diff --git a/src/iiwa_config/config/moveit/iiwa7.srdf b/src/iiwa_config/config/moveit/iiwa7.srdf index b26eb15..4e11b7a 100644 --- a/src/iiwa_config/config/moveit/iiwa7.srdf +++ b/src/iiwa_config/config/moveit/iiwa7.srdf @@ -10,7 +10,7 @@ - + @@ -18,6 +18,8 @@ + + @@ -39,15 +41,7 @@ - - - - - - - - + @@ -59,46 +53,26 @@ + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - + + diff --git a/src/iiwa_config/config/moveit/iiwa_controller.yaml b/src/iiwa_config/config/moveit/iiwa_controller.yaml index 1963303..f1e737e 100644 --- a/src/iiwa_config/config/moveit/iiwa_controller.yaml +++ b/src/iiwa_config/config/moveit/iiwa_controller.yaml @@ -1,6 +1,6 @@ controller_manager: ros__parameters: - update_rate: 200 + update_rate: 100 joint_state_broadcaster: type: "joint_state_broadcaster/JointStateBroadcaster" diff --git a/src/iiwa_description/resource/freecad_models/patron.20260409-100611.FCBak b/src/iiwa_description/resource/freecad_models/patron.20260409-100611.FCBak new file mode 100644 index 0000000..b7fe0ed Binary files /dev/null and b/src/iiwa_description/resource/freecad_models/patron.20260409-100611.FCBak differ diff --git a/src/iiwa_description/resource/freecad_models/patron.FCStd b/src/iiwa_description/resource/freecad_models/patron.FCStd new file mode 100644 index 0000000..0fe29ea Binary files /dev/null and b/src/iiwa_description/resource/freecad_models/patron.FCStd differ diff --git a/src/iiwa_description/resource/meshes/collision/base_link.STL b/src/iiwa_description/resource/meshes/iiwa/collision/base_link.STL similarity index 100% rename from src/iiwa_description/resource/meshes/collision/base_link.STL rename to src/iiwa_description/resource/meshes/iiwa/collision/base_link.STL diff --git a/src/iiwa_description/resource/meshes/collision/link1.STL b/src/iiwa_description/resource/meshes/iiwa/collision/link1.STL similarity index 100% rename from src/iiwa_description/resource/meshes/collision/link1.STL rename to 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a/src/iiwa_description/resource/meshes/collision/link5.STL b/src/iiwa_description/resource/meshes/iiwa/collision/link5.STL similarity index 100% rename from src/iiwa_description/resource/meshes/collision/link5.STL rename to src/iiwa_description/resource/meshes/iiwa/collision/link5.STL diff --git a/src/iiwa_description/resource/meshes/collision/link6.STL b/src/iiwa_description/resource/meshes/iiwa/collision/link6.STL similarity index 100% rename from src/iiwa_description/resource/meshes/collision/link6.STL rename to src/iiwa_description/resource/meshes/iiwa/collision/link6.STL diff --git a/src/iiwa_description/resource/meshes/collision/link7.STL b/src/iiwa_description/resource/meshes/iiwa/collision/link7.STL similarity index 100% rename from src/iiwa_description/resource/meshes/collision/link7.STL rename to src/iiwa_description/resource/meshes/iiwa/collision/link7.STL diff --git a/src/iiwa_description/resource/meshes/visual/base_link.DAE b/src/iiwa_description/resource/meshes/iiwa/visual/base_link.DAE similarity index 100% rename from src/iiwa_description/resource/meshes/visual/base_link.DAE rename to src/iiwa_description/resource/meshes/iiwa/visual/base_link.DAE diff --git a/src/iiwa_description/resource/meshes/visual/link1.DAE b/src/iiwa_description/resource/meshes/iiwa/visual/link1.DAE similarity index 100% rename from src/iiwa_description/resource/meshes/visual/link1.DAE rename to src/iiwa_description/resource/meshes/iiwa/visual/link1.DAE diff --git a/src/iiwa_description/resource/meshes/visual/link2.DAE b/src/iiwa_description/resource/meshes/iiwa/visual/link2.DAE similarity index 100% rename from src/iiwa_description/resource/meshes/visual/link2.DAE rename to src/iiwa_description/resource/meshes/iiwa/visual/link2.DAE diff --git a/src/iiwa_description/resource/meshes/visual/link3.DAE b/src/iiwa_description/resource/meshes/iiwa/visual/link3.DAE similarity index 100% rename from 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a/src/iiwa_description/resource/meshes/visual/link7.DAE b/src/iiwa_description/resource/meshes/iiwa/visual/link7.DAE similarity index 100% rename from src/iiwa_description/resource/meshes/visual/link7.DAE rename to src/iiwa_description/resource/meshes/iiwa/visual/link7.DAE diff --git a/src/iiwa_description/resource/meshes/tools/patron.dae b/src/iiwa_description/resource/meshes/tools/patron.dae new file mode 100644 index 0000000..585896b --- /dev/null +++ b/src/iiwa_description/resource/meshes/tools/patron.dae @@ -0,0 +1,274 @@ + + + + 2026-04-09T10:46:34.501744 + 2026-04-09T10:46:34.501748 + + Z_UP + + + + + + + + 0.0 0.0 0.0 1.0 + + + 0.0 0.0 0.0 1.0 + + + 0.3019607961177826 0.3019607961177826 0.3019607961177826 1.0 + + + 1 1 1 1.0 + + + 0.0 + + + 0.0 0.0 0.0 1.0 + + + 0.0 + + + 0.0 0.0 0.0 1.0 + + + 1.0 + + + + + + 0 + + + + + + + + + + 0.0 0.0 0.0 1.0 + + + 0.0 0.0 0.0 1.0 + + + 0.3019607961177826 0.3019607961177826 0.3019607961177826 1.0 + + + 1 1 1 1.0 + + + 0.0 + + + 0.0 0.0 0.0 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/iiwa_description/urdf/iiwa7.urdf.xacro b/src/iiwa_description/urdf/iiwa7.urdf.xacro index e6eba36..dfddf46 100644 --- a/src/iiwa_description/urdf/iiwa7.urdf.xacro +++ b/src/iiwa_description/urdf/iiwa7.urdf.xacro @@ -15,7 +15,9 @@ - + + + @@ -119,14 +121,6 @@ - - - - 0.0 - - - - diff --git a/src/iiwa_description/urdf/iiwa7_digital.urdf.xacro b/src/iiwa_description/urdf/iiwa7_digital.urdf.xacro index 6b9af09..b539142 100644 --- a/src/iiwa_description/urdf/iiwa7_digital.urdf.xacro +++ b/src/iiwa_description/urdf/iiwa7_digital.urdf.xacro @@ -13,7 +13,9 @@ - + + + diff --git a/src/iiwa_description/urdf/iiwa7_gazebo.urdf b/src/iiwa_description/urdf/iiwa7_gazebo.urdf new file mode 100644 index 0000000..94f14de --- /dev/null +++ b/src/iiwa_description/urdf/iiwa7_gazebo.urdf @@ -0,0 +1,446 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.4529411764705884 0.4337254901960785 0.41176470588235287 1 + 0.647058823529412 0.619607843137255 0.588235294117647 1 + 0.3 0.3 0.3 1.0 + 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.4529411764705884 0.4337254901960785 0.41176470588235287 1 + 0.647058823529412 0.619607843137255 0.588235294117647 1 + 0.3 0.3 0.3 1.0 + 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.4529411764705884 0.4337254901960785 0.41176470588235287 1 + 0.647058823529412 0.619607843137255 0.588235294117647 1 + 0.3 0.3 0.3 1.0 + 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.4529411764705884 0.4337254901960785 0.41176470588235287 1 + 0.647058823529412 0.619607843137255 0.588235294117647 1 + 0.3 0.3 0.3 1.0 + 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.4529411764705884 0.4337254901960785 0.41176470588235287 1 + 0.647058823529412 0.619607843137255 0.588235294117647 1 + 0.3 0.3 0.3 1.0 + 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.4529411764705884 0.4337254901960785 0.41176470588235287 1 + 0.647058823529412 0.619607843137255 0.588235294117647 1 + 0.3 0.3 0.3 1.0 + 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.4529411764705884 0.4337254901960785 0.41176470588235287 1 + 0.647058823529412 0.619607843137255 0.588235294117647 1 + 0.3 0.3 0.3 1.0 + 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.4529411764705884 0.4337254901960785 0.41176470588235287 1 + 0.647058823529412 0.619607843137255 0.588235294117647 1 + 0.3 0.3 0.3 1.0 + 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + /home/daniel/dev/kuka_iiwa7_ros2/install/iiwa_config/share/iiwa_config/config/moveit/iiwa_controller.yaml + + ~/robot_description:=/robot_description + + + + + + gz_ros2_control/GazeboSimSystem + + + + -2.97 + 2.97 + + + 0 + + + + + + + -2.09 + 2.09 + + + 0 + + + + + + + -2.97 + 2.97 + + + 0 + + + + + + + -2.09 + 2.09 + + + 0 + + + + + + + -2.97 + 2.97 + + + 0 + + + + + + + -2.09 + 2.09 + + + 0 + + + + + + + -3.05 + 3.05 + + + 0 + + + + + + diff --git a/src/iiwa_description/urdf/meshes.xacro b/src/iiwa_description/urdf/meshes.xacro index 5de8ddf..7d5966f 100644 --- a/src/iiwa_description/urdf/meshes.xacro +++ b/src/iiwa_description/urdf/meshes.xacro @@ -4,23 +4,23 @@ - - - - - - - - + + + + + + + + - - - - - - - - + + + + + + + + \ No newline at end of file diff --git a/src/iiwa_description/urdf/table/table.urdf b/src/iiwa_description/urdf/table/table.urdf index d4acd84..e392d62 100644 --- a/src/iiwa_description/urdf/table/table.urdf +++ b/src/iiwa_description/urdf/table/table.urdf @@ -200,7 +200,6 @@ - diff --git a/src/iiwa_description/urdf/tools/patron.xacro b/src/iiwa_description/urdf/tools/patron.xacro new file mode 100644 index 0000000..bfc63b9 --- /dev/null +++ b/src/iiwa_description/urdf/tools/patron.xacro @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/iiwa_description/worlds/iiwa.wbt b/src/iiwa_description/worlds/iiwa.wbt index aaf6c95..9697bf2 100644 --- a/src/iiwa_description/worlds/iiwa.wbt +++ b/src/iiwa_description/worlds/iiwa.wbt @@ -10,7 +10,7 @@ EXTERNPROTO "../resource/protos/Object.proto" WorldInfo { title "iiwa robotics" - basicTimeStep 10 + basicTimeStep 32 optimalThreadCount 4 contactProperties [ ContactProperties { @@ -30,6 +30,13 @@ WorldInfo { softCFM 0.002 maxContactJoints 100 } + ContactProperties { + material1 "default" + material2 "default" + maxContactJoints 20 + bounce 0 + softCFM 0.001 + } ] } Viewpoint {