| chore: initial monorepo migration for IB_Robot
Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>
| 3 个月前 |
| fix(robot_description): update wrist_roll_follower mesh for so101
Signed-off-by: zll <zll@example.com>
Signed-off-by: grangerxsp <xingshiping@huawei.com>
| 2 个月前 |
| feat(sim): align Gazebo/MuJoCo cameras, assets and lighting
Add camera_presets.py with platform-specific default camera poses so
that a single YAML config (use_default_transform: true) works for both
Gazebo and MuJoCo without manual coordinate conversion.
Update pick_banana Gazebo world template to match layout.yaml canonical
values (table scale 0.156, banana x=0, curtain yaw flip, ground z).
Tune MuJoCo lighting: reduce headlight diffuse, use single shadow-
casting directional light, add low-specular materials for table and
robot to eliminate top-camera overexposure.
Add Gazebo material overrides in so101_gazebo.xacro so the robot arm
renders with correct colors instead of default grey.
Signed-off-by: $(git config user.name) <$(git config user.email)>
Signed-off-by: grangerxsp <xingshiping@huawei.com>
| 2 个月前 |
| chore: initial monorepo migration for IB_Robot
Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>
| 3 个月前 |
| feat(sim): align Gazebo/MuJoCo cameras, assets and lighting
Add camera_presets.py with platform-specific default camera poses so
that a single YAML config (use_default_transform: true) works for both
Gazebo and MuJoCo without manual coordinate conversion.
Update pick_banana Gazebo world template to match layout.yaml canonical
values (table scale 0.156, banana x=0, curtain yaw flip, ground z).
Tune MuJoCo lighting: reduce headlight diffuse, use single shadow-
casting directional light, add low-specular materials for table and
robot to eliminate top-camera overexposure.
Add Gazebo material overrides in so101_gazebo.xacro so the robot arm
renders with correct colors instead of default grey.
Signed-off-by: $(git config user.name) <$(git config user.email)>
Signed-off-by: grangerxsp <xingshiping@huawei.com>
| 2 个月前 |
| feat(sim): T6 MuJoCo v2 - replace sim_hardware with apt package
Migrate from vendored sim_hardware submodule to the official
mujoco_ros2_control apt package (>=0.0.3) for the SO-101 T6 sim.
Key changes:
- Add so101.xml.template (kp=500 position actuators, YAML-driven cameras)
- mujoco_adapter: inject cameras into MJCF worldbody at launch time
- description.py: pass mujoco_model path via xacro arg (new upstream API)
- Disable URDF sensor injection (apt 0.0.2 compatibility crash)
- controller spawner timeout 30s -> 60s for simulation startup
- merge packages-ignore into .colcon/defaults.yaml
- teleop_node: skip cycle on empty joint targets (was publishing zeros)
- setup.sh / install_ros_colcon.sh: rosdep, colcon, SSL fixes from !25
- pick_banana.xml.template: update for new MuJoCo scene API
| 2 个月前 |
| chore: initial monorepo migration for IB_Robot
Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>
| 3 个月前 |
