From 4fa806657690fb95e021c324c45d6eb04f835abf Mon Sep 17 00:00:00 2001 From: Josh Whitley Date: Mon, 23 Mar 2026 18:11:05 -0600 Subject: [PATCH 01/11] Fix Jazzy Build (Again) --- src/lab_sim_behaviors/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lab_sim_behaviors/CMakeLists.txt b/src/lab_sim_behaviors/CMakeLists.txt index f0392151..b6fb5ef9 100644 --- a/src/lab_sim_behaviors/CMakeLists.txt +++ b/src/lab_sim_behaviors/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.22) -project(lab_sim_behaviors CXX) +project(lab_sim_behaviors) find_package(moveit_pro_package REQUIRED) moveit_pro_package() From f520997de12cfb0437d02ac1737b01610e39c486 Mon Sep 17 00:00:00 2001 From: Mario Prats Date: Wed, 25 Mar 2026 08:37:29 +0100 Subject: [PATCH 02/11] add mujoco behaviors plugin to hangar_sim --- src/hangar_sim/config/config.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/hangar_sim/config/config.yaml b/src/hangar_sim/config/config.yaml index 0e9ce13a..feddea7a 100644 --- a/src/hangar_sim/config/config.yaml +++ b/src/hangar_sim/config/config.yaml @@ -60,9 +60,13 @@ objectives: - "moveit_pro::behaviors::NavBehaviorsLoader" - "moveit_pro::behaviors::VisionBehaviorsLoader" - "moveit_pro::behaviors::ConverterBehaviorsLoader" + - "moveit_pro::behaviors::MujocoBehaviorsLoader" # Specify source folder for objectives # [Required] objective_library_paths: + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" hangar_sim_objectives: package_name: "hangar_sim" relative_path: "objectives" From 7e81739449079206142198d31ec896241ab41ad2 Mon Sep 17 00:00:00 2001 From: Mario Prats Date: Wed, 25 Mar 2026 08:37:43 +0100 Subject: [PATCH 03/11] loop version of Plan Path Along Surface --- .../plan_path_along_surface_-_loop.xml | 134 ++++++++++++++++++ 1 file changed, 134 insertions(+) create mode 100644 src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml diff --git a/src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml b/src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml new file mode 100644 index 00000000..792087ef --- /dev/null +++ b/src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml @@ -0,0 +1,134 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 0029c965519309c8b9c450a7aa59fcabe1394dc4 Mon Sep 17 00:00:00 2001 From: Mario Prats Date: Wed, 25 Mar 2026 08:45:48 +0100 Subject: [PATCH 04/11] bump phoebe_ws to update Objective and pass CI validation --- src/external_dependencies/phoebe_ws | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/external_dependencies/phoebe_ws b/src/external_dependencies/phoebe_ws index a17ab03d..6d29f1d2 160000 --- a/src/external_dependencies/phoebe_ws +++ b/src/external_dependencies/phoebe_ws @@ -1 +1 @@ -Subproject commit a17ab03db2ae31ef5986fcf34a8a1fab54c65874 +Subproject commit 6d29f1d2a8e14f58091affebb02400fdd144d977 From 4ea3ac258c013307b5f40a5ce65e4f6fb7994b91 Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Thu, 26 Mar 2026 09:23:56 -0400 Subject: [PATCH 05/11] 17708 Add missing collision and visual geometry to planning scene 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) --- src/hangar_sim/config/moveit/picknik_ur.srdf | 68 +++++++++++++++++++ .../hangar_mesh/SM_AccessStand_441.001.dae | 3 + .../assets/hangar_mesh/SM_Cart_28.dae | 3 + src/hangar_sim/description/hangar_urdf.xacro | 28 +++++++- 4 files changed, 101 insertions(+), 1 deletion(-) create mode 100644 src/hangar_sim/description/assets/hangar_mesh/SM_AccessStand_441.001.dae create mode 100644 src/hangar_sim/description/assets/hangar_mesh/SM_Cart_28.dae diff --git a/src/hangar_sim/config/moveit/picknik_ur.srdf b/src/hangar_sim/config/moveit/picknik_ur.srdf index 0759937a..339bbd90 100644 --- a/src/hangar_sim/config/moveit/picknik_ur.srdf +++ b/src/hangar_sim/config/moveit/picknik_ur.srdf @@ -361,6 +361,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/hangar_sim/description/assets/hangar_mesh/SM_AccessStand_441.001.dae b/src/hangar_sim/description/assets/hangar_mesh/SM_AccessStand_441.001.dae new file mode 100644 index 00000000..d846c611 --- /dev/null +++ b/src/hangar_sim/description/assets/hangar_mesh/SM_AccessStand_441.001.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1f0bdbaf9a8418cbeb1e8acad1453e3dd8900ea577e50733d7dcbab1445caa1 +size 500443 diff --git a/src/hangar_sim/description/assets/hangar_mesh/SM_Cart_28.dae b/src/hangar_sim/description/assets/hangar_mesh/SM_Cart_28.dae new file mode 100644 index 00000000..5e38b7c8 --- /dev/null +++ b/src/hangar_sim/description/assets/hangar_mesh/SM_Cart_28.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:784e0e7e0f343686844bfaa7628c0f7fc2c64b4d63f3ff8fc038e1747feb3774 +size 276691 diff --git a/src/hangar_sim/description/hangar_urdf.xacro b/src/hangar_sim/description/hangar_urdf.xacro index 9601a436..a1a98af8 100644 --- a/src/hangar_sim/description/hangar_urdf.xacro +++ b/src/hangar_sim/description/hangar_urdf.xacro @@ -33,11 +33,17 @@ - + + + + + + + @@ -151,6 +157,20 @@ + + + + + + + + + + + + + + @@ -640,6 +660,12 @@ + + + + + + From c910991dfe4100879021a6426c345fe24730a770 Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Thu, 26 Mar 2026 12:03:07 -0400 Subject: [PATCH 06/11] Increase path tolerance so Grasp Object from Point succeeds on feasible targets --- src/kitchen_sim/config/control/franka_ros2_control.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/kitchen_sim/config/control/franka_ros2_control.yaml b/src/kitchen_sim/config/control/franka_ros2_control.yaml index 91f14c9b..97e322e5 100644 --- a/src/kitchen_sim/config/control/franka_ros2_control.yaml +++ b/src/kitchen_sim/config/control/franka_ros2_control.yaml @@ -21,7 +21,7 @@ joint_trajectory_admittance_controller: # Joint accelerations to use for immediate stops (e.g. when cancelling a running trajectory). stop_accelerations: [30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0] # Default maximum joint-space deviation accepted along the trajectory, if not specified in the goal message. - default_path_tolerance: 0.5 + default_path_tolerance: 0.6 franka_gripper_controller: ros__parameters: From 9f0ae83cdf7d256f0221467716431169ca44cd74 Mon Sep 17 00:00:00 2001 From: David Sobek Date: Thu, 26 Mar 2026 10:05:37 -0600 Subject: [PATCH 07/11] Replace 'Above Pick Cube' with 'Above Pick Object' --- src/lab_sim/objectives/cycle_between_waypoints.xml | 4 ++-- src/lab_sim/objectives/pick_1_pill_bottle.xml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/lab_sim/objectives/cycle_between_waypoints.xml b/src/lab_sim/objectives/cycle_between_waypoints.xml index 477b9bcb..4c8e72f3 100644 --- a/src/lab_sim/objectives/cycle_between_waypoints.xml +++ b/src/lab_sim/objectives/cycle_between_waypoints.xml @@ -1,4 +1,4 @@ - + From 0908225ffbaaaf814648eb2d5e292ec44ce8c8a0 Mon Sep 17 00:00:00 2001 From: David Sobek Date: Thu, 26 Mar 2026 13:50:58 -0600 Subject: [PATCH 08/11] Fix Stack Objects with ICP objective --- src/lab_sim/objectives/register_cad_part_subtree.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/lab_sim/objectives/register_cad_part_subtree.xml b/src/lab_sim/objectives/register_cad_part_subtree.xml index 76d950ee..cdb43a48 100644 --- a/src/lab_sim/objectives/register_cad_part_subtree.xml +++ b/src/lab_sim/objectives/register_cad_part_subtree.xml @@ -33,6 +33,7 @@ ID="TransformPointCloud" input_cloud="{red_cloud}" transform_pose="{stamped_pose}" + output_cloud="{red_cloud}" /> Date: Thu, 26 Mar 2026 16:41:20 -0400 Subject: [PATCH 09/11] add launch commands for moveit pro for new sim --- src/lunar_sim/CMakeLists.txt | 1 + src/lunar_sim/launch/agent_bridge.launch.xml | 6 ++++++ 2 files changed, 7 insertions(+) create mode 100644 src/lunar_sim/launch/agent_bridge.launch.xml diff --git a/src/lunar_sim/CMakeLists.txt b/src/lunar_sim/CMakeLists.txt index 009a7ed6..b05cf9a1 100644 --- a/src/lunar_sim/CMakeLists.txt +++ b/src/lunar_sim/CMakeLists.txt @@ -7,6 +7,7 @@ find_package(phoebe_sim REQUIRED) install( DIRECTORY config + launch mjcf DESTINATION share/${PROJECT_NAME} diff --git a/src/lunar_sim/launch/agent_bridge.launch.xml b/src/lunar_sim/launch/agent_bridge.launch.xml new file mode 100644 index 00000000..b2aa7543 --- /dev/null +++ b/src/lunar_sim/launch/agent_bridge.launch.xml @@ -0,0 +1,6 @@ + + + + From b18b96dca24247584ad09193d4c42fb43606db74 Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Fri, 27 Mar 2026 13:09:24 -0400 Subject: [PATCH 10/11] 17718 Increase path tolerance on factory sim to allow Pick and Place to complete --- src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml b/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml index 58d33605..d6d3a08c 100644 --- a/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml +++ b/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml @@ -81,7 +81,7 @@ joint_trajectory_admittance_controller: # provide the gravity vector in the base frame. gravity_vector: [0.0, 0.0, -9.8] # Default maximum joint-space deviation accepted along the trajectory, if not specified in the goal message. - default_path_tolerance: 0.5 + default_path_tolerance: 0.6 # Default maximum joint-space deviation accepted at the trajectory end-point, if not specified in the goal message. default_goal_tolerance: 0.05 # Default maximum absolute force torque readings allowed from the force torque sensor along each Cartesian space From 40294899ed95fc2c7292cdcf524abfc3e4db0002 Mon Sep 17 00:00:00 2001 From: Josh Whitley Date: Mon, 30 Mar 2026 09:13:30 -0600 Subject: [PATCH 11/11] Fix Invalid URDF Names --- src/hangar_sim/config/moveit/picknik_ur.srdf | 136 +++++++++---------- src/hangar_sim/description/hangar.xml | 6 +- src/hangar_sim/description/hangar_urdf.xacro | 6 +- 3 files changed, 74 insertions(+), 74 deletions(-) diff --git a/src/hangar_sim/config/moveit/picknik_ur.srdf b/src/hangar_sim/config/moveit/picknik_ur.srdf index 339bbd90..7908226c 100644 --- a/src/hangar_sim/config/moveit/picknik_ur.srdf +++ b/src/hangar_sim/config/moveit/picknik_ur.srdf @@ -361,74 +361,74 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/hangar_sim/description/hangar.xml b/src/hangar_sim/description/hangar.xml index 9d67fddc..21c81d0c 100644 --- a/src/hangar_sim/description/hangar.xml +++ b/src/hangar_sim/description/hangar.xml @@ -2517,14 +2517,14 @@ /> - + @@ -661,9 +661,9 @@ - + - +