Inline picknik_accessories into the workspace#656
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From main branch on 11/01/23
Add Hercules head.
Signed-off-by: Paul Gesel <paulgesel@gmail.com>
Signed-off-by: Paul Gesel <paulgesel@gmail.com>
…duplication Add parameters to set child and parent frames
Add cap base on side
switching to parent and child in ur_adapter urdf.
This adds an STL for printing that has the mounting holes etc. Taken from [here](https://grabcad.com/library/moveit-studio-ur5-realsense-camera-adapter-from-picknik-robotics-1)
Add UR realsense camera adapter STL
Add mujoco assets
Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>
Fix contacts for Robotiq
added fanuc
Add a site on the base for mujoco MPC testing
Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>
Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>
Use gravcomp for UR robot and robtiq gripper
Make lab_sim objects movable
13377 Adds 3d printing file and instructions for factory_sim picking parts
…sim-print 13378 Add bin to printing instructions
13379 Add the epick xacro for use in configs
meshes of cubes for mpc objective
Add missing fanuc description repository
- Add freejoint to stirrer for movability - Add granite texture overlay to desk top - Move bottles forward on desk for better visibility - Update desk material to lighter grey tint Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Update lab desk objects, textures, and positions
Add bottle.stl from bottle.obj export for ICP fit
Preparation for inlining picknik_accessories into this repo via subtree merge. The next commit re-adds the contents at src/picknik_accessories/ with full history preserved. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
picknik_accessories' .gitattributes tracked *.stl/*.obj/*.pcd/*.png/*.dae in LFS; example_ws additionally tracks *.STL/*.blend/*.jpg. Eight binary files that were committed as raw bytes upstream are migrated to LFS pointers here so checkouts no longer show a permanent "modified" state from the example_ws clean filter. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
picknik_accessories carries its own submodule at src/dependencies/fanuc (commit 8cbefe87, https://github.com/PickNikRobotics/fanuc.git). Subtree import created a gitlink at src/picknik_accessories/src/dependencies/fanuc but did not add it to .gitmodules. Register it so 'git submodule update --init --recursive' behaves identically to the prior submodule-of-submodule layout. Duplicate of the existing src/external_dependencies/fanuc submodule. Consolidating to one fanuc checkout is a follow-up. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
… XML - pre-commit's end-of-file-fixer and prettier reformatted 37 imported files (XML, MD, OBJ, MTL, LICENSE, STL trailing-newline normalizations) so the Format CI job passes against this repo's hook configuration. - src/picknik_accessories/mujoco_assets/lrmate200id/lrmate200id.xml had an extra </body> at depth 7 (duplicate of the flange-close) that caused validate_objectives to fail XML well-formedness parsing — Python's xml.etree saw 9 opens but 10 closes. Removed the duplicate. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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There was once an idea that we needed to create a MuJoCo asset library, but AI tooling has made making meshes and such very very cheap. I also think the example_ws is perhaps the only consuer of picknik_accessories, and if not that's fine we will keep this repo around for a while.
Summary
Inline
picknik_accessoriesintosrc/picknik_accessories/via subtree merge, replacing the submodule. The 80 commits of upstream history up toaad29facaare preserved via the merge commit's second parent. ~600 MB of LFS objects were uploaded as part of this push.Commits (first-parent)
chore: remove picknik_accessories submoduleAdd 'src/picknik_accessories/' from commit aad29faca— subtree merge, history preservedchore(picknik_accessories): migrate non-LFS binary blobs to LFS— 8 files (3.blend, 1.STL, 4.jpg) were committed upstream as raw bytes but match example_ws's LFS-tracked extensions; converted to pointers to avoid a permanent "modified" working-tree state on checkoutchore(picknik_accessories): register inner fanuc sub-submodule— picknik_accessories carried its ownsrc/dependencies/fanucsubmodule; registered in.gitmodulessogit submodule update --init --recursivecontinues to workFollow-ups (not in this PR)
src/external_dependencies/fanucvs.src/picknik_accessories/src/dependencies/fanuc) — same URL, two checkout paths.src/picknik_accessories/.pre-commit-config.yaml(CI only reads the root config).PickNikRobotics/picknik_accessoriesrepo once dependent users have migrated.🤖 Generated with Claude Code