 index 000000000..8686c902a --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/ur20/base/UR20_DIFF_8bit_2K.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/ur20/wrist3/wrist3.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/mujoco_assets/grinding_sim_assets/workcell.obj b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/workcell.obj new file mode 100644 index 000000000..eef253238 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/grinding_sim_assets/workcell.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca4e9074da2b9186b71836c1ef381f79944a8136b1bfb751b828cd678cddd1f6 +size 9035775 diff --git a/src/picknik_accessories/mujoco_assets/lab_desk/desk.xml b/src/picknik_accessories/mujoco_assets/lab_desk/desk.xml new file mode 100644 index 000000000..1bd308f31 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/lab_desk/desk.xml @@ -0,0 +1,325 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/mujoco_assets/lab_desk/desk_globals.xml b/src/picknik_accessories/mujoco_assets/lab_desk/desk_globals.xml new file mode 100644 index 000000000..385e825c5 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/lab_desk/desk_globals.xml @@ -0,0 +1,127 @@ + + + diff --git a/src/picknik_accessories/mujoco_assets/lrmate200id/lrmate200id.xml b/src/picknik_accessories/mujoco_assets/lrmate200id/lrmate200id.xml new file mode 100644 index 000000000..1416ee702 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/lrmate200id/lrmate200id.xml @@ -0,0 +1,110 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/mujoco_assets/lrmate200id/lrmate200id_globals.xml b/src/picknik_accessories/mujoco_assets/lrmate200id/lrmate200id_globals.xml new file mode 100644 index 000000000..ed3bd432e --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/lrmate200id/lrmate200id_globals.xml @@ -0,0 +1,88 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/mujoco_assets/ridgeback/LICENSE.txt b/src/picknik_accessories/mujoco_assets/ridgeback/LICENSE.txt new file mode 100644 index 000000000..0cbe083bb --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/ridgeback/LICENSE.txt @@ -0,0 +1,23 @@ +Some assets in this repository were found with the following license at https://github.com/ridgeback/ridgeback + +Copyright 2021 Clearpath Robotics Inc. + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the +following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following +disclaimer. + +2. 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. + +3. 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. diff --git a/src/picknik_accessories/mujoco_assets/ridgeback/body.stl b/src/picknik_accessories/mujoco_assets/ridgeback/body.stl new file mode 100644 index 000000000..8ad188c83 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/ridgeback/body.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b71b65f379dc16571438c72df664c1f28492f9dd3976aaf8c942b28cc6da4cce +size 29484 diff --git a/src/picknik_accessories/mujoco_assets/ridgeback/ridgeback.xml b/src/picknik_accessories/mujoco_assets/ridgeback/ridgeback.xml new file mode 100644 index 000000000..268e028aa --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/ridgeback/ridgeback.xml @@ -0,0 +1,127 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/mujoco_assets/ridgeback/ridgeback_globals.xml b/src/picknik_accessories/mujoco_assets/ridgeback/ridgeback_globals.xml new file mode 100644 index 000000000..adcf90310 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/ridgeback/ridgeback_globals.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/mujoco_assets/ridgeback/top.stl b/src/picknik_accessories/mujoco_assets/ridgeback/top.stl new file mode 100644 index 000000000..03da4c085 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/ridgeback/top.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:961e137910535358df656469950062e72e4d2f7a0ac27dc4be179048fed5f1e4 +size 15684 diff --git a/src/picknik_accessories/mujoco_assets/robotiq_2f85/robotiq2f85.xml b/src/picknik_accessories/mujoco_assets/robotiq_2f85/robotiq2f85.xml new file mode 100644 index 000000000..19d8f7485 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/robotiq_2f85/robotiq2f85.xml @@ -0,0 +1,216 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/mujoco_assets/robotiq_2f85/robotiq2f85_globals.xml b/src/picknik_accessories/mujoco_assets/robotiq_2f85/robotiq2f85_globals.xml new file mode 100644 index 000000000..41a1d0a5a --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/robotiq_2f85/robotiq2f85_globals.xml @@ -0,0 +1,255 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/mujoco_assets/ur5e/ur5e.xml b/src/picknik_accessories/mujoco_assets/ur5e/ur5e.xml new file mode 100644 index 000000000..6a8a0ac5c --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/ur5e/ur5e.xml @@ -0,0 +1,166 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/mujoco_assets/ur5e/ur5e_globals.xml b/src/picknik_accessories/mujoco_assets/ur5e/ur5e_globals.xml new file mode 100644 index 000000000..b1cd3fe5d --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/ur5e/ur5e_globals.xml @@ -0,0 +1,101 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail.xml b/src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail.xml new file mode 100644 index 000000000..99bc59771 --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail.xml @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + diff --git a/src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail_globals.xml b/src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail_globals.xml new file mode 100644 index 000000000..c28adb0fd --- /dev/null +++ b/src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail_globals.xml @@ -0,0 +1,12 @@ + + + + + + diff --git a/src/picknik_accessories/package.xml b/src/picknik_accessories/package.xml new file mode 100644 index 000000000..994534fd7 --- /dev/null +++ b/src/picknik_accessories/package.xml @@ -0,0 +1,30 @@ + + + picknik_accessories + 6.0.0 + + URDFs and geometry for common objects and attachments. + + Joseph Schornak + BSD 3-Clause + + ament_cmake + + fanuc_lrmate200id_support + + realsense2_description + robotiq_description + ur_description + + ament_lint_auto + + ament_clang_format + ament_clang_tidy + ament_cmake_copyright + ament_cmake_lint_cmake + picknik_ament_copyright + + + ament_cmake + + diff --git a/src/picknik_accessories/printing/factory_sim/3mf/pick_and_place_bracket_jig_base.3mf b/src/picknik_accessories/printing/factory_sim/3mf/pick_and_place_bracket_jig_base.3mf new file mode 100644 index 000000000..d2fc3b908 Binary files /dev/null and b/src/picknik_accessories/printing/factory_sim/3mf/pick_and_place_bracket_jig_base.3mf differ diff --git a/src/picknik_accessories/printing/factory_sim/3mf/pick_and_place_bracket_jig_post.3mf b/src/picknik_accessories/printing/factory_sim/3mf/pick_and_place_bracket_jig_post.3mf new file mode 100644 index 000000000..44cbf565b Binary files /dev/null and b/src/picknik_accessories/printing/factory_sim/3mf/pick_and_place_bracket_jig_post.3mf differ diff --git a/src/picknik_accessories/printing/factory_sim/3mf/pick_and_place_bracket_part.3mf b/src/picknik_accessories/printing/factory_sim/3mf/pick_and_place_bracket_part.3mf new file mode 100644 index 000000000..1fcaa58c2 Binary files /dev/null and b/src/picknik_accessories/printing/factory_sim/3mf/pick_and_place_bracket_part.3mf differ diff --git a/src/picknik_accessories/printing/factory_sim/README.md b/src/picknik_accessories/printing/factory_sim/README.md new file mode 100644 index 000000000..3d6d570b2 --- /dev/null +++ b/src/picknik_accessories/printing/factory_sim/README.md @@ -0,0 +1,54 @@ +# factory_sim 3d printing assets + +The `factory_sim` example workspace models a small factory environment. The ["Pick and Place Brackets from Left Bin"](https://github.com/PickNikRobotics/moveit_pro_example_ws/blob/main/src/factory_sim/objectives/pick_and_place_brackets_from_left_bin.xml) Objective models an automotive-like bracket part for the robot to pick, place on a jig, and the deposit into a bin. + +![Pick and Place Brackets from Left Bin](images/pick_and_place_brackets_from_left_bin_objective_preview1.png) + +In order to test this on robot hardware, several parts need to be 3d printed. These files are saved as 3mf files as that is the new standard mesh file in 3d printing and does a better job preserving properties of the model than STLs. + +## Bracket Part +![Bracket Part](images/bracket_part1.jpg) +This simulated automotive bracket can be found in [`3mf/pick_and_place_bracket_part.3mf`](3mf/pick_and_place_bracket_part.3mf) +It was printed on a Bambu Labs X1 Carbon out of PLA with a 0.4 mm nozzle with 15% infill and 2 perimeters, which are the default settings for that machine. As this part isn't expected to incur heavy loads, no special settings should be required. + +The part was designed to be picked with a vacuum gripper using a 20 mm diameter nozzle, but other nozzle diameters may work as there are many flat areas that could be picked. + +## Bracket Jig +The simulated bracket jig is modelled as two tapered posts. Unfortunately, the real world does now allow us to spawn tapered posts anywhere in the world, so we are required to model more geometry than that 😅. + +![Bracket Jig](images/bracket_jig1.jpg) + +The jig has two 11 mm diameter tapered posts, that are spaced 65 mm apart from each other on center. +It is modelled as three parts: a base and two posts, to make it easier to print and change the height of the posts if needed. + +- [`3mf/pick_and_place_bracket_jig_base.3mf`](3mf/pick_and_place_bracket_jig_base.3mf) +- [`3mf/pick_and_place_bracket_jig_post.3mf`](3mf/pick_and_place_bracket_jig_post.3mf) + +The jig base was printed on a Bambu Labs X1 Carbon out of PLA with a 0.4 mm nozzle with 15% infill and 2 perimeters, but the posts should be printed using 6 perimeters and a brim to increase strength as they are oriented vertically on the build plate. During testing, using these settings produced a strong result. + +![Post Print Orientation](images/post_vertical_orientation1.png) + +> [!NOTE] +> The bracket jig base contains a number of holes and cutouts from the sides. As this is a large flat print warping could occur and these cutouts deter this from happening. + +## Assembly +The posts are designed to be a snap fit onto the base but will only fit together in one orientation. + +![Jig Post Closeup](images/jig_post_closeup1.jpg) + +They shouldn't require too much force to snap together. If they seem to be resisting, try another orientation. + +## Mounting +The jig base has five holes that can be used to mount onto a flat surface, using a common, general purpose #2 phillips drive flat head screw. Five screws are not needed to secure the base, but rather 3 of the screws are spaced 50 mm and 100 mm apart to facilitate precise locating on a table. + +![Jig Diagram](images/pick_and_place_bracket_jig_diagram1.png) + +## Use +Once assembled, the bracket part should slide easily over the posts and come to rest in the seat of the jig. + +![Bracket on Jig](images/bracket_part_and_jig1.jpg) + +## Bins +We recommend using the [ULINE Straight Wall Container 24" x 15" x 7 1⁄2"](https://www.uline.com/Product/ProductDetailRootItem?modelnumber=S-19509) for recreating the pick and place demo, which is what the bins in the simulation are modelled after. + +![ULINE Bin](images/uline_bin1.png) diff --git a/src/picknik_accessories/printing/factory_sim/images/bracket_jig1.jpg b/src/picknik_accessories/printing/factory_sim/images/bracket_jig1.jpg new file mode 100644 index 000000000..cec4c423d --- /dev/null +++ b/src/picknik_accessories/printing/factory_sim/images/bracket_jig1.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65c7758448bb3ae1edf05d597b69e39dd52968ec8bfb917eb9092888be1283cd +size 944354 diff --git a/src/picknik_accessories/printing/factory_sim/images/bracket_part1.jpg b/src/picknik_accessories/printing/factory_sim/images/bracket_part1.jpg new file mode 100644 index 000000000..bd3299c3b --- /dev/null +++ b/src/picknik_accessories/printing/factory_sim/images/bracket_part1.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:633ed6d9e4cef72b7a734126219c03af588da1b29fb11991e88f3ff0492c6c34 +size 1199508 diff --git a/src/picknik_accessories/printing/factory_sim/images/bracket_part_and_jig1.jpg b/src/picknik_accessories/printing/factory_sim/images/bracket_part_and_jig1.jpg new file mode 100644 index 000000000..322b64d5b --- /dev/null +++ b/src/picknik_accessories/printing/factory_sim/images/bracket_part_and_jig1.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e737390d5691eb21caadcc7145684b7eb5d290ef4b4c82644a316ff55bcf329d +size 1141855 diff --git a/src/picknik_accessories/printing/factory_sim/images/jig_post_closeup1.jpg b/src/picknik_accessories/printing/factory_sim/images/jig_post_closeup1.jpg new file mode 100644 index 000000000..4517d82e3 --- /dev/null +++ b/src/picknik_accessories/printing/factory_sim/images/jig_post_closeup1.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e641b35260c259c3af078ed81b54c09179698beee82fd1d7cd56cc3df1e59332 +size 584424 diff --git a/src/picknik_accessories/printing/factory_sim/images/pick_and_place_bracket_jig_diagram1.png b/src/picknik_accessories/printing/factory_sim/images/pick_and_place_bracket_jig_diagram1.png new file mode 100644 index 000000000..11ff6af22 --- /dev/null +++ b/src/picknik_accessories/printing/factory_sim/images/pick_and_place_bracket_jig_diagram1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff9574ea9db7e8a3bc0b0302bf69666c6d1cac6636babdd8067c541925c6f8a3 +size 30126 diff --git a/src/picknik_accessories/printing/factory_sim/images/pick_and_place_brackets_from_left_bin_objective_preview1.png b/src/picknik_accessories/printing/factory_sim/images/pick_and_place_brackets_from_left_bin_objective_preview1.png new file mode 100644 index 000000000..0a1ea5b0f --- /dev/null +++ b/src/picknik_accessories/printing/factory_sim/images/pick_and_place_brackets_from_left_bin_objective_preview1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb4a81d0724d3a17715b3c48487764431bc3a87b39acc6645c32de457b13cabb +size 1064248 diff --git a/src/picknik_accessories/printing/factory_sim/images/post_vertical_orientation1.png b/src/picknik_accessories/printing/factory_sim/images/post_vertical_orientation1.png new file mode 100644 index 000000000..428c1132d --- /dev/null +++ b/src/picknik_accessories/printing/factory_sim/images/post_vertical_orientation1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b91dbde9ef9f1fd8f1c9a7ad12b015d7b628d96a0984182d40587156b7b20dda +size 68961 diff --git a/src/picknik_accessories/printing/factory_sim/images/uline_bin1.png b/src/picknik_accessories/printing/factory_sim/images/uline_bin1.png new file mode 100644 index 000000000..1bef675c2 --- /dev/null +++ b/src/picknik_accessories/printing/factory_sim/images/uline_bin1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b42da86ea7b697299c3f624c661af3b6b6d35f21de930590765f74a14b93888 +size 331185 diff --git a/src/picknik_accessories/src/dependencies/fanuc b/src/picknik_accessories/src/dependencies/fanuc new file mode 160000 index 000000000..8cbefe879 --- /dev/null +++ b/src/picknik_accessories/src/dependencies/fanuc @@ -0,0 +1 @@ +Subproject commit 8cbefe8793b35995ec1bb03e1b98c84d4de17e37