diff --git a/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml b/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml
index d6d3a08c..ae9a63c1 100644
--- a/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml
+++ b/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml
@@ -81,7 +81,7 @@ joint_trajectory_admittance_controller:
# provide the gravity vector in the base frame.
gravity_vector: [0.0, 0.0, -9.8]
# Default maximum joint-space deviation accepted along the trajectory, if not specified in the goal message.
- default_path_tolerance: 0.6
+ default_path_tolerance: 0.65
# Default maximum joint-space deviation accepted at the trajectory end-point, if not specified in the goal message.
default_goal_tolerance: 0.05
# Default maximum absolute force torque readings allowed from the force torque sensor along each Cartesian space
diff --git a/src/factory_sim/description/bracket_collision_geometry_0.xml b/src/factory_sim/description/bracket_collision_geometry_0.xml
new file mode 100644
index 00000000..1809bfc3
--- /dev/null
+++ b/src/factory_sim/description/bracket_collision_geometry_0.xml
@@ -0,0 +1,553 @@
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diff --git a/src/factory_sim/description/bracket_collision_geometry_1.xml b/src/factory_sim/description/bracket_collision_geometry_1.xml
new file mode 100644
index 00000000..e85d6002
--- /dev/null
+++ b/src/factory_sim/description/bracket_collision_geometry_1.xml
@@ -0,0 +1,553 @@
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diff --git a/src/factory_sim/description/bracket_collision_geometry_2.xml b/src/factory_sim/description/bracket_collision_geometry_2.xml
new file mode 100644
index 00000000..28b6b747
--- /dev/null
+++ b/src/factory_sim/description/bracket_collision_geometry_2.xml
@@ -0,0 +1,553 @@
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diff --git a/src/factory_sim/description/scene.xml b/src/factory_sim/description/scene.xml
index 2b915924..e3778f58 100644
--- a/src/factory_sim/description/scene.xml
+++ b/src/factory_sim/description/scene.xml
@@ -4,6 +4,8 @@
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@@ -234,13 +236,17 @@
-
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