Add lab desk objects to MuJoCo scene

.gitignore

@@ -2,3 +2,4 @@ build/
 install/
 log/
 .vscode/
+MUJOCO_LOG.TXT

CLAUDE.md

@@ -0,0 +1,30 @@
+# AI Code Assistant Instructions for MoveIt Pro Example Workspace
+
+## MuJoCo Scene Files
+
+### Keyframe qpos must match model DOF count
+
+When editing `scene.xml` files (adding/removing bodies with joints), the `<keyframe>` section's `qpos` attribute must have exactly the number of values matching the model's total degrees of freedom. A mismatch causes `ros2_control_node` to crash with:
+
+```
+Error: keyframe 0: invalid qpos size, expected length <N>
+```
+
+Each joint type contributes to qpos:
+- **freejoint**: 7 values (x, y, z, qw, qx, qy, qz)
+- **hinge/slide**: 1 value each
+- **ball**: 4 values (quaternion)
+
+After adding or removing bodies with joints, either:
+1. **Remove the keyframe** and let MuJoCo use body `pos=` attributes for initial positions
+2. **Regenerate the keyframe** from the MuJoCo Interactive Viewer (Ctrl+Shift+K) once the scene is stable
+
+### MuJoCo documentation
+
+Refer to [docs.picknik.ai](https://docs.picknik.ai) for MuJoCo configuration guides:
+
+- [Physics Simulator Setup](https://docs.picknik.ai/how_to/configuration_tutorials/migrate_to_mujoco_config/) — creating scene.xml from URDF, camera/sensor setup, mesh conversion, MuJoCo Interactive Viewer
+- [config.yaml Reference](https://docs.picknik.ai/how_to/configuration_tutorials/config_yaml_reference/) — `hardware` section for `picknik_mujoco_ros/MujocoSystem` plugin configuration
+- [Simulator Keyframes Setup](https://docs.picknik.ai/how_to/configuration_tutorials/configure_keyframes/) — defining keyframes in scene.xml, `ResetMujocoKeyframe` Behavior
+- [Optimize Model Meshes](https://docs.picknik.ai/how_to/configuration_tutorials/optimizing_robot_model_meshes/) — MuJoCo enforces 1-200,000 faces per STL
+- [Simulation Troubleshooting](https://docs.picknik.ai/troubleshooting/Simulation%20Troubleshooting/) — physics parameters, grip stability, mass/inertia errors, rendering issues

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/picknik_ur.xacro

@@ -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" />