Add lab desk objects, adjust collision wall/tray positions, and clean up lab_sim

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Author: davetcoleman

src/lab_sim/config/control/picknik_ur.ros2_control.yaml

@@ -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
@@ -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:

src/lab_sim/description/keyboard-texture.png

@@ -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" />
@@ -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" />
@@ -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" />
@@ -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" />
@@ -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" />
@@ -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" />