diff --git a/.gitattributes b/.gitattributes index 80cff8c8..c6608501 100644 --- a/.gitattributes +++ b/.gitattributes @@ -10,14 +10,6 @@ *.ply filter=lfs diff=lfs merge=lfs -text *.3ds filter=lfs diff=lfs merge=lfs -text *.blend filter=lfs diff=lfs merge=lfs -text -# Add Git LFS support for large yaml files -src/moveit_pro_franka_configs/franka_arm_sim/objectives/moveitpro_loves_franka.yaml filter=lfs diff=lfs merge=lfs -text -src/moveit_pro_franka_configs/dual_arm_sim/objectives/loves.yaml filter=lfs diff=lfs merge=lfs -text -src/moveit_pro_franka_configs/dual_arm_sim/objectives/moveit_pro.yaml filter=lfs diff=lfs merge=lfs -text -src/moveit_pro_franka_configs/dual_arm_sim/objectives/wipe.yaml filter=lfs diff=lfs merge=lfs -text -src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/loves.yaml filter=lfs diff=lfs merge=lfs -text -src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/moveit_pro.yaml filter=lfs diff=lfs merge=lfs -text -src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/wipe.yaml filter=lfs diff=lfs merge=lfs -text *.gtlf filter=lfs diff=lfs merge=lfs -text *.png filter=lfs diff=lfs merge=lfs -text *.jpg filter=lfs diff=lfs merge=lfs -text diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml index f586fe4e..8107c173 100644 --- a/.github/workflows/format.yaml +++ b/.github/workflows/format.yaml @@ -12,6 +12,6 @@ jobs: name: pre-commit runs-on: ubuntu-22.04 steps: - - uses: actions/checkout@v6 - - uses: actions/setup-python@v6 - - uses: pre-commit/action@v3.0.1 + - uses: actions/checkout@v3 + - uses: actions/setup-python@v3 + - uses: pre-commit/action@v3.0.0 diff --git a/.gitignore b/.gitignore index 70b72a5e..d034d006 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,4 @@ build/ install/ log/ -.vscode/ -MUJOCO_LOG.TXT +.ccache/ diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 6dd90e80..954131d0 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -76,7 +76,7 @@ repos: name: "Lint Dockerfiles" language: docker_image types: ["dockerfile"] - entry: hadolint/hadolint:2.11.0 hadolint + entry: hadolint/hadolint:v2.14.0 hadolint - repo: https://github.com/pre-commit/mirrors-prettier rev: "v4.0.0-alpha.8" @@ -88,18 +88,3 @@ repos: - "prettier@3.1.0" - "@prettier/plugin-xml@3.3.1" files: \.(xml)$ - - - repo: local - hooks: - - id: check-objective-favorites - name: Validate Objective favorites - entry: ./scripts/check_objective_favorites.sh - language: system - pass_filenames: false - files: \.(xml)$ - - id: check-mujoco-viewer - name: Ensure mujoco_viewer is disabled - entry: ./scripts/check_mujoco_viewer.sh - language: system - pass_filenames: false - files: config\.yaml$ diff --git a/README.md b/README.md index 35054b12..bfa76772 100644 --- a/README.md +++ b/README.md @@ -1,50 +1,7 @@ -# MoveIt Pro Example Workspace +# MoveIt Pro Workspace -This workspace contains reference materials for using MoveIt Pro, including example robot configurations, simulated environments, and reusable behaviors. +This is a minimal user workspace that can be used to build customized MoveIt Pro workspaces. -## Cloning +You may fork this repository and add the MoveIt Pro configurations and ROS 2 packages of your choosing to the `src` folder. -This repository uses git submodules. Clone with: -```bash -git clone --recurse-submodules -``` - -If you already cloned without submodules, initialize them with: -```bash -git submodule update --recursive --init -``` - -Several submodules (notably `picknik_accessories`) use git LFS. Install [git-lfs](https://git-lfs.com/) first (e.g., `sudo apt install git-lfs && git lfs install`); without it the commands below fail with `git: 'lfs' is not a git command`. After updating submodules, pull LFS objects: -```bash -git submodule foreach --recursive git lfs pull -``` - -## Robot Configs - -- `april_tag_sim` -- `dual_arm_sim` -- `factory_sim` -- `grinding_sim` -- `hangar_sim` -- `kitchen_sim` -- `lab_sim` -- `lunar_sim` -- `phoebe_sim` -- `moveit_pro_franka_configs/franka_base_config` -- `moveit_pro_kinova_configs/kinova_gen3_base_config` -- `moveit_pro_kinova_configs/kinova_gen3_site_config` -- `moveit_pro_kinova_configs/kinova_sim` -- `moveit_pro_kinova_configs/space_satellite_sim` -- `moveit_pro_kinova_configs/space_satellite_sim_camera_cal` -- `moveit_pro_ur_configs/mock_sim` -- `moveit_pro_ur_configs/multi_arm_sim` -- `moveit_pro_ur_configs/picknik_ur_base_config` -- `moveit_pro_ur_configs/picknik_ur_site_config` - -## Updating Submodules - -To pull the latest commits for all submodules: -```bash -git submodule update --remote --recursive -git submodule foreach --recursive git lfs pull -``` +For more information, refer to the [MoveIt Pro Documentation](https://docs.picknik.ai/). diff --git a/colcon-defaults.yaml b/colcon-defaults.yaml index 79665e95..9aedbf87 100644 --- a/colcon-defaults.yaml +++ b/colcon-defaults.yaml @@ -2,9 +2,6 @@ build: # Enable this for bidirectional syncing from the UI symlink-install: true - allow-overriding: - - robotiq_description - - ur_description mixin: # Enable ccache support - ccache @@ -16,37 +13,7 @@ build: - build-testing-on - coverage-gcc - coverage-pytest - packages-skip: - - libfranka - - franka_bringup - - franka_example_controllers - - franka_fr3_moveit_config - - franka_gazebo_bringup - - franka_ign_ros2_control - - franka_gripper - - franka_hardware - - franka_robot_state_broadcaster - - franka_ros2 - - franka_semantic_components - - integration_launch_testing - - phoebe_hw - - phoebe_bridgeback_description test: event-handlers: - console_direct+ - desktop_notification+ - packages-skip: - - libfranka - - franka_bringup - - franka_example_controllers - - franka_fr3_moveit_config - - franka_gazebo_bringup - - franka_ign_ros2_control - - franka_gripper - - franka_hardware - - franka_robot_state_broadcaster - - franka_ros2 - - franka_semantic_components - - integration_launch_testing - - phoebe_hw - - phoebe_bridgeback_description