Lab sim refactor

src/arm_on_rail_sim/CMakeLists.txt

@@ -2,6 +2,32 @@ cmake_minimum_required(VERSION 3.22)
 project(arm_on_rail_sim)
 
 find_package(ament_cmake REQUIRED)
+find_package(picknik_accessories REQUIRED)
+
+
+# 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 "${DEST_DIR}"
+        FILES_MATCHING PATTERN "*")
+
+# Install individual XML files
+# 
+# set(EXTERNAL_XML_FILES
+#   "${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()
 
 install(
   DIRECTORY

src/arm_on_rail_sim/config/config.yaml

@@ -16,7 +16,8 @@ hardware:
       package: "arm_on_rail_sim"
       path: "config/moveit/picknik_ur.srdf"
     urdf_params:
-      - mujoco_model: "description/scene.xml"
+      # - mujoco_model: "description/scene.xml"
+      - mujoco_model: "description/lab_scene.xml"
 
 moveit_params:
   servo: