Add self-contained simulation dependencies - #887
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picknik-hal-9000-bot[bot] wants to merge 3 commits into
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Add self-contained simulation dependencies#887picknik-hal-9000-bot[bot] wants to merge 3 commits into
picknik-hal-9000-bot[bot] wants to merge 3 commits into
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Important Review skippedToo many files! This PR contains 740 files, which is 440 over the limit of 300. To get a review, reduce the PR to 300 files or fewer by splitting it into smaller PRs or changing its base branch. Usage-priced reviews support at most 300 files. ⚙️ Run configurationConfiguration used: Organization UI Review profile: CHILL Plan: Pro Plus Run ID: ⛔ Files ignored due to path filters (87)
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Consider whether the change should land upstream in Overlapping files
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| 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: | ||
| Robot descriptions and simulation assets are vendored under `src/external_dependencies`; each vendored source has an `UPSTREAM.yaml` file recording its repository, commit, and pruned paths. No source submodules are required for simulation. |
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clarify that all hardware-related dependencies are removed. this repo is for simulation only. we did this to speed up build time and reduce supporting complicated dependencies in our sim example ws.
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Addressed in c4bdd47. README now states explicitly that this is a simulation-only workspace and that hardware robot configurations, drivers, and hardware-only dependencies are excluded to reduce build time and avoid maintaining dependencies unused by the simulation examples. Focused evidence: dependency-policy tests 21/21 passed, validator passed, and full pre-commit passed.
| - `vla_sim` | ||
| - `moveit_pro_franka_configs/franka_base_config` | ||
| - `moveit_pro_kinova_configs/kinova_gen3_base_config` | ||
| - `moveit_pro_kinova_configs/kinova_gen3_site_config` |
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explain to me why this was removed
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Addressed in c4bdd47. The README now explains that kinova_gen3_site_config was removed because it brings up physical Kinova hardware. The retained Kinova base and simulation configurations provide the robot description and interfaces used by this simulation-only workspace. Focused evidence: dependency-policy tests 21/21 passed, validator passed, and full pre-commit passed.
| - `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` |
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explain to me why this was removed
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Addressed in c4bdd47. The README now explains that picknik_ur_site_config was removed because it brings up physical Universal Robots hardware, including hardware-specific behaviors and control configuration. The retained UR base and simulation configurations cover this workspace's simulation consumers. Focused evidence: dependency-policy tests 21/21 passed, validator passed, and full pre-commit passed.
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@picknik-hal-9000-bot do an analysis of how many packages / depedencies were removed, including disk space saved. |
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Analysis for the exact PR tree at
The footprint calculation sums Git blob sizes for the seven exact submodule commits plus the tracked external/site-config paths on the base, replaces Git LFS pointer bytes with their declared payload sizes, and compares that with the retained paths on the PR head. It excludes I also updated README in the same head to state plainly that this repository is simulation-only and why the two hardware site configs are absent. |
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This is used by our simulator? If not, we could remove it.
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I still see too many files inside src/external_dependencies/fanuc/fanuc_lrmate200id_support/config
Does our simulator actually use the model? If not, remove them
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Remove all rviz-specific files and dependencies from this pull request.
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Try to remove as many files as possible that are not used by our main robot_config launches
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[written by AI]
Motivation
Make the example workspace self-contained for simulation instead of requiring unrelated source repositories at build time. Fixes PickNikRobotics/moveit_pro#19820.
Approach
hangar_simdependencies; remove ClipSeg.UPSTREAM.yamlmanifests.Vendoring trades automatic submodule parity for smaller, reproducible simulation checkouts. The strict provenance manifests and CI validator preserve the upstream origin and make drift explicit.
Release notes
Validation
Additional context
moveit_proreference retired hardware example packages and need a separate documentation correction.modified_paths. The current candidate was independently verified against the former gitlinks and pinned upstream objects, but CI currently enforces manifest structure and path integrity rather than fetching upstream repositories.10.1.0; base branch:main.Checklist
Claude agent checks
code-reviewer— passed on exact SHA49742b06b06a1934af277f12b0bf1c5fc5918483.platform-architect-bot— passed on exact SHA49742b06b06a1934af277f12b0bf1c5fc5918483.frontend-noah-bot— no frontend changes.security-auditor— passed on exact SHA49742b06b06a1934af277f12b0bf1c5fc5918483; dependency surface reduced.roboticist-bot— passed on exact SHA49742b06b06a1934af277f12b0bf1c5fc5918483; active Kinova consumers use MuJoCo.test-runner— passed on exact SHA49742b06b06a1934af277f12b0bf1c5fc5918483; 21 tests, 91.14% coverage, validator and pre-commit passed.documentation-bot— no documentation impact on exact SHA49742b06b06a1934af277f12b0bf1c5fc5918483.licensing-privacy-bot— no new licensing/privacy impact on exact SHA49742b06b06a1934af277f12b0bf1c5fc5918483; existing UR20 human legal review remains required.compatibility-bot— no compatibility impact for milestone10.1.0on exact SHA49742b06b06a1934af277f12b0bf1c5fc5918483.sonar-bot— offline exact-SHA gate passed for49742b06b06a1934af277f12b0bf1c5fc5918483; live branch analysis unavailable.