feat(experement): mirror Webots scene into MoveIt with attachments

2026-11-08 13:49:24 +10:00
parent 51594f7c2f
commit 5a63420aa2
4 changed files with 775 additions and 2 deletions
@@ -122,9 +122,12 @@ speeds:
 # Webots bounding objects so MoveIt and the simulator agree.
 scene_collisions:
  table:
+    # Top at Z = 0.789, deliberately 1 mm below the robot base (Z = 0.790)
+    # and 4 mm below the work surface (Z = 0.793), so the base is not in
+    # collision while downward motion is still blocked.
    type: box
    size: [1.28, 1.08, 0.045]
-    center_z: 0.7705
+    offset_z: 0.7665
  fixture:
    type: box
    size: [0.350, 0.220, 0.041]