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Add lab desk objects, AprilTag bottle picking, and clean up lab_sim #512

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Add lab desk objects, AprilTag bottle picking, and clean up lab_sim #512

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11 changes: 9 additions & 2 deletions src/lab_sim/config/control/picknik_ur.ros2_control.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -64,18 +64,25 @@ joint_trajectory_controller:
stopped_velocity_tolerance: 0.0
goal_time: 0.0
linear_rail_joint:
trajectory: 0.5
goal: 0.05
shoulder_pan_joint:
trajectory: 0.5
goal: 0.05
shoulder_lift_joint:
trajectory: 0.5
goal: 0.05
elbow_joint:
trajectory: 0.5
goal: 0.05
wrist_1_joint:
trajectory: 0.5
goal: 0.05
wrist_2_joint:
trajectory: 0.5
goal: 0.05
wrist_3_joint:
trajectory: 0.5
goal: 0.05
acceleration_limits:
linear_rail_joint: 10.0
Expand All @@ -91,8 +98,8 @@ robotiq_gripper_controller:
default: true
joint: robotiq_85_left_knuckle_joint
allow_stalling: true
stall_timeout: 0.05
goal_tolerance: 0.02
stall_timeout: 0.3
goal_tolerance: 0.3

force_torque_sensor_broadcaster:
ros__parameters:
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3 changes: 3 additions & 0 deletions src/lab_sim/description/keyboard-texture.png
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3 changes: 3 additions & 0 deletions src/lab_sim/description/laptop-screen.png
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12 changes: 6 additions & 6 deletions src/lab_sim/description/picknik_ur.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -663,7 +663,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<box size="5.0 0.6 0.30" />
<box size="5.0 0.2 0.30" />
</geometry>
<material name="grey">
<color rgba="0.1 0.1 0.1 1.0" />
Expand All @@ -672,7 +672,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0.14 0.125" />
<geometry>
<box size="5.0 0.2 0.5" />
<box size="5.0 0.12 0.5" />
</geometry>
<material name="grey">
<color rgba="0.1 0.1 0.1 1.0" />
Expand All @@ -681,7 +681,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 -0.22 0.125" />
<geometry>
<box size="5.0 0.12 0.5" />
<box size="5.0 0.08 0.5" />
</geometry>
<material name="grey">
<color rgba="0.1 0.1 0.1 1.0" />
Expand All @@ -690,7 +690,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<box size="5.0 0.6 0.3" />
<box size="5.0 0.2 0.3" />
</geometry>
<material name="grey">
<color rgba="0.1 0.1 0.1 1.0" />
Expand All @@ -699,7 +699,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0.14 0.125" />
<geometry>
<box size="5.0 0.2 0.5" />
<box size="5.0 0.12 0.5" />
</geometry>
<material name="grey">
<color rgba="0.1 0.1 0.1 1.0" />
Expand All @@ -708,7 +708,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 -0.22 0.125" />
<geometry>
<box size="5.0 0.12 0.5" />
<box size="5.0 0.08 0.5" />
</geometry>
<material name="grey">
<color rgba="0.1 0.1 0.1 1.0" />
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