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…ndling cartesian fixes Addresses two distinct bugs surfaced in the factory_sim package by PickNikRobotics/moveit_pro#18180. 1. Bracket spawn-position errors at sim reset. <replicate count=3> in description/scene.xml interacts badly with MuJoCo 3.2.7's keyframe parser, silently corrupting the first replica's qpos slot -- bracket-0-0 lands under the pedestal on every reset. MuJoCo 3.3.5 hard-errors on the same input ("Keyframe 'default' has invalid qpos size, got 48, should be 13"). Fix replaces <replicate> with three explicit <include> blocks of per-bracket geometry files. 2. Tool-handling cartesian rejections at the holder. Two cartesian motions in the suction-gripper subtrees deterministi- cally land link_6 at the suction_gripper world object (depth = 0): - Pick Up Tool from Holder's +0.10m approach push. - Place Tool in Tool Holder's 0.35m post-detach Retract. The pair link_6 <-> suction_gripper has no ACM entry (default NEVER), so the planner rejects both segments. Previously masked by <replicate>'s non-deterministic IK ordering. Fix opts each segment out of environment-collision checks; the cartesian paths are purely vertical along tool0 Z, so wrist swings into other env are precluded by the path itself. Plus three small simulator-side fixes folded in (keyframe qpos row order corrected to match MuJoCo's body compile order; default joint path tolerance bumped to 0.65 to clear joint-6 deviation against the 0.6 limit; MuJoCo arena bumped from 15M to 64M to prevent contact- constraint overflow during the place phase, which had been segfaulting ros2_control_node via the viewer's next sync). Edits: - description/scene.xml -- keyframe qpos rows reordered; <replicate> block replaced with three explicit <include>s; arena bumped to 64M. - description/bracket_collision_geometry_{0,1,2}.xml -- new per-bracket geometry files referenced by the includes. - config/control/picknik_fanuc.ros2_control.yaml -- default_path_- tolerance bumped to 0.65. - objectives/pick_up_tool_from_holder.xml -- ignore_environment_- collisions="true" on the +0.10m SetupMTCMoveAlongFrameAxis; SetupMTCIgnoreCollisionsBetweenObjects(link_5;link_6;suction_- gripper) added matching the sibling subtree pattern. - objectives/retract.xml -- parameterized ignore_environment_- collisions as a new input port with default "false" so existing call sites keep their hardcoded behavior; threaded through to the underlying SetupMTCMoveAlongFrameAxis. - objectives/place_tool_in_tool_holder.xml -- passes ignore_- environment_collisions="true" at its 0.35m Retract call site so the post-detach retreat clears the same depth = 0 contact. Refs PickNikRobotics/moveit_pro#18180 Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
…tory-sim-issues Fix: 18180 factory_sim Pick and Place sim setup and tool handling
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