Inline picknik_accessories into the workspace

.gitmodules

@@ -1,6 +1,3 @@
-[submodule "src/picknik_accessories"]
-	path = src/picknik_accessories
-	url = https://github.com/PickNikRobotics/picknik_accessories.git
 [submodule "src/external_dependencies/Universal_Robots_ROS2_Description"]
 	path = src/external_dependencies/ur_description
 	url = https://github.com/PickNikRobotics/Universal_Robots_ROS2_Description.git
@@ -10,6 +7,9 @@
 [submodule "src/external_dependencies/fanuc"]
 	path = src/external_dependencies/fanuc
 	url = https://github.com/PickNikRobotics/fanuc.git
+[submodule "src/picknik_accessories/src/dependencies/fanuc"]
+	path = src/picknik_accessories/src/dependencies/fanuc
+	url = https://github.com/PickNikRobotics/fanuc.git
 [submodule "src/external_dependencies/ros2_kortex_vision"]
 	path = src/external_dependencies/ros2_kortex_vision
 	url = https://github.com/PickNikRobotics/ros2_kortex_vision.git

src/picknik_accessories/.gitattributes

@@ -0,0 +1,5 @@
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.obj filter=lfs diff=lfs merge=lfs -text
+*.pcd filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text

src/picknik_accessories/.gitmodules

@@ -0,0 +1,3 @@
+[submodule "src/dependencies/fanuc"]
+	path = src/dependencies/fanuc
+	url = https://github.com/PickNikRobotics/fanuc.git

src/picknik_accessories/.pre-commit-config.yaml

@@ -0,0 +1,72 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-yaml
+        args: ["--unsafe"] # Fixes errors parsing custom YAML constructors like ur_description's !degrees
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: fix-byte-order-marker
+
+  - repo: https://github.com/psf/black
+    rev: 22.3.0
+    hooks:
+      - id: black
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.0.0
+    hooks:
+      - id: codespell
+        args: ["--write-changes", "-L", "atleast,inout,ether"] # Provide a comma-separated list of misspelled words that codespell should ignore (for example: '-L', 'word1,word2,word3').
+        exclude: (\.(svg|pyc|stl|dae|asc)|pnpm-lock.yaml)$
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
+    hooks:
+      - id: clang-format
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|m|proto|vert)$
+        # -i arg is included by default by the hook
+        args: ["-fallback-style=none"]
+
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.27.1
+    hooks:
+      - id: yamllint
+        args:
+          [
+            "--no-warnings",
+            "--config-data",
+            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}}}",
+          ]
+        types: [text]
+        files: \.(yml|yaml)$
+
+  - repo: https://github.com/tcort/markdown-link-check
+    rev: v3.10.3
+    hooks:
+      - id: markdown-link-check
+
+  - repo: https://github.com/hadolint/hadolint
+    rev: v2.12.0
+    hooks:
+      - id: hadolint-docker

src/picknik_accessories/CMakeLists.txt

@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.22)
+project(picknik_accessories)
+
+find_package(ament_cmake REQUIRED)
+find_package(fanuc_lrmate200id_support REQUIRED)
+
+install(
+  DIRECTORY
+    descriptions
+    macros
+    mujoco_assets
+  DESTINATION
+    share/${PROJECT_NAME}
+)
+
+# Mujoco models in this package use relative paths to assets such as meshes and textures
+# To simplify building relative paths to assets in other packages, we will copy those assets into this project's file structure
+
+# Paths we will copy from - the assets we want to easily reference in our Mujoco model
+set(FANUC_LRMATE200ID_SUPPORT_PATH "${fanuc_lrmate200id_support_DIR}/../meshes")
+
+# Path we will copy to - the folder where the other Mujoco assets are located
+set(DEST_DIR "share/${PROJECT_NAME}/mujoco_assets/")
+
+# Copy all contents into the installed description folder
+install(DIRECTORY "${FANUC_LRMATE200ID_SUPPORT_PATH}"
+        DESTINATION "${DEST_DIR}"
+        FILES_MATCHING PATTERN "*")
+
+# TODO: is this lint process hanging somehow?
+# if(BUILD_TESTING)
+# find_package(ament_lint_auto REQUIRED)
+# ament_lint_auto_find_test_dependencies()
+# endif()
+
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
+
+
+ament_package()

src/picknik_accessories/LICENSE

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2024 PickNik Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

src/picknik_accessories/README.md

@@ -0,0 +1,75 @@
+# PickNik Accessories
+
+PickNik assets for common objects and attachments.
+
+# Using MuJoCo assets:
+
+The `mujoco_assets` folder in this package can be used in any `picknik_mujoco_ros/MujocoSystem` based simulation using the `include` tag in MuJoCo XML.
+Since MuJoCo XML files all assume that included files are relative to the main XML file (the `mujoco_model` parameter set as part of the `ros2_control` entry in your robot description), shared assets must be moved to the same directory as the top level XML file.
+To achieve this without duplicating assets, we can place symlinks in the install directory of your package that point back to the `mujoco_assets` folder of this package.
+Add the following to your CMakeLists.txt to add symlinks to this package's assets:
+
+```
+# Install all XML files in directory
+set(PICKNIK_ACCESSORIES_SHARE_DIR
+"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/"
+)
+# Destination directory
+set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/")
+
+install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}"
+        DESTINATION "${DEST_DIR}"
+        FILES_MATCHING PATTERN "*")
+```
+
+Alternatively, if some files in this package conflict with files in your workspace, you can choose specific files to symlink:
+
+```
+# Install individual XML files
+set(PICKNIK_ACCESSORIES_SHARE_DIR
+"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/"
+)
+# Destination directory
+set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/")
+
+set(EXTERNAL_XML_FILES
+  "${PICKNIK_ACCESSORIES_SHARE_DIR}/ur5e/ur5e_globals.xml"
+  "${PICKNIK_ACCESSORIES_SHARE_DIR}/ur5e/ur5e.xml"
+  # Add additional files here if desired
+)
+foreach(xml_file IN LISTS EXTERNAL_XML_FILES)
+  install(FILES "${xml_file}"
+          DESTINATION "${DEST_DIR}"
+  )
+endforeach()
+```
+
+Whether you chose to install all assets or just a selection, the above CMake code will merge the contents of `picknik_accessories/mujoco_assets/` with `your_package_name/description/` in the install folder, so that XML files in the `picknik_accessories` package can be included as if they were within your package.
+
+# UR5e Example
+
+Below is a minimal example using the UR5e asset:
+
+```
+<mujoco model="ur5e scene">
+  <include file="ur5e/ur5e_globals.xml" />
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
+
+    <geom
+      name="floor"
+      pos="0 0 0"
+      size="0 0 0.05"
+      type="plane"
+      material="groundplane"
+    />
+
+    <include file="ur5e/ur5e.xml" />
+  </worldbody>
+
+</mujoco>
+```
+
+Note: Since you cannot define global properties within a `worldbody` tag, the assets must be divided in to two XML files.
+The `ur5e_globals.xml` file contains properties that must be defined as global properties outside `worldbody` (like `default` and `actuator`), while the `ur5e.xml` contains only `body` tags (and XML tags that are allowed within a `body`).

src/picknik_accessories/blender/README.md

@@ -0,0 +1,3 @@
+Folder for maintaining Blender source files for various scene descriptions.
+
+This folder should NOT be included in this package's build, as these files should not be included in binary Docker images.