Merge pull request #159 from PickNikRobotics/pr-add-textures-grind-sim

pac48 · web-flow · commit a4e7026c4736 · 2025-02-25T09:00:32.000-07:00
Add color to mujoco tool
diff --git a/src/grinding_sim/description/scene.xml b/src/grinding_sim/description/scene.xml
@@ -49,7 +49,7 @@
     <mesh file="ur20/wrist2/wrist2.obj" />
     <mesh file="ur20/wrist3/wrist3.obj" />
     <!-- shop mesh -->
-    <mesh name="workcell" file="workcell.stl" />
+    <mesh name="workcell" file="workcell.obj" />
 
     <!-- Tool-Base geometries -->
     <mesh file="tool_base/tool_base.obj" />
@@ -64,6 +64,10 @@
 
     <!-- Tool-Tool geometries -->
     <mesh file="tool0_tool/tool0_tool.obj" />
+    <mesh name="tool0_tool_1" file="tool0_tool/tool0_tool_1.obj" />
+    <mesh name="tool0_tool_2" file="tool0_tool/tool0_tool_2.obj" />
+    <mesh name="tool0_tool_3" file="tool0_tool/tool0_tool_3.obj" />
+    <mesh name="tool0_tool_4" file="tool0_tool/tool0_tool_4.obj" />
     <mesh name="tool_geometry_0" file="tool0_tool/geometry_0.stl" />
     <mesh name="tool_geometry_1" file="tool0_tool/geometry_1.stl" />
     <mesh name="tool_geometry_2" file="tool0_tool/geometry_2.stl" />
@@ -291,7 +295,11 @@
                   />
                   <!-- Tool -->
                   <body name="tool_base" pos="0 0 0" gravcomp="1">
-                    <geom mesh="tool_base" class="visual" />
+                    <geom
+                      mesh="tool_base"
+                      class="visual"
+                      rgba="0.429 0.429 0.3575 1"
+                    />
                     <geom mesh="base_geometry_0" class="collision" />
                     <geom mesh="base_geometry_1" class="collision" />
                     <geom mesh="base_geometry_2" class="collision" />
@@ -308,7 +316,27 @@
                         pos="0 0 0.1"
                         range="-0.025 0.025"
                       />
-                      <geom mesh="tool0_tool" class="visual" />
+                      <geom
+                        mesh="tool0_tool"
+                        class="visual"
+                        rgba="0.244 0.244 0.208 1"
+                      />
+                      <geom
+                        mesh="tool0_tool_1"
+                        class="visual"
+                        rgba="0.66 0.66 0.55 1"
+                      />
+                      <geom
+                        mesh="tool0_tool_2"
+                        class="visual"
+                        rgba="0.1 0.1 0.1 1"
+                      />
+                      <geom
+                        mesh="tool0_tool_3"
+                        class="visual"
+                        rgba="0.429 0.429 0.3575 1"
+                      />
+                      <geom mesh="tool0_tool_4" class="visual" />
                       <geom mesh="tool_geometry_0" class="collision" />
                       <geom mesh="tool_geometry_1" class="collision" />
                       <geom mesh="tool_geometry_2" class="collision" />
diff --git a/src/grinding_sim/description/ur20.urdf b/src/grinding_sim/description/ur20.urdf
@@ -372,7 +372,7 @@
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://picknik_accessories/mujoco_assets/grinding_sim_assets/workcell.stl"
+          filename="package://picknik_accessories/mujoco_assets/grinding_sim_assets/workcell.obj"
         />
       </geometry>
       <material name="gray">
@@ -383,7 +383,7 @@
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://picknik_accessories/mujoco_assets/grinding_sim_assets/workcell.stl"
+          filename="package://picknik_accessories/mujoco_assets/grinding_sim_assets/workcell.obj"
         />
       </geometry>
     </collision>
diff --git a/src/picknik_accessories b/src/picknik_accessories
@@ -1 +1 @@
-Subproject commit e343e2ad9bfdee1fff7faf241be7648d96479e9b
+Subproject commit c2e21712518f3adb2c4d268af82a3e43d8791dee
