bumping accesories package

PickNikRobotics · Oct 24, 2024 · f1de630 · f1de630
1 parent 195927b
commit f1de630
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Showing 2 changed files with 6 additions and 21 deletions.
diff --git a/src/arm_on_rail_sim/description/lab_scene.xml b/src/arm_on_rail_sim/description/lab_scene.xml
@@ -72,25 +72,10 @@
   </worldbody>
 
   <keyframe>
-    <!-- qpos -->
-    <!-- linear_rail, shoulder_pan, shoulder_lift, elbow, wrist_1, wrist_2, wrist_3 -->
-    <!-- right_knuckle, right_finger, right_inner_knuckle, right_finger_tip, left_knuckle, left_finger, left_inner_knuckle, left_finger_tip -->
-    <!-- block1 [x, y, z, qw, qx, qy, qz] -->
-    <!-- block2 [x, y, z, qw, qx, qy, qz] -->
-    <!-- block3 [x, y, z, qw, qx, qy, qz] -->
-    <!-- ctrl -->
-    <!-- linear_rail, shoulder_pan, shoulder_lift, elbow, wrist_1, wrist_2, wrist_3, robotiq_85_left_knuckle_joint -->
-    <!-- <key
-      qpos="
-      0 0 -1.5707 1.5707 -1.8 -1.5707 0
-      0 0 0 0 0 0 0 0
-      0.2 0.75 0.51 1 0 0 0
-      0.0 0.75 0.51 1 0 0 0
-      -0.2 0.75 0.51 1 0 0 0 
-    "
-      ctrl="
-      0 0 -1.0 1.0 -1.57 -1.57 0 0
-    "
-    /> -->
+    <key
+      qpos="-0.886764 0.727551 0.472375 -0.834559 -6.95805e-05 -6.1375e-05 -0.550919 -0.499647 0.689928 0.470942 -0.749838 3.91843e-05 -5.08119e-05 -0.661622 -0.3609 0.609537 0.470941 -0.757741 2.96011e-05 4.00136e-05 -0.652556 -0.303591 0.696467 0.470989 -0.7788 -5.32927e-05 2.99347e-06 -0.627272 -0.000373058 0.88828 0.473534 -0.838137 -1.0566e-05 -3.07868e-06 0.54546 -0.0963647 0.840186 0.473528 0.281469 -1.36042e-05 6.60035e-06 -0.95957 0.0484372 0.842182 0.473688 -0.758342 6.07647e-06 2.73022e-05 -0.651856 0.2 0.75 0.499376 1 0 0 0 1.70629e-05 0.749992 0.499377 1 0.00016562 0.000360588 1.95345e-10 -0.2 0.75 0.499376 1 0 0 0 0 0 -1.88491 1.10028 -1.25653 -1.57075 -1.08677e-12 0.0208231 0.000536851 0.0221006 -0.022866 0.020837 0.000547055 0.0221413 -0.0229382"
+      qvel="-0.000101906 0.00147595 0.000205342 -0.0334589 0.105062 -0.034551 0.00185702 0.00833703 0.000487952 0.0094422 0.113217 0.000515085 0.0015188 0.000264706 -0.000520727 0.0135384 0.00388797 -0.000593148 -0.000511941 0.0010739 -0.000488784 -0.0129624 0.0143366 0.00116406 -0.00727277 0.00745015 -0.00164907 0.00922632 -0.0300247 0.0045421 0.00228921 -0.00669185 0.00132874 -0.0195392 0.00258376 0.00084343 0.00412328 -0.00471457 -0.0011721 0.0117304 -0.013729 -0.00197308 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
+      ctrl="0 -1.8849 1.0997 -1.2566 -1.57075 0 0 0"
+    />
   </keyframe>
 </mujoco>
diff --git a/src/external_dependencies/picknik_accessories b/src/external_dependencies/picknik_accessories