From 93f16f03daf459676d1fc09e52e78dc3bdfed6fc Mon Sep 17 00:00:00 2001 From: Nathan Brooks Date: Mon, 11 May 2026 18:47:28 -0600 Subject: [PATCH] chore: consolidate kinova content out of example_ws MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Issue PickNikRobotics/moveit_pro#18874 consolidates the Kinova/Kortex configurations into a dedicated workspace at https://github.com/PickNikRobotics/moveit_pro_kinova_ws. The Kinova hardware-side configs and the kinova_sim boilerplate move out of this example workspace. The two satellite demo configs are world/example content (not Kinova boilerplate) and stay here, but they no longer inherit from the now-deleted kinova_sim. Removed ------- * src/moveit_pro_kinova_configs/kinova_gen3_base_config * src/moveit_pro_kinova_configs/kinova_gen3_site_config * src/moveit_pro_kinova_configs/kinova_sim * src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager * The moveit_pro_kinova_configs/ metapackage directory (empty after the moves below) * ros2_kortex_vision submodule (only ever used by the kinova_vision wrist-camera driver, which lived with the hardware configs) ros2_kortex stays — space_satellite_sim still pulls kortex_description for the arm URDF. Moved ----- The satellite demo packages move out of the now-empty kinova_configs metapackage to top-level src/, matching how the other example worlds (lab_sim, factory_sim, hangar_sim, ...) are laid out: * src/moveit_pro_kinova_configs/space_satellite_sim -> src/space_satellite_sim * src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal -> src/space_satellite_sim_camera_cal Flattened --------- space_satellite_sim previously had `based_on_package: kinova_sim`, so it inherited the URDF/SRDF launch, MoveIt configuration, ros2_control config, ros_global_params, and various YAMLs from kinova_sim. With kinova_sim deleted there is nothing to inherit from, and per project guidance the satellite demos shouldn't inherit from the Kinova boilerplate anyway (an example of how someone modifies the boilerplate, not a config that inherits from it). * Dropped `based_on_package: kinova_sim` from space_satellite_sim's config.yaml; inlined the hardware, ros_global_params, moveit_params, and ros2_control sections it had been inheriting. All package paths rewritten from "kinova_sim" -> "space_satellite_sim". * Copied the previously-referenced helper YAMLs from kinova_sim into space_satellite_sim/config/{moveit,control}/ so they ship with the demo: pose_ik_distance.yaml sensors_3d.yaml joint_limits.yaml pose_jog.yaml joint_jog.yaml picknik_kinova_gen3.ros2_control.yaml Pre-existing copies in space_satellite_sim (e.g. its own space_satellite_sim.srdf) were preserved. * Dropped the now-unused `robot_driver_persist_launch_file` field (kinova_sim's value pointed at a launch file that didn't exist in kinova_sim/launch/ anyway, so dropping it doesn't change runtime behavior). MoveIt Pro defaults to a blank launch when not specified. * space_satellite_sim/package.xml drops the kinova_sim and moveit_studio_kinova_pstop_manager exec_depends. The remaining deps (kortex_description, picknik_mujoco_ros, picknik_accessories, realsense2_description, robotiq_description, apriltag_ros, joint_trajectory_admittance_controller, velocity_force_controller) are what the demo's URDF and Objectives actually consume. space_satellite_sim_camera_cal still uses `based_on_package: space_satellite_sim`. That is intra-example inheritance (the calibration variant of the same demo), which the doc explicitly recommends for "small variations" — keeping it. README ------ Top-level README's robot-config list drops the moveit_pro_kinova_configs/* entries and adds the satellite configs at top level. --- .gitmodules | 3 - src/external_dependencies/ros2_kortex_vision | 1 - src/moveit_pro_kinova_configs/README.md | 1 - .../kinova_gen3_base_config/CMakeLists.txt | 35 - .../kinova_gen3_base_config/MOVEIT_PRO_IGNORE | 0 .../kinova_gen3_base_config/README.md | 3 - .../config/cameras.yaml | 36 - .../config/config.yaml | 127 - .../picknik_kinova_gen3.ros2_control.yaml | 84 - .../config/moveit/joint_limits.yaml | 44 - .../moveit/picknik_kinova_gen3_base.srdf | 200 -- .../config/moveit/pose_ik_speed.yaml | 4 - .../description/empty.world | 51 - .../description/gripper_and_camera.xacro | 71 - .../description/kortex_robot.xacro | 97 - .../description/picknik_kinova_gen3.xacro | 157 -- .../description/robotiq_2f_85_gripper.urdf | 474 ---- .../description/robotiq_2f_85_macro.xacro | 36 - .../description/simulation_scene.urdf.xacro | 14 - .../launch/agent_bridge.launch.xml | 6 - .../launch/robot_drivers_to_persist.launch.py | 42 - .../robot_drivers_to_persist_sim.launch.py | 22 - .../objectives/clear_snapshot.xml | 17 - .../objectives/close_gripper.xml | 19 - ...t_imarker_pose_from_mesh_visualization.xml | 34 - .../objectives/move_along_path.xml | 106 - .../objectives/move_to_joint_state.xml | 47 - .../objectives/open_gripper.xml | 20 - .../objectives/reactivate_gripper.xml | 19 - .../kinova_gen3_base_config/package.xml | 41 - .../test/test_waypoint_yaml_validation.py | 25 - .../waypoints/waypoints.yaml | 70 - .../kinova_gen3_site_config/CMakeLists.txt | 22 - .../kinova_gen3_site_config/MOVEIT_PRO_IGNORE | 0 .../config/config.yaml | 86 - .../picknik_kinova_gen3.ros2_control.yaml | 135 - .../config/initial_positions.yaml | 7 - .../config/moveit/hard_joint_limits.yaml | 44 - .../config/moveit/joint_limits.yaml | 44 - .../config/moveit/kinova_gen3.srdf | 163 -- .../description/kinova_gen3.xacro | 133 - .../launch/agent_bridge.launch.xml | 8 - .../launch/bringup.launch.py | 0 .../launch/cameras.launch.xml | 11 - .../objectives/close_gripper.xml | 25 - .../objectives/open_gripper.xml | 24 - .../kinova_gen3_site_config/package.xml | 41 - .../waypoints/waypoints.yaml | 65 - .../kinova_sim/CMakeLists.txt | 23 - .../kinova_sim/README.md | 5 - .../kinova_sim/config/initial_positions.yaml | 7 - .../kinova_sim/config/moveit/joint_jog.yaml | 4 - .../moveit/picknik_kinova_gen3_base.srdf | 185 -- .../config/moveit/pose_ik_distance.yaml | 5 - .../kinova_sim/config/moveit/pose_jog.yaml | 4 - .../kinova_sim/config/moveit/sensors_3d.yaml | 23 - .../mujoco/assets/ring_collision.mtl | 52 - .../mujoco/assets/ring_collision.obj | 3 - .../mujoco/assets/ring_collision_1.mtl | 2 - .../mujoco/assets/ring_collision_1.obj | 3 - .../mujoco/assets/ring_collision_10.mtl | 2 - .../mujoco/assets/ring_collision_10.obj | 3 - .../mujoco/assets/ring_collision_11.mtl | 2 - .../mujoco/assets/ring_collision_11.obj | 3 - 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3 - .../description/mujoco/gen3_7dof.xml | 729 ------ .../mujoco/gen3_7dof_rafti_fingers.xml | 824 ------ .../description/mujoco/landsat_scene.xml | 134 - .../mujoco/rafti_fingers_scene.xml | 180 -- .../kinova_sim/description/mujoco/scene.xml | 180 -- .../description/picknik_kinova_gen3.xacro | 696 ----- .../kinova_sim/launch/agent_bridge.launch.xml | 5 - .../kinova_sim/meshes/collision/finger.dae | 3 - .../kinova_sim/meshes/collision/hand.dae | 3 - .../kinova_sim/meshes/collision/link0.dae | 3 - .../kinova_sim/meshes/collision/link1.dae | 3 - .../kinova_sim/meshes/collision/link2.dae | 3 - .../kinova_sim/meshes/collision/link3.dae | 3 - .../kinova_sim/meshes/collision/link4.dae | 3 - .../kinova_sim/meshes/collision/link5.dae | 3 - .../kinova_sim/meshes/collision/link6.dae | 3 - .../kinova_sim/meshes/collision/link7.dae | 3 - .../kinova_sim/meshes/visual/finger.dae | 3 - .../kinova_sim/meshes/visual/hand.dae | 3 - .../kinova_sim/meshes/visual/link0.dae | 3 - 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- .../objectives/write_picknik_waypoints.yaml | 2288 ----------------- .../kinova_sim/package.xml | 28 - .../kinova_sim/thumbnail.png | 3 - .../kinova_sim/waypoints/waypoints.yaml | 39 - .../CMakeLists.txt | 74 - .../mock_kinova_client.hpp | 46 - .../protective_stop_manager_node.hpp | 86 - .../package.xml | 35 - .../src/mock_kinova_client.cpp | 54 - .../src/mock_kinova_client_node.cpp | 21 - .../src/protective_stop_manager_node.cpp | 221 -- .../space_satellite_sim/config/config.yaml | 58 - .../config/initial_positions.yaml | 7 - .../mujoco/assets/kinova/base_link.STL | 3 - .../mujoco/assets/kinova/base_link.mtl | 22 - .../mujoco/assets/kinova/base_link.obj | 3 - .../assets/kinova/bracelet_no_vision_link.STL | 3 - .../assets/kinova/bracelet_no_vision_link.mtl | 12 - .../assets/kinova/bracelet_no_vision_link.obj | 3 - .../kinova/bracelet_with_vision_link.STL | 3 - .../kinova/bracelet_with_vision_link.mtl | 12 - .../kinova/bracelet_with_vision_link.obj | 3 - 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}/space_satellite_sim_camera_cal/thumbnail.png (100%) rename src/{moveit_pro_kinova_configs => }/space_satellite_sim_camera_cal/waypoints/waypoints.yaml (100%) diff --git a/.gitmodules b/.gitmodules index 38091a9a1..ad4deadcb 100644 --- a/.gitmodules +++ b/.gitmodules @@ -10,9 +10,6 @@ [submodule "src/external_dependencies/fanuc"] path = src/external_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 [submodule "src/external_dependencies/ros2_kortex"] path = src/external_dependencies/ros2_kortex url = https://github.com/PickNikRobotics/ros2_kortex.git diff --git a/src/external_dependencies/ros2_kortex_vision b/src/external_dependencies/ros2_kortex_vision deleted file mode 160000 index bead668f8..000000000 --- a/src/external_dependencies/ros2_kortex_vision +++ /dev/null @@ -1 +0,0 @@ -Subproject commit bead668f83230ce1a574357f193ca9177f60eb17 diff --git a/src/moveit_pro_kinova_configs/README.md b/src/moveit_pro_kinova_configs/README.md deleted file mode 100644 index 44844d67d..000000000 --- a/src/moveit_pro_kinova_configs/README.md +++ /dev/null @@ -1 +0,0 @@ -# moveit_pro_kinova_configs diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/CMakeLists.txt b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/CMakeLists.txt deleted file mode 100644 index e7edfac17..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/CMakeLists.txt +++ /dev/null @@ -1,35 +0,0 @@ -cmake_minimum_required(VERSION 3.16.3) -project(kinova_gen3_base_config) - -find_package(ament_cmake REQUIRED) - -install( - DIRECTORY - config - description - launch - objectives - waypoints - DESTINATION - share/${PROJECT_NAME} -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - find_package(ament_cmake_pytest REQUIRED) - set(_pytest_tests - test/test_waypoint_yaml_validation.py) - - foreach(_test_path ${_pytest_tests}) - get_filename_component(_test_name ${_test_path} NAME_WE) - ament_add_pytest_test(${_test_name} ${_test_path} - APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} - TIMEOUT 60 - WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} - ) - endforeach() - - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/MOVEIT_PRO_IGNORE b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/MOVEIT_PRO_IGNORE deleted file mode 100644 index e69de29bb..000000000 diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/README.md b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/README.md deleted file mode 100644 index 65fbc1f66..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/README.md +++ /dev/null @@ -1,3 +0,0 @@ -# gen3_config - -Base Config for using the Kinova Gen3 manipulator with MoveIt Pro. diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/cameras.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/cameras.yaml deleted file mode 100644 index 543c68649..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/cameras.yaml +++ /dev/null @@ -1,36 +0,0 @@ -- wrist_mounted_camera: - camera_name: "wrist_mounted_camera" - type: "realsense" - use: True - serial_no: "0" - device_type: "D415" - framerate: 6 - image_width: 640 - image_height: 480 - enable_pointcloud: True - - # information about the topics the camera publishes the raw image and info - rgb_info: "/wrist_mounted_camera/color/camera_info" - rgb_image: "/wrist_mounted_camera/color/image_raw" - - # By adding registered_rgb_depth_pair, This camera can be used for "Set Transform From Click" - registered_rgb_depth_pair: - depth_info: "/wrist_mounted_camera/depth/camera_info" - depth_image: "/wrist_mounted_camera/depth/image_rect_raw" - registered_info: "/wrist_mounted_camera/depth_registered/camera_info" - registered_image: "/wrist_mounted_camera/depth_registered/image_rect" - -- scene_camera: - camera_name: "scene_camera" - type: "realsense" - use: True - serial_no: "0" - device_type: "D415" - framerate: 6 - image_width: 640 - image_height: 480 - enable_pointcloud: False - - # information about the topics the camera publishes the raw image and info - rgb_info: "/scene_camera/color/camera_info" - rgb_image: "/scene_camera/color/image_raw" diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml deleted file mode 100644 index cce8afd35..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml +++ /dev/null @@ -1,127 +0,0 @@ -############################################################### -# -# This configures the robot to work with moveit pro -# -############################################################### - -hardware: - # Set simulated to false if you are using this as a configuration for real hardware. - # This allows users to switch between mock and real hardware using the same configuration. - # [Required] - simulated: True - - # If the MoveIt Pro Agent should launch the ros2 controller node. - # [Optional, default=True] - launch_control_node: True - - # If the MoveIt Pro Agent should launch the robot state publisher. - # This should be false if you are launching the robot state publisher as part of drivers. - # [Optional, default=True] - launch_robot_state_publisher: True - - # Specify additional launch files for running the robot with real hardware. - # [Optional, defaults to a blank launch file if not specified] - robot_driver_persist_launch_file: - package: "kinova_gen3_base_config" - path: "launch/robot_drivers_to_persist.launch.py" - - # Specify any additional launch files for running the robot in simulation mode. - # Used when hardware.simulated is True. - # [Optional, defaults to a blank launch file if not specified] - simulated_robot_driver_persist_launch_file: - package: "kinova_gen3_base_config" - path: "launch/sim/robot_drivers_to_persist_sim.launch.py" - simulated_hardware_launch_file: - package: "moveit_studio_agent" - path: "launch/blank.launch.py" - - # These Params are pasted to the XACRO to create the URDF - robot_description: - urdf: - package: "kinova_gen3_base_config" - path: "description/picknik_kinova_gen3.xacro" - srdf: - package: "kinova_gen3_base_config" - path: "config/moveit/picknik_kinova_gen3_base.srdf" - urdf_params: - - arm: "gen3" - - dof: "7" - - vision: "false" - - robot_ip: "" - - gripper: "robotiq_2f_85" - - username: "admin" - - password: "admin" - - port: "10000" - - port_realtime: "10001" - - session_inactivity_timeout_ms: "60000" - - connection_inactivity_timeout_ms: "2000" - - use_fake_hardware: "true" - - fake_sensor_commands: "false" - - external_camera: "true" - - wrist_realsense: "true" - - use_internal_bus_gripper_comm: "false" - -# This Configures moveit params that are in moveit_config.py -moveit_params: - joint_group_name: "manipulator" - - kinematics: - package: "kinova_gen3_base_config" - path: "config/moveit/pose_ik_distance.yaml" - sensors_3d: - package: "kinova_gen3_base_config" - path: "config/moveit/sensors_3d.yaml" - joint_limits: - package: "kinova_gen3_base_config" - path: "config/moveit/joint_limits.yaml" - - publish: - planning_scene: True - geometry_updates: True - state_updates: True - transforms_updates: True - - trajectory_execution: - manage_controllers: True - allowed_execution_duration_scaling: 2.0 - allowed_goal_duration_margin: 5.0 - allowed_start_tolerance: 0.01 - -# This configures what controllers gets run at startup -ros2_control: - config: - package: "kinova_gen3_base_config" - path: "config/control/picknik_kinova_gen3.ros2_control.yaml" - # Load and start these controllers so they can be used immediately. - controllers_active_at_startup: - - "robotiq_gripper_controller" - - "joint_state_broadcaster" - - "fault_controller" - controllers_inactive_at_startup: - - "joint_trajectory_controller" - -objectives: - behavior_loader_plugins: - # This plugin will load the core MoveIt Pro behaviors. - # Add additional plugin loaders as needed. - core: - - "moveit_pro::behaviors::CoreBehaviorsLoader" - - "moveit_pro::behaviors::MTCCoreBehaviorsLoader" - - "moveit_pro::behaviors::VisionBehaviorsLoader" - - "moveit_pro::behaviors::ConverterBehaviorsLoader" - objective_library_paths: - core_objectives: - package_name: "moveit_pro_objectives" - relative_path: "objectives/core" - motion_objectives: - package_name: "moveit_pro_objectives" - relative_path: "objectives/motion" - perception_objectives: - package_name: "moveit_pro_objectives" - relative_path: "objectives/perception" - sim_objectives: - package_name: "kinova_gen3_base_config" - relative_path: "objectives" - waypoints_file: - package_name: "kinova_gen3_base_config" - relative_path: "waypoints/waypoints.yaml" diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/control/picknik_kinova_gen3.ros2_control.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/control/picknik_kinova_gen3.ros2_control.yaml deleted file mode 100644 index 60e27bf57..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/control/picknik_kinova_gen3.ros2_control.yaml +++ /dev/null @@ -1,84 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 1000 # Hz - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - - joint_trajectory_controller: - type: joint_trajectory_controller/JointTrajectoryController - - twist_controller: - type: picknik_twist_controller/PicknikTwistController - - # The gripper controller just relays position commands - robotiq_gripper_controller: - type: position_controllers/GripperActionController - - fault_controller: - type: picknik_reset_fault_controller/PicknikResetFaultController - - -joint_trajectory_controller: - ros__parameters: - gains: - joint_1: - angle_wraparound: true - joint_3: - angle_wraparound: true - joint_5: - angle_wraparound: true - joint_7: - angle_wraparound: true - joints: - - joint_1 - - joint_2 - - joint_3 - - joint_4 - - joint_5 - - joint_6 - - joint_7 - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.0 - goal_time: 10.0 - joint_1: - goal: 0.05 - joint_2: - goal: 0.05 - joint_3: - goal: 0.05 - joint_4: - goal: 0.05 - joint_5: - goal: 0.05 - joint_6: - goal: 0.05 - joint_7: - goal: 0.05 - -twist_controller: - ros__parameters: - joint: tcp - interface_names: - - twist.linear.x - - twist.linear.y - - twist.linear.z - - twist.angular.x - - twist.angular.y - - twist.angular.z - -robotiq_gripper_controller: - ros__parameters: - default: true - joint: robotiq_85_left_knuckle_joint - allow_stalling: true - stall_timeout: 0.05 - goal_tolerance: 0.02 diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/joint_limits.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/joint_limits.yaml deleted file mode 100644 index fb9bf24f9..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/joint_limits.yaml +++ /dev/null @@ -1,44 +0,0 @@ -# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed -# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] -# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] -joint_limits: - joint_1: - has_velocity_limits: true - max_velocity: 1.39 - has_acceleration_limits: true - max_acceleration: 1.0 - joint_2: - has_velocity_limits: true - max_velocity: 1.39 - has_acceleration_limits: true - max_acceleration: 1.0 - joint_3: - has_velocity_limits: true - max_velocity: 1.39 - has_acceleration_limits: true - max_acceleration: 1.0 - joint_4: - has_velocity_limits: true - max_velocity: 1.39 - has_acceleration_limits: true - max_acceleration: 1.0 - joint_5: - has_velocity_limits: true - max_velocity: 1.22 - has_acceleration_limits: true - max_acceleration: 10.0 - joint_6: - has_velocity_limits: true - max_velocity: 1.22 - has_acceleration_limits: true - max_acceleration: 10.0 - joint_7: - has_velocity_limits: true - max_velocity: 1.22 - has_acceleration_limits: true - max_acceleration: 10.0 - finger_joint: - has_velocity_limits: true - max_velocity: 2.0 - has_acceleration_limits: true - max_acceleration: 1.0 diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/picknik_kinova_gen3_base.srdf b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/picknik_kinova_gen3_base.srdf deleted file mode 100644 index 70aab1240..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/picknik_kinova_gen3_base.srdf +++ /dev/null @@ -1,200 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_speed.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_speed.yaml deleted file mode 100644 index a6da46a9a..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_speed.yaml +++ /dev/null @@ -1,4 +0,0 @@ -manipulator: - kinematics_solver: pose_ik_plugin/PoseIKPlugin - target_tolerance: 0.001 - solve_mode: "first_found" diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/empty.world b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/empty.world deleted file mode 100644 index be65f8159..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/empty.world +++ /dev/null @@ -1,51 +0,0 @@ - - - - - 1 - 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 - - - - 0.4 0.4 0.4 1 - 0.7 0.7 0.7 1 - 1 - - - - - model://ground_plane - - - - - - quick - 400 - 1.3 - 0 - - - 0 - 0.2 - 100 - 0.001 - - - 0.005 - 1 - 200 - 0 0 -9.8 - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/gripper_and_camera.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/gripper_and_camera.xacro deleted file mode 100644 index 5b77b0955..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/gripper_and_camera.xacro +++ /dev/null @@ -1,71 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/kortex_robot.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/kortex_robot.xacro deleted file mode 100644 index f0533e2e9..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/kortex_robot.xacro +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/picknik_kinova_gen3.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/picknik_kinova_gen3.xacro deleted file mode 100644 index fdb64cd89..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/picknik_kinova_gen3.xacro +++ /dev/null @@ -1,157 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_gripper.urdf b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_gripper.urdf deleted file mode 100644 index e2ec2ab94..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_gripper.urdf +++ /dev/null @@ -1,474 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6 - - 1.13446 - - 640 - 480 - R8G8B8 - - - 0.01 - 300 - - - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - - - d415_camera/image_raw:=wrist_mounted_camera/color/image_raw - d415_camera/camera_info:=wrist_mounted_camera/color/camera_info - - d415_camera - wrist_mounted_camera_depth_optical_frame - 0.0 - - - - 6 - - 1.3997540600994522 - - B8G8R8 - 640 - 480 - - - 0.05 - 8.0 - - - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - - - d415_depth/depth/image_raw:=wrist_mounted_camera/depth/image_rect_raw - d415_depth/depth/camera_info:=wrist_mounted_camera/depth/camera_info - d415_depth/points:=wrist_mounted_camera/depth/color/points - d415_depth/camera_info:=wrist_mounted_camera/unused1 - d415_depth/image_raw:=wrist_mounted_camera/unused2 - - d415_depth - wrist_mounted_camera_depth_optical_frame - 0.0 - 0.15 - 4.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro deleted file mode 100644 index 632eab915..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/simulation_scene.urdf.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/simulation_scene.urdf.xacro deleted file mode 100644 index 90f700767..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/simulation_scene.urdf.xacro +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/agent_bridge.launch.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/agent_bridge.launch.xml deleted file mode 100644 index b2aa75434..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/agent_bridge.launch.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/robot_drivers_to_persist.launch.py b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/robot_drivers_to_persist.launch.py deleted file mode 100644 index 622872531..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/robot_drivers_to_persist.launch.py +++ /dev/null @@ -1,42 +0,0 @@ -# Copyright 2022 PickNik Inc. -# All rights reserved. -# -# Unauthorized copying of this code base via any medium is strictly prohibited. -# Proprietary and confidential. - - -from launch import LaunchDescription -from launch_ros.actions import Node - -from moveit_studio_utils_py.launch_common import empty_gen -from moveit_studio_utils_py.system_config import ( - SystemConfigParser, -) - - -def generate_launch_description(): - system_config_parser = SystemConfigParser() - controller_config = system_config_parser.get_ros2_control_config() - - protective_stop_manager_node = Node( - package="moveit_studio_kinova_pstop_manager", - executable="protective_stop_manager_node", - name="protective_stop_manager_node", - output="both", - parameters=[ - { - "controllers_default_active": controller_config.get( - "controllers_active_at_startup", empty_gen() - ), - "controllers_default_not_active": controller_config.get( - "controllers_inactive_at_startup", empty_gen() - ), - } - ], - ) - - nodes_to_launch = [ - protective_stop_manager_node, - ] - - return LaunchDescription(nodes_to_launch) diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/sim/robot_drivers_to_persist_sim.launch.py b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/sim/robot_drivers_to_persist_sim.launch.py deleted file mode 100644 index e100e495c..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/sim/robot_drivers_to_persist_sim.launch.py +++ /dev/null @@ -1,22 +0,0 @@ -# Copyright 2022 PickNik Inc. -# All rights reserved. -# -# Unauthorized copying of this code base via any medium is strictly prohibited. -# Proprietary and confidential. - - -from launch import LaunchDescription -from launch_ros.actions import Node - - -def generate_launch_description(): - # Mock the UR Dashboard Client - mock_dashboard_client = Node( - package="moveit_studio_kinova_pstop_manager", - executable="mock_kinova_client_node", - name="fault_controller", - output="both", - ) - # TODO(livanov93): run kinova's protective_stop_manager_node - - return LaunchDescription([mock_dashboard_client]) diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/clear_snapshot.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/clear_snapshot.xml deleted file mode 100644 index 5ac3f0271..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/clear_snapshot.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/close_gripper.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/close_gripper.xml deleted file mode 100644 index f888ab95d..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/close_gripper.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml deleted file mode 100644 index 70fa45ba6..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml deleted file mode 100644 index 10a360d89..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml +++ /dev/null @@ -1,106 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_joint_state.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_joint_state.xml deleted file mode 100644 index 6afbd9d82..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_joint_state.xml +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/open_gripper.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/open_gripper.xml deleted file mode 100644 index 48757ce3c..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/open_gripper.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/reactivate_gripper.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/reactivate_gripper.xml deleted file mode 100644 index 88383610b..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/reactivate_gripper.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/package.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/package.xml deleted file mode 100644 index 241b6891f..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/package.xml +++ /dev/null @@ -1,41 +0,0 @@ - - - kinova_gen3_base_config - 6.5.0 - - Base config package for a Kinova Gen3 system - - David Yackzan - Paul Gesel - - BSD-3 - - ament_cmake - - moveit_studio_kinova_pstop_manager - kortex_description - - moveit_ros_perception - moveit_studio_agent - moveit_pro_behavior - picknik_accessories - realsense2_description - tf2_ros - - ament_lint_auto - - ament_clang_format - ament_clang_tidy - ament_cmake_copyright - ament_cmake_lint_cmake - picknik_ament_copyright - ament_flake8 - ros2bag - rosbag2_storage_default_plugins - ament_cmake_pytest - moveit_studio_utils_py - - - ament_cmake - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/test/test_waypoint_yaml_validation.py b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/test/test_waypoint_yaml_validation.py deleted file mode 100644 index 9a8adbdff..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/test/test_waypoint_yaml_validation.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2023 PickNik Inc. -# All rights reserved. -# -# Unauthorized copying of this code base via any medium is strictly prohibited. -# Proprietary and confidential. - -import unittest -import yaml -import os -from moveit_studio_utils_py.jsonschema_wrapper import validate_waypoints_yaml - - -class TestYamlValidation(unittest.TestCase): - def test_validate_yaml_with_schema(self): - # Verify if ../waypoints/waypoints.yaml exists - yaml_file_path = os.path.join( - os.path.dirname(__file__), "../waypoints/waypoints.yaml" - ) - self.assertTrue(os.path.exists(yaml_file_path)) - - # Convert Waypoints Yaml to JSON - yaml_file = open(yaml_file_path, "r") - waypoints_yaml = yaml.full_load(yaml_file) - - self.assertTrue(validate_waypoints_yaml(waypoints_yaml)) diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/waypoints/waypoints.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/waypoints/waypoints.yaml deleted file mode 100644 index 699f34ec3..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/waypoints/waypoints.yaml +++ /dev/null @@ -1,70 +0,0 @@ -- name: Home - favorite: true - joint_group_names: - - manipulator - joint_state: - header: - frame_id: world - stamp: - sec: 0 - nanosec: 0 - name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7] - position: [7.2854474427322627e-05, 0.0060998872530424308, -3.1250605484909082, -2.5051932931762071, -2.7164243118882329e-05, 0.95966324117024648, 1.5699864595074029] - velocity: [] - effort: [] -- name: Place - favorite: true - joint_group_names: - - manipulator - joint_state: - header: - frame_id: world - stamp: - sec: 0 - nanosec: 0 - name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7] - position: [0.52290948292915906, 0.78910115573514905, -3.0436924550734994, -1.7162278254985983, -0.21909293655863848, -0.56602186649882569, 2.2964808259144789] - velocity: [] - effort: [] -- name: Table - favorite: true - joint_group_names: - - manipulator - joint_state: - header: - frame_id: world - stamp: - sec: 0 - nanosec: 0 - name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7] - position: [-2.4501082028116627e-05, 0.26205644942336931, -3.1415215471886881, -2.269061185647133, -4.1545313004931472e-05, 0.95981743819736209, 1.5707570451688178] - velocity: [] - effort: [] -- name: Retract - favorite: true - joint_group_names: - - manipulator - joint_state: - header: - frame_id: world - stamp: - sec: 0 - nanosec: 0 - name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7] - position: [8.15790740323921e-05, -0.38856425779026699, -3.1299567701550188, -2.5801602125975021, -3.0892668645421402e-05, -0.73089870221784903, 1.5699875247718389] - velocity: [] - effort: [] -- name: Pick - favorite: true - joint_group_names: - - manipulator - joint_state: - header: - frame_id: world - stamp: - sec: 0 - nanosec: 0 - name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7] - position: [-0.94002981840293653, 0.62283315124169514, -2.9856155696015962, -2.4398531684633311, -0.61596519168551644, -0.029422603723195273, 1.3260459636622164] - velocity: [] - effort: [] diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/CMakeLists.txt b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/CMakeLists.txt deleted file mode 100644 index 7d60b7ecb..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/CMakeLists.txt +++ /dev/null @@ -1,22 +0,0 @@ -cmake_minimum_required(VERSION 3.16.3) -project(kinova_gen3_site_config) - -find_package(ament_cmake REQUIRED) - -install( - DIRECTORY - config - description - launch - objectives - waypoints - DESTINATION - share/${PROJECT_NAME} -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/MOVEIT_PRO_IGNORE b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/MOVEIT_PRO_IGNORE deleted file mode 100644 index e69de29bb..000000000 diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml deleted file mode 100644 index bfb525f8a..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml +++ /dev/null @@ -1,86 +0,0 @@ -# -# This contains information for a unique instance of a robot. -# - -# Name of the package to specialize -based_on_package: "kinova_gen3_base_config" - -hardware: - simulated: False - robot_description: - urdf: - package: "kinova_gen3_site_config" - path: "description/kinova_gen3.xacro" - srdf: - package: "kinova_gen3_site_config" - path: "config/moveit/kinova_gen3.srdf" - urdf_params: - - vision: "false" - - robot_ip: "192.168.1.10" - # Either robotiq_2f_85 or robotiq_2f_140 - - robotiq_gripper: "robotiq_2f_85" - # Either robotiq_85_left_knuckle_joint or left_inner_knuckle_joint - - gripper_joint_name: "robotiq_85_left_knuckle_joint" - - use_fake_hardware: "false" - - fake_sensor_commands: "false" - # When set to true, will route gripper comms through kinova and gripper_com_port is unused. - - use_internal_bus_gripper_comm: "true" - - gripper_com_port: "/dev/ttyUSB0" # Must be 1st serial device plugged in to populate as ttyUSB0 - -# This Configures moveit params that are in moveit_config.py -moveit_params: - joint_group_name: "manipulator" - - kinematics: - package: "kinova_gen3_base_config" - path: "config/moveit/pose_ik_distance.yaml" - sensors_3d: - package: "kinova_gen3_base_config" - path: "config/moveit/sensors_3d.yaml" - joint_limits: - package: "kinova_gen3_site_config" - path: "config/moveit/joint_limits.yaml" - pose_jog: - package: "kinova_gen3_site_config" - path: "config/moveit/pose_jog.yaml" - joint_jog: - package: "kinova_gen3_site_config" - path: "config/moveit/joint_jog.yaml" - - publish: - planning_scene: True - geometry_updates: True - state_updates: True - transforms_updates: True - - trajectory_execution: - manage_controllers: True - allowed_execution_duration_scaling: 2.0 - allowed_goal_duration_margin: 5.0 - allowed_start_tolerance: 0.01 - -objectives: - objective_library_paths: - hardware_objectives: - package_name: "kinova_gen3_site_config" - relative_path: "objectives" - waypoints_file: - package_name: "kinova_gen3_site_config" - relative_path: "waypoints/waypoints.yaml" - -# This configures what controllers gets run at startup -ros2_control: - config: - package: "kinova_gen3_site_config" - path: "config/control/picknik_kinova_gen3.ros2_control.yaml" - # Load and start these controllers so they can be used immediately. - controllers_active_at_startup: - - "robotiq_gripper_controller" - - "joint_state_broadcaster" - - "fault_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" - - "joint_velocity_controller" diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/control/picknik_kinova_gen3.ros2_control.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/control/picknik_kinova_gen3.ros2_control.yaml deleted file mode 100644 index 048570da2..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/control/picknik_kinova_gen3.ros2_control.yaml +++ /dev/null @@ -1,135 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 1000 # Hz - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - joint_trajectory_controller: - type: joint_trajectory_controller/JointTrajectoryController - joint_trajectory_admittance_controller: - type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController - # The gripper controller just relays position commands - robotiq_gripper_controller: - type: position_controllers/GripperActionController - velocity_force_controller: - type: velocity_force_controller/VelocityForceController - joint_velocity_controller: - type: joint_velocity_controller/JointVelocityController - fault_controller: - type: picknik_reset_fault_controller/PicknikResetFaultController - -joint_trajectory_controller: - ros__parameters: - joints: - - joint_1 - - joint_2 - - joint_3 - - joint_4 - - joint_5 - - joint_6 - - joint_7 - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.0 - goal_time: 10.0 - joint_1: - goal: 0.05 - joint_2: - goal: 0.05 - joint_3: - goal: 0.05 - joint_4: - goal: 0.05 - joint_5: - goal: 0.05 - joint_6: - goal: 0.05 - joint_7: - goal: 0.05 - -joint_trajectory_admittance_controller: - ros__parameters: - planning_group_name: manipulator - sensor_frame: grasp_link - ee_frame: grasp_link - stop_accelerations: [3.0, 3.0, 3.0, 3.0, 5.0, 5.0, 5.0] - -robotiq_gripper_controller: - ros__parameters: - default: true - joint: robotiq_85_left_knuckle_joint - allow_stalling: true - -velocity_force_controller: - ros__parameters: - planning_group_name: manipulator - sensor_frame: grasp_link - ee_frame: grasp_link - jacobian_damping: 0.005 - state_publish_rate: 10 - max_joint_velocity: - - 0.7 - - 0.7 - - 0.7 - - 0.7 - - 0.6 - - 0.6 - - 0.6 - max_joint_acceleration: - - 2.6 - - 2.6 - - 2.6 - - 2.6 - - 5.0 - - 5.0 - - 5.0 - max_cartesian_velocity: - - 0.250 - - 0.250 - - 0.250 - - 1.5707 - - 1.5707 - - 1.5707 - max_cartesian_acceleration: - - 0.2 - - 0.2 - - 0.2 - - 1.0 - - 1.0 - - 1.0 - -joint_velocity_controller: - ros__parameters: - # Joint group to control. - planning_group_name: manipulator - # Maximum joint-space velocities. - max_joint_velocity: - - 0.7 - - 0.7 - - 0.7 - - 0.7 - - 0.6 - - 0.6 - - 0.6 - # Maximum joint-space accelerations. - max_joint_acceleration: - - 2.6 - - 2.6 - - 2.6 - - 2.6 - - 5.0 - - 5.0 - - 5.0 - command_interfaces: ["position"] - # Padding (in radians) to add to joint position limits as a safety margin. - joint_limit_position_tolerance: 0.02 - # Timeout in seconds after which the controller will stop motion if no new commands are received. - command_timeout: 0.2 - # Rate in Hz at which the controller will publish the state. - state_publish_rate: 20 diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/initial_positions.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/initial_positions.yaml deleted file mode 100644 index 3358344f5..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/initial_positions.yaml +++ /dev/null @@ -1,7 +0,0 @@ -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 diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/hard_joint_limits.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/hard_joint_limits.yaml deleted file mode 100644 index 137115272..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/hard_joint_limits.yaml +++ /dev/null @@ -1,44 +0,0 @@ -# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed -# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] -# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] -joint_limits: - joint_1: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 0.5 - joint_2: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 0.5 - joint_3: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 0.5 - joint_4: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 0.5 - joint_5: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 0.5 - joint_6: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 0.5 - joint_7: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 0.5 - robotiq_85_left_knuckle_joint: - has_velocity_limits: true - max_velocity: 2.0 - has_acceleration_limits: true - max_acceleration: 1.0 diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/joint_limits.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/joint_limits.yaml deleted file mode 100644 index d11de8951..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/joint_limits.yaml +++ /dev/null @@ -1,44 +0,0 @@ -# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed -# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] -# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] -joint_limits: - joint_1: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - joint_2: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - joint_3: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - joint_4: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - joint_5: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 10.0 - joint_6: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 10.0 - joint_7: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 10.0 - robotiq_85_left_knuckle_joint: - has_velocity_limits: true - max_velocity: 2.0 - has_acceleration_limits: true - max_acceleration: 1.0 diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/kinova_gen3.srdf b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/kinova_gen3.srdf deleted file mode 100644 index 3491f14a1..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/kinova_gen3.srdf +++ /dev/null @@ -1,163 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/description/kinova_gen3.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/description/kinova_gen3.xacro deleted file mode 100644 index 970ccefd3..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/description/kinova_gen3.xacro +++ /dev/null @@ -1,133 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/agent_bridge.launch.xml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/agent_bridge.launch.xml deleted file mode 100644 index 7d6c7dd8d..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/agent_bridge.launch.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/bringup.launch.py b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/bringup.launch.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/cameras.launch.xml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/cameras.launch.xml deleted file mode 100644 index 425fcc294..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/cameras.launch.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/objectives/close_gripper.xml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/objectives/close_gripper.xml deleted file mode 100644 index 2d04d3395..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/objectives/close_gripper.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/objectives/open_gripper.xml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/objectives/open_gripper.xml deleted file mode 100644 index 14921bf6d..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/objectives/open_gripper.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/package.xml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/package.xml deleted file mode 100644 index 3aec93c20..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/package.xml +++ /dev/null @@ -1,41 +0,0 @@ - - - kinova_gen3_site_config - 5.1.0 - - - Robot config package for the Kinova Gen3 Dev-003 Robot in the Boulder - office. - - - David Yackzan - Paul Gesel - - Proprietary - - ament_cmake - - kinova_gen3_base_config - - kinova_vision - kortex_description - kortex_driver - joint_trajectory_admittance_controller - picknik_accessories - realsense2_camera - robotiq_description - robotiq_driver - picknik_reset_fault_controller - - 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/moveit_pro_kinova_configs/kinova_gen3_site_config/waypoints/waypoints.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/waypoints/waypoints.yaml deleted file mode 100644 index f2927aa3a..000000000 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/waypoints/waypoints.yaml +++ /dev/null @@ -1,65 +0,0 @@ -- name: Home - joint_group_names: - - manipulator - joint_state: - header: - frame_id: world - stamp: - sec: 0 - nanosec: 0 - name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7] - position: [7.2854474427322627e-05, 0.0060998872530424308, -3.1250605484909082, -2.5051932931762071, -2.7164243118882329e-05, 0.95966324117024648, 1.5699864595074029] - velocity: [] - effort: [] -- name: Place - joint_group_names: - - manipulator - joint_state: - header: - frame_id: world - stamp: - sec: 0 - nanosec: 0 - name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7] - position: [0.52290948292915906, 0.78910115573514905, -3.0436924550734994, -1.7162278254985983, -0.21909293655863848, -0.56602186649882569, 2.2964808259144789] - velocity: [] - effort: [] -- name: Table - joint_group_names: - - manipulator - joint_state: - header: - frame_id: world - stamp: - sec: 0 - nanosec: 0 - name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7] - position: [-2.4501082028116627e-05, 0.26205644942336931, -3.1415215471886881, -2.269061185647133, -4.1545313004931472e-05, 0.95981743819736209, 1.5707570451688178] - velocity: [] - effort: [] -- name: Retract - joint_group_names: - - manipulator - joint_state: - header: - frame_id: world - stamp: - sec: 0 - nanosec: 0 - name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7] - position: [8.15790740323921e-05, -0.38856425779026699, -3.1299567701550188, -2.5801602125975021, -3.0892668645421402e-05, -0.73089870221784903, 1.5699875247718389] - velocity: [] - effort: [] -- name: Pick - joint_group_names: - - manipulator - joint_state: - header: - frame_id: world - stamp: - sec: 0 - nanosec: 0 - name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7] - position: [-0.94002981840293653, 0.62283315124169514, -2.9856155696015962, -2.4398531684633311, -0.61596519168551644, -0.029422603723195273, 1.3260459636622164] - velocity: [] - effort: [] diff --git a/src/moveit_pro_kinova_configs/kinova_sim/CMakeLists.txt b/src/moveit_pro_kinova_configs/kinova_sim/CMakeLists.txt deleted file mode 100644 index 1a86011df..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/CMakeLists.txt +++ /dev/null @@ -1,23 +0,0 @@ -cmake_minimum_required(VERSION 3.22) -project(kinova_sim) - -find_package(ament_cmake REQUIRED) - -install( - DIRECTORY - config - description - launch - meshes - objectives - waypoints - DESTINATION - share/${PROJECT_NAME} -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/src/moveit_pro_kinova_configs/kinova_sim/README.md b/src/moveit_pro_kinova_configs/kinova_sim/README.md deleted file mode 100644 index e3bddf9df..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/README.md +++ /dev/null @@ -1,5 +0,0 @@ -# kinova_sim - -A MoveIt Pro configuration to simulate a Kinova Gen3 robot using mock hardware with MuJoCo. - -For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/) diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/initial_positions.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/initial_positions.yaml deleted file mode 100644 index 3358344f5..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/config/initial_positions.yaml +++ /dev/null @@ -1,7 +0,0 @@ -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 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/joint_jog.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/joint_jog.yaml deleted file mode 100644 index 6d80c7e9c..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/joint_jog.yaml +++ /dev/null @@ -1,4 +0,0 @@ -# Planning groups to use in JointJog, and their corresponding JVC controllers. -# The number of elements in `planning_groups` and `controllers` must match. -planning_groups: ['manipulator'] -controllers: ['joint_velocity_controller'] diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/picknik_kinova_gen3_base.srdf b/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/picknik_kinova_gen3_base.srdf deleted file mode 100644 index f442c4ac4..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/picknik_kinova_gen3_base.srdf +++ /dev/null @@ -1,185 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/pose_ik_distance.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/pose_ik_distance.yaml deleted file mode 100644 index 69e4c7c6f..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/pose_ik_distance.yaml +++ /dev/null @@ -1,5 +0,0 @@ -manipulator: - kinematics_solver: pose_ik_plugin/PoseIKPlugin - target_tolerance: 0.001 - solve_mode: "optimize_distance" - optimization_timeout: 0.005 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/pose_jog.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/pose_jog.yaml deleted file mode 100644 index 5ba7f244a..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/pose_jog.yaml +++ /dev/null @@ -1,4 +0,0 @@ -# Planning groups to use in PoseJog, and their corresponding VFC controllers. -# The number of elements in `planning_groups` and `controllers` must match. -planning_groups: ['manipulator'] -controllers: ['velocity_force_controller'] diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/sensors_3d.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/sensors_3d.yaml deleted file mode 100644 index 1ba80c743..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/sensors_3d.yaml +++ /dev/null @@ -1,23 +0,0 @@ -sensors: - - scene_scan_camera -scene_scan_camera: - # The name of the Octomap updater plugin that we are using. - sensor_plugin: "moveit_studio_plugins/PointCloudServiceOctomapUpdater" - # Topic to use for the point cloud updater service - point_cloud_service_name: "/point_cloud_service" # Points further than this will not be used (in meters). - max_range: 1.2 - # Choose one of every 'point_subsample' points (select all if set to 1). - point_subsample: 1 - # Should always be >= 1.0. Scale up collision shapes in the scene before excluding them from the octomap. - padding_scale: 1.0 - # Absolute padding around scaled collision shapes when excluding them from the octomap (in meters). - padding_offset: 0.05 - # The octomap representation will be updated at rate less than or equal to this value. - max_update_rate: 0.1 - -# Specifies the resolution at which the octomap is maintained (in meters). -octomap_resolution: 0.03 -# Specifies the coordinate frame in which the Octomap representation will be stored. -# Note! When an OccupancyMonitor instance is initialized by the PlanningSceneMonitor, -# this frame parameter will not be used. Instead, the frame defaults to the planning frame. -octomap_frame: "base_link" diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision.mtl deleted file mode 100644 index e31e2209f..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision.mtl +++ /dev/null @@ -1,52 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org - -newmtl black -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.019087 0.019087 0.019087 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 - -newmtl dark_black -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.000000 0.000000 0.000000 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 - -newmtl gold -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.291777 0.234548 0.061247 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 - -newmtl grey -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.038204 0.051270 0.061247 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 - -newmtl white -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 1.000000 1.000000 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision.obj deleted file mode 100644 index 7e2f3e5e7..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2e860772f125d4baeaa9daf6234d9bfbfdcbf09fc38be6d05493adf53ec809d2 -size 1193774 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_1.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_1.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_1.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_1.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_1.obj deleted file mode 100644 index 09f0a741c..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_1.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:315f430a20dfb73ac149177281905a69c599c0689ae9b879344a8a585c55d79f -size 651 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_10.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_10.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_10.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_10.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_10.obj deleted file mode 100644 index 7e270f1f6..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_10.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c2f774cf7ea66b48379466b7c579cfb16c3e6736205d40898acd34965e8ad2ec -size 664 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_11.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_11.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_11.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_11.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_11.obj deleted file mode 100644 index 79619a13b..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_11.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:06a35b6acce0a82f5b33b058848a837d16e0435b228843cb02aa944476969839 -size 664 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_12.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_12.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_12.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_12.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_12.obj deleted file mode 100644 index f3bc443f5..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_12.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:249f5b236b5eb6f6ea00127384c2519142495977dc78015a6fac0639c3d4b9d2 -size 664 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_13.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_13.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_13.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_13.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_13.obj deleted file mode 100644 index 82a553e97..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_13.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:28c3a5e090ad0cc5aa0aca6ef926d3ce336e3a9723add01656a660cbdbb10d82 -size 664 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_14.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_14.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_14.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_14.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_14.obj deleted file mode 100644 index 822529888..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_14.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:89745a2c593775f6f4044ecf7351cf3ecdbbd04699d1bd36be28a8c84a474fa0 -size 664 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_15.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_15.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_15.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_15.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_15.obj deleted file mode 100644 index b08bdfb02..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_15.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:012b5dc2fb6551423f3b0d08d02cf1d9eb457795a86cd53cf3961eb22bb22837 -size 664 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_16.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_16.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_16.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_16.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_16.obj deleted file mode 100644 index 64e3a663b..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_16.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:be6487fa2458ae91d5a7f99fcaecae0353d1fb9c4b29486c1cab4f1a9e8a868f -size 661 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_17.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_17.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_17.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_17.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_17.obj deleted file mode 100644 index 3cfc2c539..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_17.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ac56caf30e2675efe36ffcd92d97504f5b64d8a316a169b80f4e8572d041e8cc -size 657 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_18.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_18.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_18.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_18.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_18.obj deleted file mode 100644 index 64d481749..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_18.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4172120a7f949e05da9e7897154c542b60fc060add55688dd51f219a69da97b1 -size 656 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_19.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_19.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_19.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_19.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_19.obj deleted file mode 100644 index f441c0995..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_19.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8a7e5f2ec07a6f959d187bbf081432e4c991f7d24be180fce4530454d3a1d02d -size 656 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_2.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_2.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_2.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_2.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_2.obj deleted file mode 100644 index 7eface868..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_2.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:47adb02b9ca317e3df6dc4665793b7d1865190b433b14dd55da3595fa1d20671 -size 655 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_20.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_20.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_20.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_20.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_20.obj deleted file mode 100644 index 7bd1fe7dd..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_20.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:93190b452b46b20fe4e8fb6a500bf635f54034db61a468ce92be12d43ef87617 -size 656 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_21.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_21.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_21.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_21.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_21.obj deleted file mode 100644 index 672b12e4a..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_21.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:87bdf2511ab6868f56ac5c88c81334f408ae85432c6253d7a14c826d5512c83b -size 656 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_22.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_22.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_22.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_22.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_22.obj deleted file mode 100644 index 693d4fa6c..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_22.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9019ce7e0c82dbfee9e831911d2f21889f3d4ac1165efcd102288bf89b02af64 -size 656 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_23.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_23.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_23.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_23.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_23.obj deleted file mode 100644 index a7bbc1396..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_23.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:07c5d2a4dc5753253309ee41e87a36b8b03efa01ef36228619e15e473893e5e2 -size 656 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_24.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_24.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_24.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_24.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_24.obj deleted file mode 100644 index 338b87668..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_24.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9562dabbdd5136dd7b002eacd2a860b747691f8ab9ac63d60f427dd067577110 -size 656 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_25.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_25.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_25.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_25.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_25.obj deleted file mode 100644 index f28da9244..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_25.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:289c95a00f275277edf57b6af6f7f7e47b9032b6a826a029ed64e8564fb653a5 -size 652 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_26.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_26.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_26.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_26.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_26.obj deleted file mode 100644 index ebebb4dde..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_26.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:edcd62fe5a515e374377a2d44ea62657f536b27c576e3548ece7146877da0ead -size 648 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_27.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_27.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_27.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_27.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_27.obj deleted file mode 100644 index e49799dd4..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_27.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:abcc9755416acd46a227e42ecb010debbc07221980f04a3cb5b5dd524ffdc836 -size 648 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_28.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_28.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_28.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_28.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_28.obj deleted file mode 100644 index 312ac08ee..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_28.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:72b01d817a9f798375483aea44453c5325920eb396edf8bd3adde6bbe0baa0ed -size 648 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_29.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_29.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_29.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_29.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_29.obj deleted file mode 100644 index fd8a78619..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_29.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e6dc64adcb0f22d7fb37abfc21078b068edd3227a7a456d228c78293b98cfcd7 -size 648 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_3.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_3.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_3.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_3.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_3.obj deleted file mode 100644 index 46d56e367..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_3.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c0be155443f393662fd6d5f7a47e4120f483f1659d87ec015da5e9671919c4e9 -size 655 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_30.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_30.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_30.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_30.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_30.obj deleted file mode 100644 index 16c07c78d..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_30.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a2feaeba30585ba1ce0034b94b2d0ee2b4e1c608466fd77690cf6e574166cde1 -size 648 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_31.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_31.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_31.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_31.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_31.obj deleted file mode 100644 index ad28402b0..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_31.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c8e677b526d3ca873dd17ddfe5d42d26ab227992f68e2283b79befb3f0b464f6 -size 648 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_32.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_32.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_32.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_32.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_32.obj deleted file mode 100644 index 211dd99cd..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_32.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c64ecaedd68670ad29fb326c12224ec1405a5a6c5a15a0e72ebe1a58cae87a9b -size 648 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_4.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_4.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_4.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_4.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_4.obj deleted file mode 100644 index 18aa4d48c..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_4.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ab05db3b77f7630c58cc57c4e74917a46bcfb04ecdfbeed08aa7403b8d38134d -size 655 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_5.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_5.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_5.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_5.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_5.obj deleted file mode 100644 index b38fdc81c..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_5.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:bcdcf340b03a3e23814db7c001f27ae79b291cbd5ffb1f201cfc9e96fc7174fa -size 655 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_6.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_6.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_6.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_6.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_6.obj deleted file mode 100644 index ea86bb090..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_6.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:35ca9d3401253ba845002f92a2126a3ee0f71efb0e8c736f496fb09a974ee909 -size 655 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_7.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_7.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_7.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_7.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_7.obj deleted file mode 100644 index 9dfbfca1a..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_7.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:05cb665c9231198163166627f1e4b3052e20bd6fbe4278e5217e4a03adbddece -size 655 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_8.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_8.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_8.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_8.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_8.obj deleted file mode 100644 index db2db51e5..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_8.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:845ecc0d217b66887f4690c41de36f3dbd4a4bae3136bf2ddb6138f02dd5c118 -size 660 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_9.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_9.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_9.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_9.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_9.obj deleted file mode 100644 index b0ecf8af8..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_9.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1bf2b58d1886d2b03618a8dc4c4d57bc5ac2ec171a900272ec35d8d27dfa28eb -size 664 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite.mtl deleted file mode 100644 index e31e2209f..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite.mtl +++ /dev/null @@ -1,52 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org - -newmtl black -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.019087 0.019087 0.019087 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 - -newmtl dark_black -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.000000 0.000000 0.000000 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 - -newmtl gold -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.291777 0.234548 0.061247 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 - -newmtl grey -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.038204 0.051270 0.061247 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 - -newmtl white -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 1.000000 1.000000 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite.obj deleted file mode 100644 index 2bbb6507b..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2bbafa7425f33aadf1920d7b82e8e4287128252602adda61c58cdc727a3feaf8 -size 1371519 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite.png b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite.png deleted file mode 100644 index 952dec097..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:83437052ade7c41f2da718d7f39e785a63ffa0abd448ea7ea6143dee2df2ff1a -size 607 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite_box.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite_box.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite_box.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite_box.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite_box.obj deleted file mode 100644 index 2555e118f..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite_box.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e4d56322e7460058d685023e6e74588f3e1e71d66aa29d89e7d8b002fccfb16c -size 936 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/stud.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/stud.obj deleted file mode 100644 index 2faa726b0..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/stud.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2cf08ff10fcbfb945f108675113bf6079a5cdb898e1f2e8472f4405c2b0d1121 -size 1007 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof.xml deleted file mode 100644 index c306c66a2..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof.xml +++ /dev/null @@ -1,729 +0,0 @@ - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof_rafti_fingers.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof_rafti_fingers.xml deleted file mode 100644 index 41444a8a2..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof_rafti_fingers.xml +++ /dev/null @@ -1,824 +0,0 @@ - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml deleted file mode 100644 index 987fcaf4d..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml +++ /dev/null @@ -1,134 +0,0 @@ - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml deleted file mode 100644 index 735efb6ca..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml +++ /dev/null @@ -1,180 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml deleted file mode 100644 index 32bfe5e76..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml +++ /dev/null @@ -1,180 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/picknik_kinova_gen3.xacro b/src/moveit_pro_kinova_configs/kinova_sim/description/picknik_kinova_gen3.xacro deleted file mode 100644 index 7741689a8..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/picknik_kinova_gen3.xacro +++ /dev/null @@ -1,696 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 100000.0 - 100000.0 - - - - - 1e+5 - 1 - 0 - 0.2 - 0.002 - 0 - - - - - - - - - - - - - - - - - - - - - - - - 100000.0 - 100000.0 - - - - - 1e+5 - 1 - 0 - 0.2 - 0.002 - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${-2*pi} - ${2*pi} - - - 0.0 - - - - - - - -2.41 - 2.41 - - - 0.0 - - - - - - - ${-2*pi} - ${2*pi} - - - -3.14 - - - - - - - -2.66 - 2.66 - - - -2.51 - - - - - - - ${-2*pi} - ${2*pi} - - - 0.0 - - - - - - - -2.23 - 2.23 - - - 0.96 - - - - - - - ${-2*pi} - ${2*pi} - - - 1.57 - - - - - - - - 0.7929 - - - - - - - - - - - - - - - - - - - - - - - - - picknik_mujoco_ros/MujocoSystem - $(arg mujoco_model) - kinova_sim - 10 - 60 - $(arg mujoco_viewer) - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/launch/agent_bridge.launch.xml b/src/moveit_pro_kinova_configs/kinova_sim/launch/agent_bridge.launch.xml deleted file mode 100644 index 1179679a1..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/launch/agent_bridge.launch.xml +++ /dev/null @@ -1,5 +0,0 @@ - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/finger.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/finger.dae deleted file mode 100644 index 1be5b7a22..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/finger.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:572bae42ffcde0e88c449f2f9212f8bb4f4c9946a85c52970eb2fb9bb51baa84 -size 51240 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/hand.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/hand.dae deleted file mode 100644 index 0bfca42a8..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/hand.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2fbcfd05e35c3d80a083cc99b6350af276afac3144338b6be07bf6c2de106509 -size 549240 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link0.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link0.dae deleted file mode 100644 index d9dfd5c14..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link0.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4240e8cc303b1318bf8038acfb1185b6c701492a0b8ff8eca41db18c371607d1 -size 1591593 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link1.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link1.dae deleted file mode 100644 index 261cb1f02..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link1.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4ac961729aeddbe8aaa0a259d335388e73c19be58ea5a6673fc1ce9893de3e88 -size 978474 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link2.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link2.dae deleted file mode 100644 index f7e58986b..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link2.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:78a49e2990d2006d57ea7ec4340a200dbfdebdc0b7cd774dc59a5f1241d2baf4 -size 998545 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link3.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link3.dae deleted file mode 100644 index 4c02b612f..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link3.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0b8e5e3bcab812109a4c20ffabe96ef3fe1fc7b667f10912404b515f49dc43ee -size 1099884 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link4.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link4.dae deleted file mode 100644 index 1f4bc51a6..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link4.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:340e99b3dc12b5a5dbdf5d130c940a4d0b68315fab7caebed62cd037c38f0680 -size 1145724 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link5.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link5.dae deleted file mode 100644 index dc3b45efb..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link5.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8e5dbc1cc6bae1501d2c81d55b75d718780654aa82d683128d08cfc7876f094f -size 1438344 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link6.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link6.dae deleted file mode 100644 index 6430319dc..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link6.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d1a40a84982b6539f9e161fd036cbdba95c7da2c0c327b7f2fef349947819541 -size 1728754 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link7.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link7.dae deleted file mode 100644 index aa66914b1..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link7.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9b72fa02ee286116d2afbbeba37cc63a5163799955790d789d9ba097826ff349 -size 936417 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/finger.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/finger.dae deleted file mode 100644 index 1be5b7a22..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/finger.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:572bae42ffcde0e88c449f2f9212f8bb4f4c9946a85c52970eb2fb9bb51baa84 -size 51240 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/hand.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/hand.dae deleted file mode 100644 index 0bfca42a8..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/hand.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2fbcfd05e35c3d80a083cc99b6350af276afac3144338b6be07bf6c2de106509 -size 549240 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link0.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link0.dae deleted file mode 100644 index d9dfd5c14..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link0.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4240e8cc303b1318bf8038acfb1185b6c701492a0b8ff8eca41db18c371607d1 -size 1591593 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link1.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link1.dae deleted file mode 100644 index 261cb1f02..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link1.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4ac961729aeddbe8aaa0a259d335388e73c19be58ea5a6673fc1ce9893de3e88 -size 978474 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link2.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link2.dae deleted file mode 100644 index f7e58986b..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link2.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:78a49e2990d2006d57ea7ec4340a200dbfdebdc0b7cd774dc59a5f1241d2baf4 -size 998545 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link3.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link3.dae deleted file mode 100644 index 4c02b612f..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link3.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0b8e5e3bcab812109a4c20ffabe96ef3fe1fc7b667f10912404b515f49dc43ee -size 1099884 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link4.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link4.dae deleted file mode 100644 index 1f4bc51a6..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link4.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:340e99b3dc12b5a5dbdf5d130c940a4d0b68315fab7caebed62cd037c38f0680 -size 1145724 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link5.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link5.dae deleted file mode 100644 index dc3b45efb..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link5.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8e5dbc1cc6bae1501d2c81d55b75d718780654aa82d683128d08cfc7876f094f -size 1438344 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link6.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link6.dae deleted file mode 100644 index 6430319dc..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link6.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d1a40a84982b6539f9e161fd036cbdba95c7da2c0c327b7f2fef349947819541 -size 1728754 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link7.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link7.dae deleted file mode 100644 index aa66914b1..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link7.dae +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9b72fa02ee286116d2afbbeba37cc63a5163799955790d789d9ba097826ff349 -size 936417 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/admittance_parameters_no_admittance.yaml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/admittance_parameters_no_admittance.yaml deleted file mode 100644 index 5c5e42009..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/admittance_parameters_no_admittance.yaml +++ /dev/null @@ -1,52 +0,0 @@ -SetAdmittanceParameters: - admittance: - damping_ratio_position: - max: 1000 - min: 0 - x: 1000 - y: 1000 - z: 650 - damping_ratio_rotation: - max: 1000 - min: 0 - x: 40 - y: 40 - z: 40 - joint_damping: - max: 100 - min: 0 - value: 1 - mass_position: - max: 100 - min: 0.001 - x: 40 - y: 40 - z: 10 - mass_rotation: - max: 100 - min: 0.001 - x: 4 - y: 4 - z: 4 - selected_axes: - rx: false - ry: false - rz: false - x: false - y: false - z: false - stiffness_position: - max: 1000 - min: 0 - x: 120 - y: 120 - z: 300 - stiffness_rotation: - max: 1000 - min: 0 - x: 80 - y: 80 - z: 80 - control_frame: grasp_link - controller_name: '' - end_effector_frame: grasp_link diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml deleted file mode 100644 index 1e3fedfbb..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml +++ /dev/null @@ -1,268 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/close_gripper.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/close_gripper.xml deleted file mode 100644 index 435a8854e..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/close_gripper.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml deleted file mode 100644 index c2503638a..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml +++ /dev/null @@ -1,311 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/demo_trajectory_stitching.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/demo_trajectory_stitching.xml deleted file mode 100644 index 6f3e04874..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/demo_trajectory_stitching.xml +++ /dev/null @@ -1,144 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/jtac_parameters.yaml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/jtac_parameters.yaml deleted file mode 100644 index f88f3ad6a..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/jtac_parameters.yaml +++ /dev/null @@ -1,52 +0,0 @@ -SetAdmittanceParameters: - admittance: - damping_ratio_position: - max: 100 - min: 0 - x: 40 - y: 40 - z: 40 - damping_ratio_rotation: - max: 100 - min: 0 - x: 40 - y: 40 - z: 40 - joint_damping: - max: 100 - min: 0 - value: 1 - mass_position: - max: 100 - min: 0.001 - x: 15 - y: 15 - z: 15 - mass_rotation: - max: 100 - min: 0.001 - x: 15 - y: 15 - z: 15 - selected_axes: - rx: true - ry: true - rz: true - x: true - y: true - z: true - stiffness_position: - max: 1000 - min: 0 - x: 80 - y: 80 - z: 80 - stiffness_rotation: - max: 1000 - min: 0 - x: 80 - y: 80 - z: 80 - control_frame: grasp_link - controller_name: '' - end_effector_frame: grasp_link diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml deleted file mode 100644 index d94681faf..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml +++ /dev/null @@ -1,113 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.xml deleted file mode 100644 index 024074393..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.xml +++ /dev/null @@ -1,122 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/open_gripper.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/open_gripper.xml deleted file mode 100644 index 48757ce3c..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/open_gripper.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/re_zero_force_torque_sensors.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/re_zero_force_torque_sensors.xml deleted file mode 100644 index 5fbbf52e3..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/re_zero_force_torque_sensors.xml +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/reset_simulation.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/reset_simulation.xml deleted file mode 100644 index 314848efe..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/reset_simulation.xml +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/sample_april_tag.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/sample_april_tag.xml deleted file mode 100644 index 07e21a4f8..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/sample_april_tag.xml +++ /dev/null @@ -1,66 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/velocity_force_controller_zero.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/velocity_force_controller_zero.xml deleted file mode 100644 index 7053616a3..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/velocity_force_controller_zero.xml +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml deleted file mode 100644 index 64bdb6f54..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml +++ /dev/null @@ -1,85 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik_waypoints.yaml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik_waypoints.yaml deleted file mode 100644 index ad3afad21..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik_waypoints.yaml +++ /dev/null @@ -1,2288 +0,0 @@ ---- -header: - frame_id: local -pose: - position: - x: 0.0288413925 - y: 0.01169471275 - z: -0.01 - orientation: - 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1 - w: 0 ---- -header: - frame_id: local -pose: - position: - x: 0.43190068755044797 - y: 0.055953512156107624 - z: 0.0 - orientation: - x: 0 - y: 0 - z: 1 - w: 0 ---- -header: - frame_id: local -pose: - position: - x: 0.436213918775224 - y: 0.03382411245305381 - z: 0.0 - orientation: - x: 0 - y: 0 - z: 1 - w: 0 ---- -header: - frame_id: local -pose: - position: - x: 0.44052715 - y: 0.011694712750000003 - z: 0.0 - orientation: - x: 0 - y: 0 - z: 1 - w: 0 ---- -header: - frame_id: local -pose: - position: - x: 0.44052715 - y: 0.011694712750000003 - z: -0.01 - orientation: - x: 0 - y: 0 - z: 1 - w: 0 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/package.xml b/src/moveit_pro_kinova_configs/kinova_sim/package.xml deleted file mode 100644 index cca74f3be..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - kinova_sim - 6.5.0 - - - Configuration package for a UR arm that can be simulated with mock hardware - - - Paul Gesel - David Yackzan - - BSD-3-Clause - - ament_cmake - - joint_trajectory_admittance_controller - kortex_description - moveit_studio_kinova_pstop_manager - picknik_mujoco_ros - picknik_accessories - realsense2_description - velocity_force_controller - - - ament_cmake - - diff --git a/src/moveit_pro_kinova_configs/kinova_sim/thumbnail.png b/src/moveit_pro_kinova_configs/kinova_sim/thumbnail.png deleted file mode 100644 index dbc1a4719..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/thumbnail.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9332e4ffb90451a3dc2004e8b5ce9297994dad3694b5edb022db87c94a852dbc -size 252907 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/waypoints/waypoints.yaml b/src/moveit_pro_kinova_configs/kinova_sim/waypoints/waypoints.yaml deleted file mode 100644 index 578ac4d79..000000000 --- a/src/moveit_pro_kinova_configs/kinova_sim/waypoints/waypoints.yaml +++ /dev/null @@ -1,39 +0,0 @@ -- name: Home - joint_group_names: - - manipulator - joint_state: - header: - frame_id: world - stamp: - sec: 0 - nanosec: 0 - name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7] - position: [7.2854474427322627e-05, 0.0060998872530424308, -3.1250605484909082, -2.5051932931762071, -2.7164243118882329e-05, 0.95966324117024648, 1.5699864595074029] - velocity: [] - effort: [] -- name: View Satellite - joint_group_names: - - manipulator - joint_state: - header: - frame_id: world - stamp: - sec: 0 - nanosec: 0 - name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7] - position: [-0.09307641483383389, -0.19300567578465877, -3.1300095007446025, -1.0300920675150191, 0.10809231574510887, -1.8633714704671105, 0.6960333295958311] - velocity: [] - effort: [] -- name: Servo Start - joint_group_names: - - manipulator - joint_state: - header: - frame_id: world - stamp: - sec: 0 - nanosec: 0 - name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7] - position: [-0.00720012232313838, 0.046292085559112114, -3.1164649297565687, -1.9802682633550486, 0.002955344711620508, 0.47456175742007445, 1.5661967812762208] - velocity: [] - effort: [] diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/CMakeLists.txt b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/CMakeLists.txt deleted file mode 100644 index 76c4050a5..000000000 --- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/CMakeLists.txt +++ /dev/null @@ -1,74 +0,0 @@ -cmake_minimum_required(VERSION 3.22) -project(moveit_studio_kinova_pstop_manager) - -find_package(moveit_pro_package REQUIRED) -moveit_pro_package() - -if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") - add_compile_options(-Wpedantic) -endif() - -# Detect ROS distro for API compatibility -if(DEFINED ENV{ROS_DISTRO}) - if("$ENV{ROS_DISTRO}" STREQUAL "jazzy") - add_compile_definitions(ROS_DISTRO_JAZZY) - elseif("$ENV{ROS_DISTRO}" STREQUAL "humble") - add_compile_definitions(ROS_DISTRO_HUMBLE) - endif() -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(ament_cmake_ros REQUIRED) -find_package(controller_manager_msgs REQUIRED) -find_package(moveit_studio_agent_msgs) -find_package(pluginlib REQUIRED) -find_package(rclcpp REQUIRED) -find_package(rclcpp_components REQUIRED) -find_package(std_srvs REQUIRED) -find_package(example_interfaces REQUIRED) - -set(THIS_PACKAGE_INCLUDE_DEPENDS - controller_manager_msgs - moveit_studio_agent_msgs - pluginlib - rclcpp - rclcpp_components - std_srvs - example_interfaces -) - -add_executable(protective_stop_manager_node src/protective_stop_manager_node.cpp) -target_include_directories(protective_stop_manager_node PUBLIC - $ - $) -ament_target_dependencies(protective_stop_manager_node ${THIS_PACKAGE_INCLUDE_DEPENDS}) - -# Mock Kinova dashboard client -add_executable(mock_kinova_client_node - src/mock_kinova_client.cpp - src/mock_kinova_client_node.cpp) -target_include_directories(mock_kinova_client_node - PUBLIC $ - PUBLIC $) -ament_target_dependencies(mock_kinova_client_node ${THIS_PACKAGE_INCLUDE_DEPENDS}) - -install( - DIRECTORY include/ - DESTINATION include -) - -install(TARGETS - mock_kinova_client_node - protective_stop_manager_node - ARCHIVE DESTINATION lib/${PROJECT_NAME} - LIBRARY DESTINATION lib/${PROJECT_NAME} - RUNTIME DESTINATION lib/${PROJECT_NAME}) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) -ament_package() diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/include/moveit_studio_kinova_pstop_manager/mock_kinova_client.hpp b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/include/moveit_studio_kinova_pstop_manager/mock_kinova_client.hpp deleted file mode 100644 index 750736bae..000000000 --- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/include/moveit_studio_kinova_pstop_manager/mock_kinova_client.hpp +++ /dev/null @@ -1,46 +0,0 @@ -// Copyright 2022 PickNik Inc. -// All rights reserved. -// -// Unauthorized copying of this code base via any medium is strictly prohibited. -// Proprietary and confidential. - -#pragma once - -#include -#include -#include - -namespace moveit_studio::kinova_pstop_manager -{ -/** - * \brief This class is intended for use in simulation, and mocks some of the services that the DashboardClientROS class - * provides for real hardware. - */ -class MockKinovaClient : public rclcpp::Node -{ -public: - MockKinovaClient(const rclcpp::NodeOptions& options = rclcpp::NodeOptions()); - -private: - /** - * @brief Returns the result of fault reset try - * - * @param request The request object. - * @param response The response (always OK). - */ - void handleFaultResetQuery(const example_interfaces::srv::Trigger::Request::SharedPtr request, - example_interfaces::srv::Trigger::Response::SharedPtr response); - - void publishFaultState(); - - void mockFaultState(const example_interfaces::srv::Trigger::Request::SharedPtr request, - example_interfaces::srv::Trigger::Response::SharedPtr response); - - rclcpp::Service::SharedPtr reset_fault_service_; - rclcpp::Service::SharedPtr mock_fault_service_; - - rclcpp::Publisher::SharedPtr fault_state_pub_; - bool in_fault_; - rclcpp::TimerBase::SharedPtr fault_state_timer_; -}; -} // namespace moveit_studio::kinova_pstop_manager diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/include/moveit_studio_kinova_pstop_manager/protective_stop_manager_node.hpp b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/include/moveit_studio_kinova_pstop_manager/protective_stop_manager_node.hpp deleted file mode 100644 index ce001211f..000000000 --- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/include/moveit_studio_kinova_pstop_manager/protective_stop_manager_node.hpp +++ /dev/null @@ -1,86 +0,0 @@ -// Copyright 2022 PickNik Inc. -// All rights reserved. -// -// Unauthorized copying of this code base via any medium is strictly prohibited. -// Proprietary and confidential. - -// Implementing this feature as a node that provides a service that calls other ROS services is not ideal. Please see -// the README for a discussion of alternatives. - -#pragma once - -#include -#include -#include -#include -#include -#include -#include - -namespace moveit_studio::kinova_pstop_manager -{ -class ProtectiveStopManager : public rclcpp::Node -{ -public: - ProtectiveStopManager(const rclcpp::NodeOptions& options = rclcpp::NodeOptions()); - -private: - using SwitchController = controller_manager_msgs::srv::SwitchController; - - /** - * @brief This is the callback for the "recover_from_protective_stop" service. It unlocks the protective stop, stops - * the program currently running on the arm, and re-sends the control program. - * - * @param request An empty request. - * @param response Indicates whether the protective stop was successfully released. - */ - void recoverFromProtectiveStop(const std_srvs::srv::Trigger::Request::SharedPtr request, - std_srvs::srv::Trigger::Response::SharedPtr response); - - /** - * @brief Helper function to check whether a service is unavailable. If the service is unavailable, this function - * also sets displays the appropriate error message and sets the Response. - * - * @param client The client for the service we are checking. - * @param response The response object, which will indicate success or failure. - * @return true The service is unavailable. - * @return false The service is available. - */ - bool indicateUnavailableService(rclcpp::ClientBase::SharedPtr client, - std_srvs::srv::Trigger::Response::SharedPtr response = nullptr); - - /** - * @brief Callback function that publishes the current fault status of the robot. - * - */ - void publishFaultStatus(); - - /** - * @brief Determines whether the Kinova robot is in fault. - * - * @return true The robot is in fault. - * @return false The robot is not in fault. - * @return std::nullopt An error occurred when attempting to call the service. - */ - bool isRobotInFault(); - - std::vector all_controller_names; - std::vector active_controller_names; - - rclcpp::CallbackGroup::SharedPtr reentrant_callback_group_; - rclcpp::Service::SharedPtr recovery_service_; - rclcpp::Client::SharedPtr switch_controller_client_; - - // generic moveit studio fault publisher - rclcpp::Publisher::SharedPtr fault_status_publisher_; - rclcpp::TimerBase::SharedPtr fault_status_timer_; - std::atomic in_fault_; - - // time measurement - rclcpp::Time last_fault_status_update_; - - // connect to the fault_controller that is communication pipe to/from the driver - rclcpp::Subscription::SharedPtr fault_ctrl_sub_; - rclcpp::Client::SharedPtr fault_reset_client_; -}; -} // namespace moveit_studio::kinova_pstop_manager diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/package.xml b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/package.xml deleted file mode 100644 index 25ffb6ab7..000000000 --- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/package.xml +++ /dev/null @@ -1,35 +0,0 @@ - - - - moveit_studio_kinova_pstop_manager - 6.5.0 - - Provides a node to monitor the protective stop state of the Kinova, and - reset protective stops when necessary. - - Lovro Ivanov - Proprietary - - ament_cmake_ros - moveit_pro_package - ros_environment - - controller_manager_msgs - moveit_studio_agent_msgs - pluginlib - rclcpp - rclcpp_components - std_srvs - example_interfaces - - ament_clang_format - ament_clang_tidy - ament_cmake_copyright - ament_cmake_lint_cmake - ament_lint_auto - picknik_ament_copyright - - - ament_cmake - - diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/mock_kinova_client.cpp b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/mock_kinova_client.cpp deleted file mode 100644 index a4bdaf220..000000000 --- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/mock_kinova_client.cpp +++ /dev/null @@ -1,54 +0,0 @@ -// Copyright 2022 PickNik Inc. -// All rights reserved. -// -// Unauthorized copying of this code base via any medium is strictly prohibited. -// Proprietary and confidential. - -#include - -namespace moveit_studio::kinova_pstop_manager -{ -constexpr auto kNodeName = "fault_controller"; -constexpr auto kFaultTopic = "~/internal_fault"; -constexpr auto kResetFault = "~/reset_fault"; -constexpr auto kMockFault = "~/mock_fault"; - -MockKinovaClient::MockKinovaClient(const rclcpp::NodeOptions& options) - : rclcpp::Node(kNodeName, options) - , reset_fault_service_(create_service( - kResetFault, - [this](const example_interfaces::srv::Trigger::Request::SharedPtr request, - example_interfaces::srv::Trigger::Response::SharedPtr response) { - handleFaultResetQuery(request, response); - })) - , mock_fault_service_(create_service( - kMockFault, - [this](const example_interfaces::srv::Trigger::Request::SharedPtr request, - example_interfaces::srv::Trigger::Response::SharedPtr response) { mockFaultState(request, response); })) - , fault_state_pub_(create_publisher(kFaultTopic, rclcpp::QoS(1).transient_local())) - , in_fault_(false) - , fault_state_timer_(create_wall_timer(std::chrono::milliseconds(50), [&]() { publishFaultState(); })) -{ -} - -void MockKinovaClient::handleFaultResetQuery(const example_interfaces::srv::Trigger::Request::SharedPtr /*request*/, - example_interfaces::srv::Trigger::Response::SharedPtr response) -{ - in_fault_ = false; - response->success = true; -} - -void MockKinovaClient::publishFaultState() -{ - example_interfaces::msg::Bool msg; - msg.data = in_fault_; - fault_state_pub_->publish(msg); -} - -void MockKinovaClient::mockFaultState(const example_interfaces::srv::Trigger::Request::SharedPtr /*request*/, - example_interfaces::srv::Trigger::Response::SharedPtr response) -{ - in_fault_ = true; - response->success = true; -} -} // namespace moveit_studio::kinova_pstop_manager diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/mock_kinova_client_node.cpp b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/mock_kinova_client_node.cpp deleted file mode 100644 index 1c4ec4c1e..000000000 --- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/mock_kinova_client_node.cpp +++ /dev/null @@ -1,21 +0,0 @@ -// Copyright 2022 PickNik Inc. -// All rights reserved. -// -// Unauthorized copying of this code base via any medium is strictly prohibited. -// Proprietary and confidential. - -#include - -int main(int argc, char* argv[]) -{ - rclcpp::init(argc, argv); - - auto node = std::make_shared(); - - rclcpp::executors::MultiThreadedExecutor exec; - exec.add_node(node); - exec.spin(); - exec.remove_node(node); - - rclcpp::shutdown(); -} diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp deleted file mode 100644 index 7c485d50a..000000000 --- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp +++ /dev/null @@ -1,221 +0,0 @@ -// Copyright 2022 PickNik Inc. -// All rights reserved. -// -// Unauthorized copying of this code base via any medium is strictly prohibited. -// Proprietary and confidential. - -#include - -namespace moveit_studio::kinova_pstop_manager -{ -constexpr auto kNodeName = "protective_stop_manager"; -static const auto kLogger = rclcpp::get_logger(kNodeName); -constexpr auto kSwitchControllerService = "/controller_manager/switch_controller"; -constexpr auto kRecoveryServiceName = "recover_from_protective_stop"; -constexpr auto kFaultStatusTopic = "~/robot_fault_status"; -constexpr auto kServiceCallTimeout = std::chrono::duration(1.0); - -constexpr auto kFaultStatusPeriod = std::chrono::duration(0.02); -constexpr auto kWatchdogPeriodSec = 0.1; - -constexpr auto kFaultTopic = "/fault_controller/internal_fault"; -constexpr auto kResetFault = "/fault_controller/reset_fault"; - -constexpr auto kParameterControllersDefaultActive = "controllers_default_active"; -constexpr auto kParameterControllersDefaultNotActive = "controllers_default_not_active"; - -ProtectiveStopManager::ProtectiveStopManager(const rclcpp::NodeOptions& options) - : rclcpp::Node("protective_stop_manager", options) - , reentrant_callback_group_(create_callback_group(rclcpp::CallbackGroupType::Reentrant)) - , recovery_service_(create_service( - kRecoveryServiceName, - [this](const std_srvs::srv::Trigger::Request::SharedPtr request, - std_srvs::srv::Trigger::Response::SharedPtr response) { recoverFromProtectiveStop(request, response); }, - rmw_qos_profile_services_default, reentrant_callback_group_)) - , switch_controller_client_(create_client( - kSwitchControllerService, rmw_qos_profile_services_default, reentrant_callback_group_)) - , fault_status_publisher_(create_publisher(kFaultStatusTopic, 1)) - , fault_status_timer_(create_wall_timer(kFaultStatusPeriod, [this] { this->publishFaultStatus(); })) - , in_fault_(false) - , last_fault_status_update_(0, 0, this->now().get_clock_type()) - , fault_ctrl_sub_(create_subscription( - kFaultTopic, rclcpp::QoS(1), - [&](const example_interfaces::msg::Bool::ConstSharedPtr msg) { - in_fault_ = msg->data; - last_fault_status_update_ = this->now(); - })) - , fault_reset_client_(create_client(kResetFault, rmw_qos_profile_services_default, - reentrant_callback_group_)) -{ - declare_parameter>(kParameterControllersDefaultActive, std::vector{}); - declare_parameter>(kParameterControllersDefaultNotActive, std::vector{}); - - // Retrieve list of controllers which should be active by default - active_controller_names = get_parameter(kParameterControllersDefaultActive).as_string_array(); - - // Set of all controllers = default-active controllers + default-inactive controllers - all_controller_names = get_parameter(kParameterControllersDefaultNotActive).as_string_array(); - all_controller_names.insert(all_controller_names.end(), active_controller_names.cbegin(), - active_controller_names.cend()); - - // remove fault controller because it is needed for the protective stop manager to work - // fault controller exposes reset_fault service and internal_fault topic - auto iter = std::find_if(all_controller_names.begin(), all_controller_names.end(), - [&](const std::string& name) { return name == "fault_controller"; }); - if (iter != all_controller_names.end()) - { - all_controller_names.erase(iter); - } -} - -void ProtectiveStopManager::recoverFromProtectiveStop(const std_srvs::srv::Trigger::Request::SharedPtr /* request */, - std_srvs::srv::Trigger::Response::SharedPtr response) -{ - // Deactivate currently-active controllers. - // This is needed to prevent any controllers from commanding the robot hardware to a stale position when the Kinova - // enabled again - RCLCPP_INFO_STREAM(kLogger, "Deactivating all controllers..."); - if (indicateUnavailableService(switch_controller_client_, response)) - { - return; - } - auto deactivate_all_controllers_request = std::make_shared(); -#ifdef ROS_DISTRO_JAZZY - deactivate_all_controllers_request->deactivate_controllers = all_controller_names; -#else - deactivate_all_controllers_request->stop_controllers = all_controller_names; -#endif - // Use BEST_EFFORT strictness because some controllers may already be inactive, and attempting to stop them while - // using STRICT strictness would introduce an unnecessary error. - deactivate_all_controllers_request->strictness = SwitchController::Request::BEST_EFFORT; - auto deactivate_all_controllers_future = - switch_controller_client_->async_send_request(deactivate_all_controllers_request); - if (deactivate_all_controllers_future.wait_for(kServiceCallTimeout) == std::future_status::timeout) - { - const auto msg = std::string("Timed out waiting for response from `") + - switch_controller_client_->get_service_name() + - "` service. You may need to restart the robot drivers manually."; - RCLCPP_ERROR_STREAM(kLogger, msg); - response->success = false; - response->message = msg; - return; - } - if (!deactivate_all_controllers_future.get()->ok) - { - const auto msg = "Failed to deactivate robot controllers."; - RCLCPP_ERROR_STREAM(kLogger, msg); - response->success = false; - response->message = msg; - return; - } - - // Reactivate controllers set in the site config as active by default. - // This resets the state of the robot controllers to match the state it was in at startup. - RCLCPP_INFO_STREAM(kLogger, "Reactivating default controllers..."); - auto activate_default_controllers_request = std::make_shared(); -#ifdef ROS_DISTRO_JAZZY - activate_default_controllers_request->activate_controllers = active_controller_names; -#else - activate_default_controllers_request->start_controllers = active_controller_names; -#endif - // BEST_EFFORT is good enough to put the system back into an operational state without throwing unnecessary errors. - activate_default_controllers_request->strictness = SwitchController::Request::BEST_EFFORT; - auto activate_default_controllers_future = - switch_controller_client_->async_send_request(activate_default_controllers_request); - if (activate_default_controllers_future.wait_for(kServiceCallTimeout) == std::future_status::timeout) - { - const auto msg = std::string("Timed out waiting for response from `") + - switch_controller_client_->get_service_name() + - "` service. You may need to restart the robot drivers manually."; - RCLCPP_ERROR_STREAM(kLogger, msg); - response->success = false; - response->message = msg; - return; - } - if (!activate_default_controllers_future.get()->ok) - { - const auto msg = "Failed to activate default robot controllers."; - RCLCPP_ERROR_STREAM(kLogger, msg); - response->success = false; - response->message = msg; - return; - } - - // reset fault - RCLCPP_INFO_STREAM(kLogger, "Resetting fault on the robot..."); - if (indicateUnavailableService(fault_reset_client_, response)) - { - return; - } - - auto reset_fault_request = std::make_shared(); - auto reset_fault_future = fault_reset_client_->async_send_request(reset_fault_request); - if (reset_fault_future.wait_for(kServiceCallTimeout) == std::future_status::timeout) - { - const auto msg = std::string("Timed out waiting for response from `") + fault_reset_client_->get_service_name() + - "` service. You may need to restart the robot drivers manually."; - RCLCPP_ERROR_STREAM(kLogger, msg); - response->success = false; - response->message = msg; - return; - } - if (!reset_fault_future.get()->success) - { - const auto msg = "Failed to reset robot fault."; - RCLCPP_ERROR_STREAM(kLogger, msg); - response->success = false; - response->message = msg; - return; - } -} - -bool ProtectiveStopManager::indicateUnavailableService(rclcpp::ClientBase::SharedPtr client, - std_srvs::srv::Trigger::Response::SharedPtr response) -{ - if (client->service_is_ready()) - { - return false; - } - - const auto msg = std::string("`") + client->get_service_name() + "` service is not ready."; - RCLCPP_ERROR_STREAM(kLogger, msg); - if (response) - { - response->success = false; - response->message = msg; - } - return true; -} - -void ProtectiveStopManager::publishFaultStatus() -{ - auto msg = moveit_studio_agent_msgs::msg::FaultStatus(); - msg.status = in_fault_ ? moveit_studio_agent_msgs::msg::FaultStatus::RECOVERABLE_FAULT : - moveit_studio_agent_msgs::msg::FaultStatus::NORMAL; - - msg.status = ((this->now() - last_fault_status_update_).seconds() < kWatchdogPeriodSec) ? - msg.status : - moveit_studio_agent_msgs::msg::FaultStatus::NONRECOVERABLE_FAULT; - - fault_status_publisher_->publish(msg); -} - -bool ProtectiveStopManager::isRobotInFault() -{ - return in_fault_; -} -} // namespace moveit_studio::kinova_pstop_manager - -int main(int argc, char* argv[]) -{ - rclcpp::init(argc, argv); - - auto node = std::make_shared(); - - rclcpp::executors::MultiThreadedExecutor exec; - exec.add_node(node); - exec.spin(); - exec.remove_node(node); - - rclcpp::shutdown(); -} diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml b/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml deleted file mode 100644 index ee880f72f..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml +++ /dev/null @@ -1,58 +0,0 @@ -############################################################### -# -# 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: "default" - - mujoco_model: "description/mujoco/scene.xml" - - mujoco_viewer: "false" - -# Configuration for loading behaviors and objectives. -# [Required] -objectives: - # Specify source folder for objectives - # [Required] - objective_library_paths: - core_objectives: - package_name: "moveit_pro_objectives" - relative_path: "objectives/core" - motion_objectives: - package_name: "moveit_pro_objectives" - relative_path: "objectives/motion" - perception_objectives: - package_name: "moveit_pro_objectives" - relative_path: "objectives/perception" - mujoco_objectives: - package_name: "moveit_pro_objectives" - relative_path: "objectives/mujoco" - sim_objectives: - 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" diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/config/initial_positions.yaml b/src/moveit_pro_kinova_configs/space_satellite_sim/config/initial_positions.yaml deleted file mode 100644 index 3358344f5..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/config/initial_positions.yaml +++ /dev/null @@ -1,7 +0,0 @@ -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 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.STL deleted file mode 100644 index 5f6aff0d1..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.STL +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3e38517e653d58f4160cfdcee34c9dea983d8b3ecb8f2c147444f58235335260 -size 183884 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.mtl deleted file mode 100644 index a771bd2d5..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.mtl +++ /dev/null @@ -1,22 +0,0 @@ -# Blender 4.1.1 MTL File: 'None' -# www.blender.org - -newmtl Blue_002 -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.000000 0.000000 1.000000 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.000000 -d 1.000000 -illum 2 - -newmtl White_002 -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 1.000000 1.000000 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.000000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.obj deleted file mode 100644 index 502aa742f..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d209049c7784b700dacd3ff6b92e5a5e653b175b81cd40cdc3ac08c2c4115a63 -size 221550 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.STL deleted file mode 100644 index 705d64f18..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.STL +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5b2ec7dafbf6a3c9a2cac717d18132a8a1efd9fcb8f2c40d9c12c8ece7323ec8 -size 1334384 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.mtl deleted file mode 100644 index 66af0bf77..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# Blender 4.1.1 MTL File: 'None' -# www.blender.org - -newmtl White -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 1.000000 1.000000 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.000000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.obj deleted file mode 100644 index a17b9d033..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:190b2a97e289f208cd1e9cc053d1fdd2d7bd147909e026784d3a854d473b0c20 -size 1362966 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.STL deleted file mode 100644 index 72f81c50b..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.STL +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8bb05e420a88532b4eee3948a0047fb8e7f341c3e5cc971d54e97e2aaffcf878 -size 1164084 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.mtl deleted file mode 100644 index fdb35325d..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# Blender 4.1.1 MTL File: 'None' -# www.blender.org - -newmtl white -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 1.000000 1.000000 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.000000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.obj deleted file mode 100644 index 66914c558..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:479465e12fa09738aa1853d6033839e61bb2f8976088f2b180842feca3fe39d7 -size 1560243 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/end_effector_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/end_effector_link.STL deleted file mode 100644 index 3e2754219..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/end_effector_link.STL +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5b6fb58e61fa475939767d68a446f97f1bff02c0e5935a3ea8bb51e6515783d8 -size 80 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.STL deleted file mode 100644 index 0c616b5f7..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.STL +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a00d96d2c7ec37e9fe4c5fb6d3fa2b4386dfd48fea5ac25632f4cb83b3505105 -size 456284 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.mtl deleted file mode 100644 index b435e8789..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# Blender 4.1.1 MTL File: 'None' -# www.blender.org - -newmtl White.001 -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 1.000000 1.000000 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.000000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.obj deleted file mode 100644 index 92be4a04e..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:72520fe6116385b46ad20320e03f7b1ca8741ecab6b1cec196c554fdb903b58f -size 507752 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_1_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_1_link.STL deleted file mode 100644 index 00b636d56..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_1_link.STL +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8df461a71780d8e2d09104a507584424279d85173adf14867e359f7e58b3bba7 -size 514184 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_1_link.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_1_link.mtl deleted file mode 100644 index ac03f8c26..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_1_link.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# Blender 4.1.1 MTL File: 'None' -# www.blender.org - -newmtl White.002 -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 1.000000 1.000000 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.000000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_1_link.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_1_link.obj deleted file mode 100644 index e6d13e0d9..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_1_link.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d5c370bf5b89c7aad4387a52c1feead7e70e0d00b515e2d90aa096bad930a7c0 -size 562125 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_2_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_2_link.STL deleted file mode 100644 index 375f68608..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_2_link.STL +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8a9f38de21648804b3ab7076ec73726031f2ade7c95eb2541d070553e025407b -size 489184 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_2_link.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_2_link.mtl deleted file mode 100644 index 07c787567..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_2_link.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# Blender 4.1.1 MTL File: 'None' -# www.blender.org - -newmtl White.003 -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 1.000000 1.000000 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.000000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_2_link.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_2_link.obj deleted file mode 100644 index b8847e002..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_2_link.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:bff684ba381830badc7e51e402394e16648d05a16639fa9934dac566b33b6663 -size 485542 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/shoulder_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/shoulder_link.STL deleted file mode 100644 index 71dbb2133..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/shoulder_link.STL +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a98e232e5197f09e9cd520e7a450c21bcec74bc49e2a19ce7cf86c5dc25f2e18 -size 476984 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/shoulder_link.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/shoulder_link.mtl deleted file mode 100644 index 37d1f301d..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/shoulder_link.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# Blender 4.1.1 MTL File: 'None' -# www.blender.org - -newmtl White.004 -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 1.000000 1.000000 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.000000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/shoulder_link.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/shoulder_link.obj deleted file mode 100644 index beb8cdb93..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/shoulder_link.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4d304cba1afc3fc7266159a5e34c26385d30a1b64764d3f04100d1192698bf4f -size 424456 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_1_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_1_link.STL deleted file mode 100644 index cc0413db9..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_1_link.STL +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0b97a5e3b2de535344f8e8d4176d77f0cdb3455b235f35430fa0413208856e66 -size 546484 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_1_link.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_1_link.mtl deleted file mode 100644 index 8b4a00c2c..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_1_link.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# Blender 4.1.1 MTL File: 'None' -# www.blender.org - -newmtl White.005 -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 1.000000 1.000000 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.000000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_1_link.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_1_link.obj deleted file mode 100644 index c92ff7ba8..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_1_link.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:322c381b28eefca630d170cd434182434c063b6a36ebc1871152ccb490fa1864 -size 585957 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_2_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_2_link.STL deleted file mode 100644 index aa941bfe5..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_2_link.STL +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:12271fb7d0ee78fb5642424cf5078be20f0476061e74203db964b674031ce879 -size 516984 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_2_link.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_2_link.mtl deleted file mode 100644 index d012aae9e..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_2_link.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# Blender 4.1.1 MTL File: 'None' -# www.blender.org - -newmtl White.006 -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 1.000000 1.000000 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.000000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_2_link.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_2_link.obj deleted file mode 100644 index a38660556..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/spherical_wrist_2_link.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:873e40ba691e3b15dcbd65ab9aad604c27b5747bbb674b1f38bfe3e0b2f648e1 -size 532462 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat.mtl deleted file mode 100644 index d33d71949..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat.mtl +++ /dev/null @@ -1,52 +0,0 @@ -# Blender 4.1.1 MTL File: 'landsat.blend' -# www.blender.org - -newmtl body_ncl1_2.001 -Ns 1000.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 0.697917 0.192708 -Ks 1.000000 1.000000 1.000000 -Ke 0.000000 0.000000 0.000000 -Ni 1.500000 -d 1.000000 -illum 2 - -newmtl body_ncl1_3.001 -Ns 1000.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 0.697917 0.192708 -Ks 1.000000 1.000000 1.000000 -Ke 0.000000 0.000000 0.000000 -Ni 1.500000 -d 1.000000 -illum 2 - -newmtl mirror.001 -Ns 1000.000000 -Ka 0.280000 0.280000 0.280000 -Kd 0.078314 0.054861 0.015704 -Ks 0.000000 0.000000 0.000000 -Ke 0.000000 0.000000 0.000000 -Ni 1.500000 -d 1.000000 -illum 1 - -newmtl rest.001 -Ns 1000.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 0.697917 0.192708 -Ks 1.000000 1.000000 1.000000 -Ke 0.000000 0.000000 0.000000 -Ni 1.500000 -d 1.000000 -illum 2 - -newmtl rest_ncl1_1.001 -Ns 1000.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 0.697917 0.192708 -Ks 1.000000 1.000000 1.000000 -Ke 0.000000 0.000000 0.000000 -Ni 1.500000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat.obj deleted file mode 100644 index eb05eaf96..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:306cadb76810d9c9b415300db37bcaee303a2355ccb4f5ae403d1067ae1cdc3c -size 2280671 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_collision_1.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_collision_1.obj deleted file mode 100644 index f1f935319..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_collision_1.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:56d51b10900e9c8ecd8d31a58eefc7149c95a75cd9a72a506a3196ac36e67f3b -size 938 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_collision_2.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_collision_2.obj deleted file mode 100644 index 00107198c..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_collision_2.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e19ed0dbe9c07904384e9633cbd887d083fc128db437e02545cfa395e43c43e2 -size 936 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_collision_3.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_collision_3.obj deleted file mode 100644 index 58c941bd8..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_collision_3.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:db7b7d0e63b889d94dafa388efbe661c85b0f5d573d7c9c368a21307c473e98f -size 938 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_collision_4.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_collision_4.obj deleted file mode 100644 index bf6b1a658..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_collision_4.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:776872fee17241c6fdfcd4d2576f80d76829050f4a74b7b58edd1be28c5e5927 -size 934 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_glass.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_glass.obj deleted file mode 100644 index 89e301f8e..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_glass.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:bb0f91485f6aa5175d7beb05a004447c80c6b88eec3e2087b219df4eefaa2442 -size 1353 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_white.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_white.mtl deleted file mode 100644 index 7ce7e14cf..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_white.mtl +++ /dev/null @@ -1,112 +0,0 @@ -# Blender 4.1.1 MTL File: 'landsat.blend' -# www.blender.org - -newmtl LandsatHardwareSmooth.001 -Ns 1000.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.919354 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1.000000 -Kd 0.974490 0.979591 1.000000 -Ks 1.000000 1.000000 1.000000 -Ke 0.000000 0.000000 0.000000 -Ni 1.500000 -d 1.000000 -illum 2 - -newmtl hardware.001 -Ns 1000.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.919354 0.935485 1.000000 -Ks 1.000000 1.000000 1.000000 -Ke 0.000000 0.000000 0.000000 -Ni 1.500000 -d 1.000000 -illum 2 - -newmtl hardwarelight.001 -Ns 1000.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.925233 0.943924 1.000000 -Ks 1.000000 1.000000 1.000000 -Ke 0.000000 0.000000 0.000000 -Ni 1.500000 -d 1.000000 -illum 2 - -newmtl hardwarelight_ncl1_1.001 -Ns 1000.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.925233 0.943924 1.000000 -Ks 1.000000 1.000000 1.000000 -Ke 0.000000 0.000000 0.000000 -Ni 1.500000 -d 1.000000 -illum 2 - -newmtl silver_metal.001 -Ns 1000.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.974490 0.979591 1.000000 -Ks 1.000000 1.000000 1.000000 -Ke 0.000000 0.000000 0.000000 -Ni 1.500000 -d 1.000000 -illum 2 - -newmtl solarpanelback.001 -Ns 1000.000000 -Ka 1.000000 1.000000 1.000000 -Kd 1.000000 1.000000 1.000000 -Ks 0.000000 0.000000 0.000000 -Ke 0.000000 0.000000 0.000000 -Ni 1.500000 -d 1.000000 -illum 1 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_white.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_white.obj deleted file mode 100644 index de04e1a4a..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/landsat/landsat_white.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c26f43d0fbb201570e958b9df1a529e5f99423cdb1da7784483cb07a21b05118 -size 541513 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti.obj deleted file mode 100644 index 8dda66d8d..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4c7446a38417d646c90e7962d99283d251ebdb34e5a29098f283bf8266a773a9 -size 115422 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_1.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_1.mtl deleted file mode 100644 index 6c4f6eab8..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_1.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'None' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_1.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_1.obj deleted file mode 100644 index 39781ebf0..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_1.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:298310edfc8aa85ef2337b0b1dc97dddf25edf22a7a6e7eb151ee55bffdce4c5 -size 1902 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_2.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_2.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_2.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_2.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_2.obj deleted file mode 100644 index 3782dca22..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_2.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2ccf7de886fc91949a2e8f30897ffd955f6da418bd4e342da07ff22d770097ff -size 927 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_3.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_3.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_3.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_3.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_3.obj deleted file mode 100644 index 98c8af877..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_3.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:54e75eef5753f82feff09dc154d7df9ad2589739c4f6efb2cdab57872bec801e -size 933 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_4.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_4.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_4.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_4.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_4.obj deleted file mode 100644 index 859f63364..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_4.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6c7b713a1efdd2ad8dd6a7df37ddf632634d685e8372671a308c94c70bbe6173 -size 927 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_5.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_5.mtl deleted file mode 100644 index 466f60143..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_5.mtl +++ /dev/null @@ -1,2 +0,0 @@ -# Blender 4.1.1 MTL File: 'box.blend' -# www.blender.org diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_5.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_5.obj deleted file mode 100644 index bc9dd6f07..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_collision_5.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f6e0a39cec6044e78d71c1ffd07377bcba7623eb7622e0846aab23b20b941660 -size 921 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger.mtl deleted file mode 100644 index 65a2fec44..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# Blender 4.1.1 MTL File: 'part.blend' -# www.blender.org - -newmtl Material -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.034536 0.034536 0.034536 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger.obj deleted file mode 100644 index a1f64d567..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e4f6548123631dacb30a0a54516c522cf9aa6c556d9fbc2d42bc4938742c2032 -size 8371 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_1.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_1.mtl deleted file mode 100644 index 0fcf20253..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_1.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# Blender 4.1.1 MTL File: 'rafti_finger.blend' -# www.blender.org - -newmtl Material.001 -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.034536 0.034536 0.034536 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_1.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_1.obj deleted file mode 100644 index fdf6a470c..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_1.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:7f1163f54bd7763f89c5a5ac2a2db71e6e7303d2676d60c3c34162234568e093 -size 682 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_2.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_2.mtl deleted file mode 100644 index 0fcf20253..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_2.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# Blender 4.1.1 MTL File: 'rafti_finger.blend' -# www.blender.org - -newmtl Material.001 -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.034536 0.034536 0.034536 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_2.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_2.obj deleted file mode 100644 index 108f0754e..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_2.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:086bc1bda883756dea3c9a5306da2016547a812adb22e70811de0956eb043a98 -size 1465 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_3.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_3.mtl deleted file mode 100644 index 0fcf20253..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_3.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# Blender 4.1.1 MTL File: 'rafti_finger.blend' -# www.blender.org - -newmtl Material.001 -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.034536 0.034536 0.034536 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_3.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_3.obj deleted file mode 100644 index 6110aa1fd..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_3.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4236029a257ad3f15ca5b32caa8cf8b40920dee83a1ae8ac9dadb4e8b006a40a -size 771 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_4.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_4.mtl deleted file mode 100644 index 0fcf20253..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_4.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# Blender 4.1.1 MTL File: 'rafti_finger.blend' -# www.blender.org - -newmtl Material.001 -Ns 250.000000 -Ka 1.000000 1.000000 1.000000 -Kd 0.034536 0.034536 0.034536 -Ks 0.500000 0.500000 0.500000 -Ke 0.000000 0.000000 0.000000 -Ni 1.450000 -d 1.000000 -illum 2 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_4.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_4.obj deleted file mode 100644 index a7dccfb5b..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/rafti/rafti_finger_collision_4.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5708a8d40a1848936f725031f090109eca1632b61e01d04d683fd33ce96ffd95 -size 3890 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/base.stl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/base.stl deleted file mode 100644 index 22a9c2b3b..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/base.stl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1c7b9f2bd92d705fc4e897c94e905973a3c05f406845e942229433deb7041453 -size 1712484 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/finger_link.stl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/finger_link.stl deleted file mode 100644 index cbfd80ed7..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/finger_link.stl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d5ee95e62f8415bf5b6e503c831a958f5fc1990bf9b2865329ec38a28932727c -size 89084 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/finger_tip_link.stl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/finger_tip_link.stl deleted file mode 100644 index 9614b95e1..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/finger_tip_link.stl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:633793332c081641ce200df27a40643cc293b29956e3cb5cb29cb811c33ef1c7 -size 110484 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/inner_knuckle_link.stl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/inner_knuckle_link.stl deleted file mode 100644 index 01ec1e2a5..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/inner_knuckle_link.stl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4fb74a8a0d76c0e471cf19fd48bc676fd5b19123798e7a39eb6aa56869354283 -size 84884 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/knuckle_link.stl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/knuckle_link.stl deleted file mode 100644 index 0b3f90a5c..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/knuckle_link.stl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:bbd6e868b1778bead60d2516c7ede581d7ad4e431744b1828757d6ea5129c112 -size 67084 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/pad.stl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/pad.stl deleted file mode 100644 index 231413751..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/pad.stl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4af1fa8d9bb285abecbf5dfc88e74cb30f059a7a074c2030dc35e9ee4316019d -size 15084 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/silicone_pad.stl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/silicone_pad.stl deleted file mode 100644 index 6915244ae..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/robotiq_2f85/silicone_pad.stl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ca20c0fa61e6d3ce7b04bed25360e048e31dfd88ace04187aa6d9e8f4ca3fd0f -size 15084 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/take_snapshot.xml b/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/take_snapshot.xml deleted file mode 100644 index 57a512d85..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/take_snapshot.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/.gitattributes b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/.gitattributes deleted file mode 100644 index 7db549b5c..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/.gitattributes +++ /dev/null @@ -1 +0,0 @@ -*.{png,jpg,jpeg,obj,dae,stl,OBJ,DAE,STL} filter=lfs diff=lfs merge=lfs -text diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/LICENSE b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/LICENSE deleted file mode 100644 index 574ef0790..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/LICENSE +++ /dev/null @@ -1,25 +0,0 @@ -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/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/.gitattributes b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/.gitattributes deleted file mode 100644 index 7db549b5c..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/.gitattributes +++ /dev/null @@ -1 +0,0 @@ -*.{png,jpg,jpeg,obj,dae,stl,OBJ,DAE,STL} filter=lfs diff=lfs merge=lfs -text diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/april_tag.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/april_tag.mtl deleted file mode 100644 index c098c804c..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/april_tag.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# 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 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/april_tag.obj b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/april_tag.obj deleted file mode 100644 index 5661eac24..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/april_tag.obj +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e7f6b8d2ed600d71264e0043cd9d7d1b96fee4a00a0106f79b0c78f14b52908e -size 24803 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/black_white.png b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/black_white.png deleted file mode 100644 index f8c6ba689..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/black_white.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f3dc58dcc1d08458e151071e808dfd4c85362dcc081b7f5d7b704f62f3fce4be -size 580 diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/space.png b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/space.png deleted file mode 100644 index 90a9ae138..000000000 --- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/space.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ac2c66c232c5fc74927b010efa9bc5529e4d049470f32981bf587e082499bf51 -size 1253929 diff --git a/src/moveit_pro_kinova_configs/kinova_sim/.gitattributes b/src/space_satellite_sim/.gitattributes similarity index 100% rename from src/moveit_pro_kinova_configs/kinova_sim/.gitattributes rename to src/space_satellite_sim/.gitattributes diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/CMakeLists.txt b/src/space_satellite_sim/CMakeLists.txt similarity index 100% rename from src/moveit_pro_kinova_configs/space_satellite_sim/CMakeLists.txt rename to src/space_satellite_sim/CMakeLists.txt diff --git a/src/moveit_pro_kinova_configs/kinova_sim/LICENSE b/src/space_satellite_sim/LICENSE similarity index 100% rename from src/moveit_pro_kinova_configs/kinova_sim/LICENSE rename to src/space_satellite_sim/LICENSE diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/README.md b/src/space_satellite_sim/README.md similarity index 100% rename from src/moveit_pro_kinova_configs/space_satellite_sim/README.md rename to src/space_satellite_sim/README.md diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml b/src/space_satellite_sim/config/config.yaml similarity index 65% rename from src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml rename to src/space_satellite_sim/config/config.yaml index 561092ce8..e8ef8c354 100644 --- a/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml +++ b/src/space_satellite_sim/config/config.yaml @@ -7,8 +7,7 @@ # Baseline hardware configuration parameters for MoveIt Pro. # [Required] hardware: - # Set simulated to false if you are using this as a configuration for real hardware. - # This allows users to switch between mock and real hardware using the same configuration. + # MuJoCo simulation; no real hardware to talk to. # [Required] simulated: True @@ -21,48 +20,24 @@ hardware: # [Optional, default=True] launch_robot_state_publisher: True - # Specify additional launch files for running the robot with real hardware. - # [Optional, defaults to a blank launch file if not specified] - robot_driver_persist_launch_file: - package: "kinova_sim" - path: "launch/robot_drivers_to_persist.launch.py" - - # Specify any additional launch files for running the robot in simulation mode. - # Used when hardware.simulated is True. - # [Optional, defaults to a blank launch file if not specified] -# simulated_robot_driver_persist_launch_file: -# package: "kinova_sim" -# path: "launch/sim/robot_drivers_to_persist_sim.launch.py" -# simulated_hardware_launch_file: -# package: "moveit_studio_agent" -# path: "launch/blank.launch.py" - # Parameters used to configure the robot description through XACRO. # A URDF and SRDF are both required. # [Required] robot_description: urdf: - package: "kinova_sim" - path: "description/picknik_kinova_gen3.xacro" + package: "space_satellite_sim" + path: "description/space_satellite_sim.xacro" srdf: - package: "kinova_sim" - path: "config/moveit/picknik_kinova_gen3_base.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: - - mujoco_keyframe: "default" - arm: "gen3" - dof: "7" - - vision: "false" - - gripper: "robotiq_2f_85" - - use_fake_hardware: "%>> hardware.simulated" - - fake_sensor_commands: "false" - - external_camera: "true" - - wrist_realsense: "true" - - use_internal_bus_gripper_comm: "false" - - mujoco_model: "description/mujoco/rafti_fingers_scene.xml" - - mujoco_viewer: false + - mujoco_keyframe: "default" + - mujoco_model: "description/mujoco/scene.xml" + - mujoco_viewer: "false" # Sets ROS global params for launch. # [Optional] @@ -72,26 +47,25 @@ ros_global_params: use_sim_time: False # Configuration files for MoveIt. -# For more information, refer to https://moveit.picknik.ai/main/doc/how_to_guides/moveit_configuration/moveit_configuration_tutorial.html # [Required] moveit_params: # Used by the Waypoint Manager to save joint states from this joint group. joint_group_name: "manipulator" kinematics: - package: "kinova_sim" + package: "space_satellite_sim" path: "config/moveit/pose_ik_distance.yaml" sensors_3d: - package: "kinova_sim" + package: "space_satellite_sim" path: "config/moveit/sensors_3d.yaml" joint_limits: - package: "kinova_sim" + package: "space_satellite_sim" path: "config/moveit/joint_limits.yaml" pose_jog: - package: "kinova_sim" + package: "space_satellite_sim" path: "config/moveit/pose_jog.yaml" joint_jog: - package: "kinova_sim" + package: "space_satellite_sim" path: "config/moveit/joint_jog.yaml" publish: @@ -110,11 +84,10 @@ moveit_params: # [Required, if using ros2_control] ros2_control: config: - package: "kinova_sim" + package: "space_satellite_sim" path: "config/control/picknik_kinova_gen3.ros2_control.yaml" - # 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. + # MoveIt Pro will load and activate these controllers at start up to ensure + # they are available. # [Optional, default=[]] controllers_active_at_startup: - "force_torque_sensor_broadcaster" @@ -128,7 +101,8 @@ ros2_control: # Any controllers here will not be spawned by MoveIt Pro. # [Optional, default=[]] controllers_not_managed: [] - # Optionally configure remapping rules to let multiple controllers receive commands on the same topic. + # Optionally configure remapping rules to let multiple controllers receive + # commands on the same topic. # [Optional, default=[]] controller_shared_topics: [] @@ -138,8 +112,6 @@ objectives: # List of plugins for loading custom behaviors. # [Required] behavior_loader_plugins: - # This plugin will load the core MoveIt Pro Behaviors. - # Add additional plugin loaders as needed. core: - "moveit_pro::behaviors::CoreBehaviorsLoader" - "moveit_pro::behaviors::MTCCoreBehaviorsLoader" @@ -165,10 +137,10 @@ objectives: package_name: "moveit_pro_objectives" relative_path: "objectives/mujoco" sim_objectives: - package_name: "kinova_sim" + package_name: "space_satellite_sim" relative_path: "objectives" # Specify the location of the saved waypoints file. # [Required] waypoints_file: - package_name: "kinova_sim" + package_name: "space_satellite_sim" relative_path: "waypoints/waypoints.yaml" diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/control/picknik_kinova_gen3.ros2_control.yaml b/src/space_satellite_sim/config/control/picknik_kinova_gen3.ros2_control.yaml similarity index 100% rename from src/moveit_pro_kinova_configs/kinova_sim/config/control/picknik_kinova_gen3.ros2_control.yaml rename to src/space_satellite_sim/config/control/picknik_kinova_gen3.ros2_control.yaml diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/config/fuse/fuse.rviz b/src/space_satellite_sim/config/fuse/fuse.rviz similarity index 100% rename from src/moveit_pro_kinova_configs/space_satellite_sim/config/fuse/fuse.rviz rename to src/space_satellite_sim/config/fuse/fuse.rviz diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/config/fuse/fuse.yaml b/src/space_satellite_sim/config/fuse/fuse.yaml similarity index 100% rename from src/moveit_pro_kinova_configs/space_satellite_sim/config/fuse/fuse.yaml rename to src/space_satellite_sim/config/fuse/fuse.yaml diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/initial_positions.yaml b/src/space_satellite_sim/config/initial_positions.yaml similarity index 100% rename from src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/initial_positions.yaml rename to src/space_satellite_sim/config/initial_positions.yaml diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/joint_jog.yaml b/src/space_satellite_sim/config/moveit/joint_jog.yaml similarity index 100% rename from src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/joint_jog.yaml rename to src/space_satellite_sim/config/moveit/joint_jog.yaml diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/joint_limits.yaml b/src/space_satellite_sim/config/moveit/joint_limits.yaml similarity index 100% rename from src/moveit_pro_kinova_configs/kinova_sim/config/moveit/joint_limits.yaml rename to src/space_satellite_sim/config/moveit/joint_limits.yaml diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_distance.yaml 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