| chore: initial monorepo migration for IB_Robot
Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>
| 3 个月前 |
| feat(sim): MuJoCo pick_banana scene — CoACD collision + physics tuning
Replace convex-hull collision proxies with CoACD convex decomposition for
accurate non-convex contact, and tune physics parameters to match real
STS3215 gripper dynamics.
Collision geometry:
- banana: 4-piece CoACD decomposition of banana_g_collision.stl (C-shape
cannot be represented by a single convex hull)
- wrist_roll_follower: 8-piece CoACD decomposition
- moving_jaw: 8-piece CoACD decomposition
- plate: mesh collision from plate_collision.stl (replaces cylinder proxy)
- scene_compiler: generates .mjb with SDF for gripper meshes at launch
Physics parameters:
- joint 6 kp: 200 → 3.0 N·m/rad (matches STS3215 stall torque ~1.47 N·m)
- banana free joint damping: 0.001 → 0.5 (air-resistance scale)
- banana/gripper solimp/solref: soft → rigid-body mode (0.99/0.004)
- banana mass: distributed by CoACD piece volume fraction (total 0.03 kg)
- friction: banana and gripper both set to 5.0 (MuJoCo takes min of pair)
New assets:
- banana_g.obj/stl + PBR textures (new low-poly model, 17.5 cm)
- banana_g_collision.stl (682-face watertight collision mesh)
- plate_collision.stl (19 cm diameter)
- scripts/decompose_banana.py (CoACD decomposition utility)
- requirements/setup-constraints.txt (pins mujoco==3.4.0)
Constraint: mujoco Python must match mujoco_ros2_control libmujoco.so 3.4.0
| 2 天前 |
| review(sim): address PR #193 code review feedback
- scene_compiler: wrap mujoco compile pipeline in try/except, fallback
to .xml on any compile error; add logging.warning for diagnostics
- pick_banana.world.template: add comment explaining STL over OBJ for
Gazebo visual mesh (avoids OGRE2 GL3Plus buffer double-lock assertion)
- setup.py: add per-type comments explaining role of each mesh glob
- material.mtl: add missing trailing newline (POSIX compliance)
- so101.xml.template: add comments on joints 1-4 explaining intentional
removal of collision box proxies
- requirements: delete dead setup-constraints.txt; move mujoco==3.4.0
pin with rationale comment to requirements/ubuntu-22.04.txt where
python_venv.sh actually consumes it on ubuntu-22.04
| 1 天前 |
| 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 |
