diff --git a/src/lab_sim/description/picknik_ur.xacro b/src/lab_sim/description/picknik_ur.xacro index f1ec4b17..73a1f420 100644 --- a/src/lab_sim/description/picknik_ur.xacro +++ b/src/lab_sim/description/picknik_ur.xacro @@ -7,6 +7,9 @@ + + + @@ -1174,57 +1177,15 @@ - - - - - - - - - - - - - - - - - - - - - - - - - + - + - - - - - - - - - - - - - + - + diff --git a/src/lab_sim/objectives/apriltag_pick_object.xml b/src/lab_sim/objectives/apriltag_pick_object.xml index 6fb0d97e..00a6ca45 100644 --- a/src/lab_sim/objectives/apriltag_pick_object.xml +++ b/src/lab_sim/objectives/apriltag_pick_object.xml @@ -3,7 +3,7 @@ diff --git a/src/lab_sim/objectives/constrained_pick_place.xml b/src/lab_sim/objectives/constrained_pick_place.xml index 4885df26..9b680044 100644 --- a/src/lab_sim/objectives/constrained_pick_place.xml +++ b/src/lab_sim/objectives/constrained_pick_place.xml @@ -51,8 +51,10 @@ constraints="{constraints}" /> - - + + + + - + + + - + diff --git a/src/lab_sim/objectives/look_at_table.xml b/src/lab_sim/objectives/look_at_table.xml index d7a11bed..d293fe2d 100644 --- a/src/lab_sim/objectives/look_at_table.xml +++ b/src/lab_sim/objectives/look_at_table.xml @@ -1,6 +1,6 @@ - + + - + diff --git a/src/lab_sim/objectives/record_trajectory.xml b/src/lab_sim/objectives/record_trajectory.xml deleted file mode 100644 index e850d695..00000000 --- a/src/lab_sim/objectives/record_trajectory.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/src/lab_sim/objectives/register_cad_part.xml b/src/lab_sim/objectives/register_cad_part.xml index 83cdbb6e..f43db67f 100644 --- a/src/lab_sim/objectives/register_cad_part.xml +++ b/src/lab_sim/objectives/register_cad_part.xml @@ -1,6 +1,6 @@ - + diff --git a/src/lab_sim/objectives/take_snap.xml b/src/lab_sim/objectives/take_snap.xml index a4aed6e5..3692316f 100644 --- a/src/lab_sim/objectives/take_snap.xml +++ b/src/lab_sim/objectives/take_snap.xml @@ -1,6 +1,6 @@ - + diff --git a/src/lab_sim/objectives/wrist_snap.xml b/src/lab_sim/objectives/wrist_snap.xml index be708d77..83c58612 100644 --- a/src/lab_sim/objectives/wrist_snap.xml +++ b/src/lab_sim/objectives/wrist_snap.xml @@ -1,6 +1,6 @@ - + diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml index cc90bbe4..d6836ba3 100644 --- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml +++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml @@ -1,4 +1,4 @@ - + @@ -10,4 +10,7 @@ /> + + + diff --git a/src/picknik_accessories b/src/picknik_accessories index b660614d..c9b1e709 160000 --- a/src/picknik_accessories +++ b/src/picknik_accessories @@ -1 +1 @@ -Subproject commit b660614d2977ddfa78668986ef554ecc523c716d +Subproject commit c9b1e709df2de65c1087d4433cbc7f079601cf70