Merge pull request #365 from PickNikRobotics/fix_kinova_sim_grasp_objective

Use correct finger scene, and adjust offset for better grasp.

Author: griswaldbrooks

src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml

@@ -60,7 +60,7 @@ hardware:
       - external_camera: "true"
       - wrist_realsense: "true"
       - use_internal_bus_gripper_comm: "false"
-      - mujoco_model: "description/mujoco/scene.xml"
+      - mujoco_model: "description/mujoco/rafti_fingers_scene.xml"
 
 # Sets ROS global params for launch.
 # [Optional]

src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml

@@ -165,7 +165,7 @@
           <Action
             ID="TransformPose"
             input_pose="{model_object}"
-            translation_xyz="0.0;0.0;0.3"
+            translation_xyz="0.0;0.0;0.28"
             quaternion_xyzw="-0.707107;0.707107;0.0;0.0"
             output_pose="{hole_object}"
           />
@@ -265,6 +265,12 @@
       <Action
         ID="SwitchController"
         activate_controllers="velocity_force_controller"
+        activate_asap="true"
+        automatic_deactivation="true"
+        controller_list_action_name="/controller_manager/list_controllers"
+        controller_switch_action_name="/controller_manager/switch_controller"
+        strictness="1"
+        timeout="0.000000"
       />
       <Action
         ID="CreateStampedTwist"
@@ -297,6 +303,12 @@
         <Action
           ID="SwitchController"
           activate_controllers="joint_trajectory_controller"
+          activate_asap="true"
+          automatic_deactivation="true"
+          controller_list_action_name="/controller_manager/list_controllers"
+          controller_switch_action_name="/controller_manager/switch_controller"
+          strictness="1"
+          timeout="0.000000"
         />
       </Decorator>
     </Control>

src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_point_cloud_from_text_prompt_subtree.xml

@@ -42,7 +42,7 @@
       <Action
         ID="GetPointCloud"
         topic_name="{points_topic_name}"
-        timeout_sec="5.000000"
+        timeout_sec="10.000000"
         message_out="{point_cloud}"
       />
       <Action