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Fix Jazzy Build (Again)
ERF 2026 updates
Add collision_Cube_002.001 (access stand) and fix collision_Cube (cart) position in the URDF so the planning scene matches the Mujoco world. Add visual DAE meshes for both objects and SRDF disable_collisions entries for the new collision link. Closes PickNikRobotics/moveit_pro#17708 Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Increase path tolerance so Grasp Object from Point succeeds on feasible targets
Replace 'Above Pick Cube' with 'Above Pick Object'
…-startcrashes add launch commands for moveit pro for lunar sim
Fix 'Stack Objects with ICP' objective
…ollision-to-planning-scene Fix: Add missing access stand and cart collision to planning scene
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Pull request overview
This PR merges updates from the 9.1 branch into main, bringing in new/updated simulation assets, objectives/behavior trees, and configuration changes across multiple sim packages.
Changes:
- Add new launch and behavior tree assets (including a new Hangar “Plan Path Along Surface - Loop” objective).
- Update simulation descriptions/configuration (URDF/Xacro visuals + MoveIt SRDF collision matrix + Hangar config loaders).
- Minor objective/config tweaks (waypoint naming updates, point cloud transform wiring, controller tolerance adjustment, install rules).
Reviewed changes
Copilot reviewed 14 out of 14 changed files in this pull request and generated 7 comments.
Show a summary per file
| File | Description |
|---|---|
| src/lunar_sim/launch/agent_bridge.launch.xml | Adds a launch include wrapper for the studio agent bridge. |
| src/lunar_sim/CMakeLists.txt | Installs the launch/ directory with the package. |
| src/lab_sim_behaviors/CMakeLists.txt | Adjusts CMake project() language declaration behavior. |
| src/lab_sim/objectives/register_cad_part_subtree.xml | Wires TransformPointCloud outputs back into the same clouds. |
| src/lab_sim/objectives/pick_1_pill_bottle.xml | Renames waypoint reference from “Cube” to “Object”. |
| src/lab_sim/objectives/cycle_between_waypoints.xml | Adds XML encoding header + updates waypoint reference. |
| src/kitchen_sim/config/control/franka_ros2_control.yaml | Relaxes default path tolerance for the trajectory admittance controller. |
| src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml | Introduces a looping surface-following plan/execute objective. |
| src/hangar_sim/description/hangar_urdf.xacro | Updates collision/visual assets and adds an additional scene link/joint. |
| src/hangar_sim/description/assets/hangar_mesh/SM_Cart_28.dae | Adds new mesh via Git LFS pointer. |
| src/hangar_sim/description/assets/hangar_mesh/SM_AccessStand_441.001.dae | Adds new mesh via Git LFS pointer. |
| src/hangar_sim/config/moveit/picknik_ur.srdf | Extends disabled collision pairs for the newly added link. |
| src/hangar_sim/config/config.yaml | Adds Mujoco behavior loader + objective library path. |
| src/external_dependencies/phoebe_ws | Updates submodule pin. |
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davetcoleman
previously approved these changes
Mar 27, 2026
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davetcoleman
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Skimmed, blocking my lab_sim PR
…h-tolerance 17718 Increase path tolerance on factory sim to allow Pick and Place to complete
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Holding for #554. |
auto-merge was automatically disabled
March 30, 2026 15:37
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WillYingling
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Mar 30, 2026
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