Add URDF model for gripper with multiple links and joints

- Created a new URDF file for the gripper, defining its structure.
- Added links: base_frame, plate, screw, craving1, craving2, craving3.
- Defined joints for the gripper's movement, including fixed and revolute joints.
- Included mesh files for visual and collision geometry.
- Set inertial properties for each link with zero mass and inertia.

src/iiwa_bringup/launch/digital_twin.launch.py

@@ -38,7 +38,7 @@ def _runtime_setup(context, *args, **kwatgs):
         executable="robot_state_publisher",
         name="robot_state_publisher",
         output="screen",
-        parameters=[{"robot_description": robot_description, "use_sim_time": False}],
+        parameters=[{"robot_description": robot_description, "use_sim_time": True}],
     )
 
     webots_launch = IncludeLaunchDescription(
@@ -88,17 +88,19 @@ def _runtime_setup(context, *args, **kwatgs):
         parameters=[
             moveit_configs.to_dict(),
             {"robot_description": robot_description},
+            {"use_sim_time": True},
         ],
     )
 
     # TODO: не забудь поменять правильное название и имя пакета
-    moveit_py_node = Node(
-        # name="motion_planning_node",
-        package="iiwa_planning",
-        executable="motion_planning",
-        output="both",
-        parameters=[moveit_configs.to_dict()],
-    )
+    # moveit_py_node = Node(
+    #     # name="motion_planning_node",
+    #     package="iiwa_planning",
+    #     executable="motion_planning",
+    #     output="both",
+    #     parameters=[moveit_configs.to_dict()],
+    # )
+
 
     rviz_launch = Node(
         condition=IfCondition(LaunchConfiguration("rviz")),
@@ -110,9 +112,9 @@ def _runtime_setup(context, *args, **kwatgs):
         parameters=[
             moveit_configs.robot_description,
             moveit_configs.robot_description_semantic,
-            moveit_configs.robot_description_kinematics,
             moveit_configs.planning_pipelines,
-            moveit_configs.joint_limits,
+            moveit_configs.planning_scene_monitor,
+            {"use_sim_time": True},
         ],
     )
 
@@ -124,7 +126,7 @@ def _runtime_setup(context, *args, **kwatgs):
         rsp_node,
         webots_launch,
         move_group,
-        moveit_py_node,
+        # moveit_py_node,
         rviz_launch,
         shutdown_on_rviz_exit,
     ]

src/iiwa_bringup/launch/supported/webots_controllers.launch.py

@@ -30,7 +30,7 @@ def _setup_controllers(context, *args, **kwargs):
         executable="spawner",
         output="screen",
         arguments=["joint_state_broadcaster"] + tmo,
-        parameters=[{"use_sim_time": False}],
+        parameters=[{"use_sim_time": True}],
     )
 
     jtc = Node(
@@ -38,7 +38,7 @@ def _setup_controllers(context, *args, **kwargs):
         executable="spawner",
         output="screen",
         arguments=["iiwa_arm_controller"] + tmo,
-        parameters=[{"use_sim_time": False}],
+        parameters=[{"use_sim_time": True}],
     )
 
     torque_controller_spawner = Node(
@@ -47,7 +47,7 @@ def _setup_controllers(context, *args, **kwargs):
         output="screen",
         arguments=["forward_torque_controller",
                    "--inactive"] + tmo,
-        parameters=[{"use_sim_time": False}]
+        parameters=[{"use_sim_time": True}]
     )
 
     spawner_urdf = URDFSpawner(

src/iiwa_bringup/launch/supported/webots_spawn.launch.py

@@ -34,7 +34,7 @@ def _spawn_setup(context, *args, **kwargs):
         parameters=[
             {
                 "robot_description": description,
-                "use_sim_time": False,
+                "use_sim_time": True,
                 "set_robot_state_publisher": False,
             },
             controller,