Lab sim refactor #382
Lab sim refactor #382
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| @@ -48,8 +21,22 @@ | |||
| type="plane" | |||
| material="groundplane" | |||
| /> | |||
| <site | |||
| name="scene_camera_optical_frame" | |||
| pos="0.0 -2.0 3.5" | |||
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@mkhansenbot I grabbed these numbers from here, the pos does not match. The camera angle is way off too so I'm not eve sure if they are aligned. Do you have a different (working) camera frame?
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A few things:
On my laptop, I'm getting a lot of Mujoco model timestep not running in realtime errors -- I know that generally indicates poor performance, which I think deleting the stls and textures should help, so something seems off.
Outside of that, the robot seems in a completely unrecoverable state? I can't get teleoperate to move it anywhere, and it looks strangely positioned compared to what I'm used to with the simulator:
I think you mentioned the pos variables may be the issue, if you need any help testing that please let me know!
| @@ -17,6 +17,7 @@ hardware: | |||
| path: "config/moveit/picknik_ur.srdf" | |||
| urdf_params: | |||
| - mujoco_model: "description/scene.xml" | |||
| # - mujoco_model: "description/lab_scene.xml" | |||
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are we keeping this as a comment for a reason?
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This is how to switch between the lab and simplified table world, I just changed the default to lab environment
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@mewtwoshaurd I added a keyframe so the arm doesn't spawn in a goofy pose, and switched the default to using the lab world. Could you please git it another test? |
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Also check out this PR for more context: https://github.com/PickNikRobotics/picknik_accessories/pull/12/files?short_path=b335630#diff-b335630551682c19a781afebcf4d07bf978fb1f8ac04c6bf87428ed5106870f5 |
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