From b7eb40c9530a4659ef7056e598dda3fc83670169 Mon Sep 17 00:00:00 2001 From: Josh Whitley Date: Fri, 14 Aug 2026 14:00:35 -0600 Subject: [PATCH 01/17] Fix Batch Merge Release Branch --- .github/workflows/batch-merge-release-branch.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/batch-merge-release-branch.yaml b/.github/workflows/batch-merge-release-branch.yaml index 8854536c2..4882746c9 100644 --- a/.github/workflows/batch-merge-release-branch.yaml +++ b/.github/workflows/batch-merge-release-branch.yaml @@ -67,4 +67,4 @@ jobs: PR_BODY="⚠️Merge failed with conflicts! Please pull this branch and manually resolve the conflict by resetting this branch and re-merging." fi git push origin "$TEMP_BRANCH" - gh pr create --title "Merge $RELEASE_BRANCH into main" --body "$PR_BODY" --base main --head "$TEMP_BRANCH" --draft --reviewer infrastructure-devs + gh pr create --title "Merge $RELEASE_BRANCH into main" --body "$PR_BODY" --base main --head "$TEMP_BRANCH" --draft --reviewer JWhitleyWork From 420c3e31332665ead6a554195400bcd35935dcc3 Mon Sep 17 00:00:00 2001 From: Ladislav Skvarka Date: Mon, 24 Aug 2026 02:16:47 +0200 Subject: [PATCH 02/17] fix(hangar_sim): round out the mecanum wheels so the base stops juddering MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Each wheel approximated its rollers with 8 spheres on a 59.4 mm ring, so the effective rolling radius swung 4.52 mm (6%) eight times per revolution. That polygon drove the whole base: front_rocker swung 1.9 deg peak-to-peak against its own 0.11 deg range, and the camera — rigid on a chassis with no roll or pitch DOF — was shaken in-plane instead. Going to 16 rollers quarters the polygon error. Total roller mass per wheel is unchanged. Contact solref goes 0.002 -> 0.016 s, which is the 2*timestep MuJoCo wants at the 0.008 s step this scene runs. front_rocker's range/stiffness/damping clamp is reverted: it was added in 98a1f5f8 to suppress this rocking and is unnecessary once the wheels are round. Co-Authored-By: Claude Opus 5 --- .../description/front_left_wheel_link.xml | 299 +++++++++++++++--- .../description/front_right_wheel_link.xml | 299 +++++++++++++++--- src/hangar_sim/description/hangar_scene.xml | 6 +- .../description/rear_left_wheel_link.xml | 299 +++++++++++++++--- .../description/rear_right_wheel_link.xml | 299 +++++++++++++++--- src/hangar_sim/description/ur5e_ridgeback.xml | 4 +- 6 files changed, 1053 insertions(+), 153 deletions(-) diff --git a/src/hangar_sim/description/front_left_wheel_link.xml b/src/hangar_sim/description/front_left_wheel_link.xml index 9d16b089f..b8f319495 100644 --- a/src/hangar_sim/description/front_left_wheel_link.xml +++ b/src/hangar_sim/description/front_left_wheel_link.xml @@ -25,8 +25,8 @@ /> - + - + - + - + - + - + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/hangar_sim/description/front_right_wheel_link.xml b/src/hangar_sim/description/front_right_wheel_link.xml index a99d647c2..eafb862d0 100644 --- a/src/hangar_sim/description/front_right_wheel_link.xml +++ b/src/hangar_sim/description/front_right_wheel_link.xml @@ -25,8 +25,8 @@ /> - + - + - + - + - + - + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/hangar_sim/description/hangar_scene.xml b/src/hangar_sim/description/hangar_scene.xml index 405962ca5..20c581cbd 100644 --- a/src/hangar_sim/description/hangar_scene.xml +++ b/src/hangar_sim/description/hangar_scene.xml @@ -12,6 +12,9 @@ objectives. 0.008 keeps the runner at-or-under realtime while staying finer than the original 0.025. Wheel velocity actuators still hold: armature/kv = 1.0/500 = 0.002 s < 0.008 s (see CLAUDE.md). --> +