From 9918c2bfc65395f9ca72a83f95968b0f1fe88a25 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=B8=D0=BB=20=D0=93=D1=80=D0=B0?=
 =?UTF-8?q?=D0=B1=D0=B0=D1=80=D1=8C?= <grabardm@ml-dev.ru>
Date: Fri, 21 Nov 2025 13:49:04 +1000
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 =?UTF-8?q?=D1=82=D1=80=D0=BE=D0=BB=D0=BB=D0=B5=D1=80=D0=B0=D0=BC=D0=B8=20?=
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---
 README.md                                     |    3 +
 src/iiwa_bringup/config/iiwa_controller.yaml  |   30 +
 .../launch/protospawner.launch.py             |  170 ++
 src/iiwa_bringup/launch/webots.launch.py      |  245 ++
 src/iiwa_bringup/resource/iiwa_bringup        |    0
 src/iiwa_bringup/setup.py                     |    2 +
 .../resource/iiwa_description                 |    0
 .../meshes/collision/base_link.STL            |  Bin
 .../{ => resource}/meshes/collision/link1.STL |  Bin
 .../{ => resource}/meshes/collision/link2.STL |  Bin
 .../{ => resource}/meshes/collision/link3.STL |  Bin
 .../{ => resource}/meshes/collision/link4.STL |  Bin
 .../{ => resource}/meshes/collision/link5.STL |  Bin
 .../{ => resource}/meshes/collision/link6.STL |  Bin
 .../{ => resource}/meshes/collision/link7.STL |  Bin
 .../meshes/visual/base_link.DAE               |    0
 .../{ => resource}/meshes/visual/link1.DAE    |    0
 .../{ => resource}/meshes/visual/link2.DAE    |    0
 .../{ => resource}/meshes/visual/link3.DAE    |    0
 .../{ => resource}/meshes/visual/link4.DAE    |    0
 .../{ => resource}/meshes/visual/link5.DAE    |    0
 .../{ => resource}/meshes/visual/link6.DAE    |    0
 .../{ => resource}/meshes/visual/link7.DAE    |    0
 .../protos/CollaborativeRobotTable.proto      |  152 ++
 .../resource/protos/IntelRealsenseD455.proto  |  111 +
 .../resource/protos/WorkspaceLimiter.proto    |   83 +
 .../protos/icons/CollaborativeRobotTable.png  |  Bin 0 -> 13197 bytes
 .../protos/icons/IntelRealsenseD455.png       |  Bin 0 -> 4670 bytes
 .../protos/icons/WorkspaceLimiter.png         |  Bin 0 -> 15583 bytes
 .../protos/meshes/WorkspaceLimiter/fence.obj  |  130 +
 .../cameras/collision/IntelRealsenseD455.stl  |  Bin 0 -> 23553084 bytes
 .../cameras/visual/IntelRealsenseD455.dae     | 1954 ++++++++++++++
 .../protos/meshes/iiwaTable/CabinetFrame.obj  |  194 ++
 .../meshes/iiwaTable/ElectricCabinet.obj      |  222 ++
 .../meshes/iiwaTable/PlateUnderRobot.obj      | 1230 +++++++++
 .../protos/meshes/iiwaTable/TableFrame.obj    | 2308 +++++++++++++++++
 src/iiwa_description/setup.py                 |    8 +
 src/iiwa_description/urdf/iiwa7.urdf          |  280 ++
 src/iiwa_description/urdf/iiwa7.urdf.xacro    |   46 +
 src/iiwa_description/urdf/joints.xacro        |   16 +-
 src/iiwa_description/urdf/links.xacro         |    2 +-
 src/iiwa_description/urdf/meshes.xacro        |    2 +-
 src/iiwa_description/worlds/iiwa.wbt          |   67 +
 src/iiwa_description/worlds/simple_world.wbt  |   19 +
 44 files changed, 7264 insertions(+), 10 deletions(-)
 create mode 100644 README.md
 create mode 100644 src/iiwa_bringup/config/iiwa_controller.yaml
 create mode 100644 src/iiwa_bringup/launch/protospawner.launch.py
 create mode 100644 src/iiwa_bringup/launch/webots.launch.py
 create mode 100644 src/iiwa_bringup/resource/iiwa_bringup
 create mode 100644 src/iiwa_description/resource/iiwa_description
 rename src/iiwa_description/{ => resource}/meshes/collision/base_link.STL (100%)
 rename src/iiwa_description/{ => resource}/meshes/collision/link1.STL (100%)
 rename src/iiwa_description/{ => resource}/meshes/collision/link2.STL (100%)
 rename src/iiwa_description/{ => resource}/meshes/collision/link3.STL (100%)
 rename src/iiwa_description/{ => resource}/meshes/collision/link4.STL (100%)
 rename src/iiwa_description/{ => resource}/meshes/collision/link5.STL (100%)
 rename src/iiwa_description/{ => resource}/meshes/collision/link6.STL (100%)
 rename src/iiwa_description/{ => resource}/meshes/collision/link7.STL (100%)
 rename src/iiwa_description/{ => resource}/meshes/visual/base_link.DAE (100%)
 rename src/iiwa_description/{ => resource}/meshes/visual/link1.DAE (100%)
 rename src/iiwa_description/{ => resource}/meshes/visual/link2.DAE (100%)
 rename src/iiwa_description/{ => resource}/meshes/visual/link3.DAE (100%)
 rename src/iiwa_description/{ => resource}/meshes/visual/link4.DAE (100%)
 rename src/iiwa_description/{ => resource}/meshes/visual/link5.DAE (100%)
 rename src/iiwa_description/{ => resource}/meshes/visual/link6.DAE (100%)
 rename src/iiwa_description/{ => resource}/meshes/visual/link7.DAE (100%)
 create mode 100644 src/iiwa_description/resource/protos/CollaborativeRobotTable.proto
 create mode 100644 src/iiwa_description/resource/protos/IntelRealsenseD455.proto
 create mode 100644 src/iiwa_description/resource/protos/WorkspaceLimiter.proto
 create mode 100644 src/iiwa_description/resource/protos/icons/CollaborativeRobotTable.png
 create mode 100644 src/iiwa_description/resource/protos/icons/IntelRealsenseD455.png
 create mode 100644 src/iiwa_description/resource/protos/icons/WorkspaceLimiter.png
 create mode 100644 src/iiwa_description/resource/protos/meshes/WorkspaceLimiter/fence.obj
 create mode 100644 src/iiwa_description/resource/protos/meshes/cameras/collision/IntelRealsenseD455.stl
 create mode 100644 src/iiwa_description/resource/protos/meshes/cameras/visual/IntelRealsenseD455.dae
 create mode 100644 src/iiwa_description/resource/protos/meshes/iiwaTable/CabinetFrame.obj
 create mode 100644 src/iiwa_description/resource/protos/meshes/iiwaTable/ElectricCabinet.obj
 create mode 100644 src/iiwa_description/resource/protos/meshes/iiwaTable/PlateUnderRobot.obj
 create mode 100644 src/iiwa_description/resource/protos/meshes/iiwaTable/TableFrame.obj
 create mode 100644 src/iiwa_description/urdf/iiwa7.urdf
 create mode 100644 src/iiwa_description/worlds/iiwa.wbt
 create mode 100644 src/iiwa_description/worlds/simple_world.wbt

diff --git a/README.md b/README.md
new file mode 100644
index 0000000..a44906a
--- /dev/null
+++ b/README.md
@@ -0,0 +1,3 @@
+Подмена файла по пути обязательна: `/opt/ros/rolling/lib/webots_ros2_driver/ros2_supervisor.py`
+
+> необходимо `warn` заменить на `warning` в логере
\ No newline at end of file
diff --git a/src/iiwa_bringup/config/iiwa_controller.yaml b/src/iiwa_bringup/config/iiwa_controller.yaml
new file mode 100644
index 0000000..39a751d
--- /dev/null
+++ b/src/iiwa_bringup/config/iiwa_controller.yaml
@@ -0,0 +1,30 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 31
+
+    joint_state_broadcaster:
+      type: "joint_state_broadcaster/JointStateBroadcaster"
+
+    joint_trajectory_controller:
+      type: "joint_trajectory_controller/JointTrajectoryController"
+
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+      - joint5
+      - joint6
+      - joint7  
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+
+    allow_partial_joints_goal: false
+    interpolate_from_desired_state: true
diff --git a/src/iiwa_bringup/launch/protospawner.launch.py b/src/iiwa_bringup/launch/protospawner.launch.py
new file mode 100644
index 0000000..2fd7ee8
--- /dev/null
+++ b/src/iiwa_bringup/launch/protospawner.launch.py
@@ -0,0 +1,170 @@
+# TODO: код на будущее
+
+import os
+import re
+from pathlib import Path
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    RegisterEventHandler,
+    OpaqueFunction,
+)
+from launch.event_handlers import OnProcessExit
+from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+from webots_ros2_driver.webots_launcher import WebotsLauncher
+from webots_ros2_driver.urdf_spawner import URDFSpawner
+
+
+def _patch_proto_controller(proto_path: str):
+    pattern = r'(field\s+SFString\s+controller\s+)"void"'
+    replacement = r'\1"exec"'
+    proto = Path(proto_path)
+    text = proto.read_text(encoding='utf-8')
+    new_text, count = re.subn(pattern, replacement, text)
+
+    if count != 0:
+        proto.write_text(new_text, encoding='utf-8')
+
+
+def _after_xacro(context, *args, **kwargs):
+    """Выполняется после завершения xacro2proto: патчим proto и возвращаем actions (webots, rsp)."""
+    proto_path = kwargs['proto_path']
+    # проверим существование
+    if not Path(proto_path).exists():
+        raise RuntimeError(f"Expected proto file not found: {proto_path}")
+
+    # Патчим
+    _patch_proto_controller(proto_path)
+
+    # создаём действия, которые будут запущены ПОСЛЕ xacro2proto
+    world_path = LaunchConfiguration('world').perform(context)
+    webots = WebotsLauncher(world=world_path, 
+                            ros2_supervisor=True)
+
+    # robot_state_publisher можно запускать после webots (или вместе)
+    robot_description_sub: Command = kwargs['robot_description_sub']
+    robot_description_str = robot_description_sub.perform(context)
+    rsp_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        output="screen",
+        parameters=[{
+            "robot_description": robot_description_str,
+            "use_sim_time": True
+        }]
+    )
+
+    # вернуть список действий, которые launch затем подключит
+    return [ webots, rsp_node ]
+
+def _runtime_setup(context, *args, **kwargs):
+    # Получаем значения
+    model_path = LaunchConfiguration('model').perform(context)
+    protos_path = LaunchConfiguration('protos_path').perform(context)
+    robot_name = LaunchConfiguration('robot_name').perform(context)
+    tool_slot = LaunchConfiguration('tool_slot').perform(context)
+    transform_proto = LaunchConfiguration('transform_proto').perform(context)
+    rotation_proto = LaunchConfiguration('rotation_proto').perform(context)
+
+
+
+    # убедимся, что директория существует
+    os.makedirs(protos_path, exist_ok=True)
+
+    proto_output = f"{protos_path}/{robot_name}.proto"   # <- явное .proto
+
+    xacro2proto_node = Node(
+        package="webots_ros2_importer",
+        executable="xacro2proto",
+        name="xacro2proto",
+        output="screen",
+        arguments=[
+            "--input", str(model_path),
+            "--output", proto_output,
+            "--tool-slot", str(tool_slot),
+            "--translation", str(transform_proto).replace(",", " "),
+            "--rotation", str(rotation_proto).replace(",", " "),
+        ]
+    )
+
+    # обработчик: после завершения xacro2proto запускаем OpaqueFunction, который патчит и запускает webots+rsp
+    after_xacro = RegisterEventHandler(
+        OnProcessExit(
+            target_action=xacro2proto_node,
+            on_exit=[
+                OpaqueFunction(
+                    function=_after_xacro,
+                    kwargs={
+                        'proto_path': proto_output,
+                        'robot_description_sub': kwargs['robot_description_sub']
+                    }
+                )
+            ]
+        )
+    )
+
+    return [ xacro2proto_node, after_xacro ]
+
+def generate_launch_description():
+    description_pkg = "iiwa_description"
+
+    declare_model_arg = DeclareLaunchArgument(
+        name="model",
+        default_value=PathJoinSubstitution([
+            FindPackageShare(description_pkg),
+            "urdf",
+            "iiwa7.urdf.xacro"
+        ]),
+    )
+
+    declare_robot_name_arg = DeclareLaunchArgument(name="robot_name", default_value="iiwa7")
+    declare_world_arg = DeclareLaunchArgument(
+        name="world",
+        default_value=PathJoinSubstitution([
+            FindPackageShare(description_pkg),
+            "worlds",
+            "simple_world.wbt"
+        ]),
+    )
+    declare_proto_arg = DeclareLaunchArgument(
+        name="protos_path",
+        default_value=PathJoinSubstitution([
+            FindPackageShare(description_pkg),
+            "protos"
+        ]),
+    )
+    declare_transform_arg = DeclareLaunchArgument(
+        name="transform_proto",
+        default_value="0 0 0"
+    )
+    declare_rotation_arg = DeclareLaunchArgument(
+        name="rotation_proto",
+        default_value="0 0 1 0"
+    )
+    declare_tool_arg = DeclareLaunchArgument(name="tool_slot", default_value="link7_ee")
+
+
+    robot_description_cmd = Command([
+        "xacro ", LaunchConfiguration("model"),
+        " robot_name:=", LaunchConfiguration("robot_name")
+    ])
+
+    runtime_setup = OpaqueFunction(
+        function=_runtime_setup,
+        kwargs={'robot_description_sub': robot_description_cmd}
+    )
+
+    ld = LaunchDescription([
+        declare_model_arg,
+        declare_robot_name_arg,
+        declare_world_arg,
+        declare_proto_arg,
+        declare_transform_arg,
+        declare_rotation_arg,
+        declare_tool_arg,
+        runtime_setup,
+    ])
+    return ld
diff --git a/src/iiwa_bringup/launch/webots.launch.py b/src/iiwa_bringup/launch/webots.launch.py
new file mode 100644
index 0000000..ea033d4
--- /dev/null
+++ b/src/iiwa_bringup/launch/webots.launch.py
@@ -0,0 +1,245 @@
+import xacro
+from pathlib import Path
+from launch.events import Shutdown
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    RegisterEventHandler,
+    OpaqueFunction,
+    EmitEvent,
+    TimerAction
+)
+from launch.event_handlers import OnProcessExit, OnProcessStart
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+from webots_ros2_driver.webots_launcher import WebotsLauncher
+from webots_ros2_driver.urdf_spawner import URDFSpawner
+from webots_ros2_driver.webots_controller import WebotsController
+
+
+def _runtime_controller(robot_name: str,
+                        robot_description_str: str,
+                        transform_proto: str = "0 0 0",
+                        rotation_proto: str = "0 0 1 0",
+                        controller_manager_timer: int = 50):
+    tmo = ['--controller-manager-timeout', str(controller_manager_timer)]
+
+    jsb = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
+        arguments=['joint_state_broadcaster'] + tmo,
+        parameters=[{'use_sim_time': False}],
+    )
+
+    jtc = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
+        arguments=['joint_trajectory_controller'] + tmo, # название с yaml файла
+        parameters=[{'use_sim_time': False}],
+    )
+
+    spawner_urdf = URDFSpawner(
+        name=robot_name,
+        robot_description=robot_description_str,
+        translation=transform_proto,
+        rotation=rotation_proto
+    )
+
+    return [jsb, jtc, spawner_urdf]
+
+
+def _runtime_setup(context, *args, **kwargs):
+    # Получение параметров от пользователя при запуске launch
+    model = LaunchConfiguration('model').perform(context)
+    robot_name = LaunchConfiguration('robot_name').perform(context)
+    transform_proto = LaunchConfiguration('transform_proto').perform(context)
+    rotation_proto = LaunchConfiguration('rotation_proto').perform(context)
+    world_path = LaunchConfiguration('world').perform(context)
+    rviz_status = LaunchConfiguration('rviz').perform(context).lower() in ['true', '1', 'yes']
+    controller_manager = LaunchConfiguration('controller_manager').perform(context)
+
+    # Загрузка описания робота
+    model_path = Path(model)
+    suffix = model_path.suffix.lower()
+    if suffix == ".xacro":
+        robot_description_str = xacro.process_file(model, mappings={'name': str(robot_name)}).toxml()
+    elif suffix==".urdf":
+        robot_description_str = Path(model).read_text(encoding="utf-8")
+    else:
+        raise FileNotFoundError(f"Поддерживаются форматы файла: xacro/urdf")
+
+    # Запуск узлов
+    webots = WebotsLauncher(world=world_path, 
+                            ros2_supervisor=True)
+
+    rsp_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        output="screen",
+        parameters=[{
+            "robot_description": robot_description_str,
+            "use_sim_time": False
+        }]
+    )
+
+    # работа с драйверами
+    driver = WebotsController(
+        robot_name=robot_name,
+        parameters=[
+            {
+                "robot_description": model,
+                "use_sim_time": False,
+                "set_robot_state_publisher": False
+            },
+            LaunchConfiguration('controller').perform(context)
+        ],
+        respawn=True
+    )
+
+    # Во время запуска драйвера спавниться робот и ros2_controllers
+    spawn_on_driver_start = RegisterEventHandler(
+        event_handler=OnProcessStart(
+            target_action=driver,
+            on_start=lambda evt, ctx: [
+                TimerAction(period=2.0,
+                            actions=_runtime_controller(robot_name=robot_name,
+                                                        robot_description_str=robot_description_str,
+                                                        transform_proto=transform_proto,
+                                                        rotation_proto=rotation_proto,
+                                                        controller_manager_timer=controller_manager))
+            ]
+        )
+    )
+
+    # При закрытии webots закрываем все
+    shutdown_on_webots_exit = RegisterEventHandler(
+        OnProcessExit(
+            target_action=webots,
+            on_exit=[EmitEvent(event=Shutdown())]
+        )
+    )
+
+    setup = [webots, 
+             webots._supervisor, 
+             rsp_node, 
+             driver,
+             spawn_on_driver_start,
+             shutdown_on_webots_exit
+            ]
+
+
+    # Настройка rviz
+    if rviz_status:
+
+        rviz_config = PathJoinSubstitution([
+            FindPackageShare(kwargs['package_name']),
+            'config',
+            'rviz_iiwa.rviz'
+        ])
+
+        rviz = Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            arguments=['-d', rviz_config],
+            output='log'
+        )
+
+        # При закрытии rviz закрываем все
+        shutdown_on_rviz_exit = RegisterEventHandler(
+            OnProcessExit(
+                target_action=rviz,
+                on_exit=[EmitEvent(event=Shutdown())]
+            )
+        )
+
+        setup += [rviz, shutdown_on_rviz_exit]
+
+    return setup
+
+
+def generate_launch_description():
+    package_name="iiwa_bringup"
+    description_pkg = "iiwa_description"
+
+    # Объявление аргументов командной строки
+    declare_model_arg = DeclareLaunchArgument(
+        name="model",
+        default_value=PathJoinSubstitution([
+            FindPackageShare(description_pkg),
+            "urdf",
+            "iiwa7.urdf.xacro"
+        ]),
+        description="Path to robot xacro or urdf file (used to build robot_description)."
+    )
+
+    declare_robot_name_arg = DeclareLaunchArgument(
+        name="robot_name",
+        default_value="iiwa7",
+        description="Robot name (used for TF and naming spawned robot)."
+    )
+
+    declare_world_arg = DeclareLaunchArgument(
+        name="world",
+        default_value=PathJoinSubstitution([
+            FindPackageShare(description_pkg),
+            "worlds",
+            "iiwa.wbt"
+        ]),
+        description="Path to the Webots world (.wbt) to launch."
+    )
+
+    declare_controller_arg = DeclareLaunchArgument(
+        name="controller",
+        default_value=PathJoinSubstitution([
+            FindPackageShare(package_name),
+            "config",
+            "iiwa_controller.yaml"
+        ]),
+        description="Path to controllers YAML file (used by spawner and controller_manager)."
+    )
+
+    declare_transform_arg = DeclareLaunchArgument(
+        name="transform_proto",
+        default_value="-0.25 0 0.79",
+        description="Translation applied when spawning the robot in the Webots world (x y z)."
+    )
+
+    declare_rotation_arg = DeclareLaunchArgument(
+        name="rotation_proto",
+        default_value="0 0 1 0",
+        description="Rotation (axis-angle) applied when spawning the robot in the Webots world."
+    )
+
+    declare_rviz_arg = DeclareLaunchArgument(
+        name="rviz",
+        default_value="0",
+        description="If true|1|yes then launch RViz and joint_state_publisher_gui instead of controllers."
+    )
+
+    declare_controller_manager_arg = DeclareLaunchArgument(
+        name="controller_manager",
+        default_value="50",
+        description="Timeout (seconds) for controller_manager spawners (--controller-manager-timeout)."
+    )
+
+    runtime_setup = OpaqueFunction(
+        function=_runtime_setup,
+        kwargs={'package_name': package_name}
+    )
+
+    return LaunchDescription([
+        declare_model_arg,
+        declare_robot_name_arg,
+        declare_world_arg,
+        declare_controller_arg,
+        declare_transform_arg,
+        declare_rotation_arg,
+        declare_rviz_arg,
+        declare_controller_manager_arg,
+        runtime_setup,
+    ])
diff --git a/src/iiwa_bringup/resource/iiwa_bringup b/src/iiwa_bringup/resource/iiwa_bringup
new file mode 100644
index 0000000..e69de29
diff --git a/src/iiwa_bringup/setup.py b/src/iiwa_bringup/setup.py
index 58bb242..fb96316 100644
--- a/src/iiwa_bringup/setup.py
+++ b/src/iiwa_bringup/setup.py
@@ -27,6 +27,7 @@ def data_files_from_tree(src_dir: str, dst_root: str) -> list:
 
 package_name = 'iiwa_bringup'
 
+resource_intsall_root = f"share/{package_name}/resource"
 launch_intsall_root = f"share/{package_name}/launch"
 config_intsall_root = f"share/{package_name}/config"
 
@@ -35,6 +36,7 @@ data_files = [
     ('share/' + package_name, ['package.xml']),
 ]
 
+data_files += data_files_from_tree('resource', resource_intsall_root)
 data_files += data_files_from_tree('launch', launch_intsall_root)
 data_files += data_files_from_tree('config', config_intsall_root)
 
diff --git a/src/iiwa_description/resource/iiwa_description b/src/iiwa_description/resource/iiwa_description
new file mode 100644
index 0000000..e69de29
diff --git a/src/iiwa_description/meshes/collision/base_link.STL b/src/iiwa_description/resource/meshes/collision/base_link.STL
similarity index 100%
rename from src/iiwa_description/meshes/collision/base_link.STL
rename to src/iiwa_description/resource/meshes/collision/base_link.STL
diff --git a/src/iiwa_description/meshes/collision/link1.STL b/src/iiwa_description/resource/meshes/collision/link1.STL
similarity index 100%
rename from src/iiwa_description/meshes/collision/link1.STL
rename to src/iiwa_description/resource/meshes/collision/link1.STL
diff --git a/src/iiwa_description/meshes/collision/link2.STL b/src/iiwa_description/resource/meshes/collision/link2.STL
similarity index 100%
rename from src/iiwa_description/meshes/collision/link2.STL
rename to src/iiwa_description/resource/meshes/collision/link2.STL
diff --git a/src/iiwa_description/meshes/collision/link3.STL b/src/iiwa_description/resource/meshes/collision/link3.STL
similarity index 100%
rename from src/iiwa_description/meshes/collision/link3.STL
rename to src/iiwa_description/resource/meshes/collision/link3.STL
diff --git a/src/iiwa_description/meshes/collision/link4.STL b/src/iiwa_description/resource/meshes/collision/link4.STL
similarity index 100%
rename from src/iiwa_description/meshes/collision/link4.STL
rename to src/iiwa_description/resource/meshes/collision/link4.STL
diff --git a/src/iiwa_description/meshes/collision/link5.STL b/src/iiwa_description/resource/meshes/collision/link5.STL
similarity index 100%
rename from src/iiwa_description/meshes/collision/link5.STL
rename to src/iiwa_description/resource/meshes/collision/link5.STL
diff --git a/src/iiwa_description/meshes/collision/link6.STL b/src/iiwa_description/resource/meshes/collision/link6.STL
similarity index 100%
rename from src/iiwa_description/meshes/collision/link6.STL
rename to src/iiwa_description/resource/meshes/collision/link6.STL
diff --git a/src/iiwa_description/meshes/collision/link7.STL b/src/iiwa_description/resource/meshes/collision/link7.STL
similarity index 100%
rename from src/iiwa_description/meshes/collision/link7.STL
rename to src/iiwa_description/resource/meshes/collision/link7.STL
diff --git a/src/iiwa_description/meshes/visual/base_link.DAE b/src/iiwa_description/resource/meshes/visual/base_link.DAE
similarity index 100%
rename from src/iiwa_description/meshes/visual/base_link.DAE
rename to src/iiwa_description/resource/meshes/visual/base_link.DAE
diff --git a/src/iiwa_description/meshes/visual/link1.DAE b/src/iiwa_description/resource/meshes/visual/link1.DAE
similarity index 100%
rename from src/iiwa_description/meshes/visual/link1.DAE
rename to src/iiwa_description/resource/meshes/visual/link1.DAE
diff --git a/src/iiwa_description/meshes/visual/link2.DAE b/src/iiwa_description/resource/meshes/visual/link2.DAE
similarity index 100%
rename from src/iiwa_description/meshes/visual/link2.DAE
rename to src/iiwa_description/resource/meshes/visual/link2.DAE
diff --git a/src/iiwa_description/meshes/visual/link3.DAE b/src/iiwa_description/resource/meshes/visual/link3.DAE
similarity index 100%
rename from src/iiwa_description/meshes/visual/link3.DAE
rename to src/iiwa_description/resource/meshes/visual/link3.DAE
diff --git a/src/iiwa_description/meshes/visual/link4.DAE b/src/iiwa_description/resource/meshes/visual/link4.DAE
similarity index 100%
rename from src/iiwa_description/meshes/visual/link4.DAE
rename to src/iiwa_description/resource/meshes/visual/link4.DAE
diff --git a/src/iiwa_description/meshes/visual/link5.DAE b/src/iiwa_description/resource/meshes/visual/link5.DAE
similarity index 100%
rename from src/iiwa_description/meshes/visual/link5.DAE
rename to src/iiwa_description/resource/meshes/visual/link5.DAE
diff --git a/src/iiwa_description/meshes/visual/link6.DAE b/src/iiwa_description/resource/meshes/visual/link6.DAE
similarity index 100%
rename from src/iiwa_description/meshes/visual/link6.DAE
rename to src/iiwa_description/resource/meshes/visual/link6.DAE
diff --git a/src/iiwa_description/meshes/visual/link7.DAE b/src/iiwa_description/resource/meshes/visual/link7.DAE
similarity index 100%
rename from src/iiwa_description/meshes/visual/link7.DAE
rename to src/iiwa_description/resource/meshes/visual/link7.DAE
diff --git a/src/iiwa_description/resource/protos/CollaborativeRobotTable.proto b/src/iiwa_description/resource/protos/CollaborativeRobotTable.proto
new file mode 100644
index 0000000..d6c2d3f
--- /dev/null
+++ b/src/iiwa_description/resource/protos/CollaborativeRobotTable.proto
@@ -0,0 +1,152 @@
+#VRML_SIM R2025a utf8
+# license: Apache License 2.0
+# license url: https://www.apache.org/licenses/LICENSE-2.0
+# keywords: industrial/other
+# A table for placing collaborative work and working with it
+# It is possible to add a network cabinet on the back of the table
+# template language: javascript
+
+
+PROTO CollaborativeRobotTable [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFString name "CollaborativeRobotTable"
+  field SFString contactMaterial "TableMaterial"
+  field SFBool locked FALSE
+  field SFBool showCabinet FALSE # Defines the display of the network cabinet
+]
+{
+
+  %<
+    let showCabinet = fields.showCabinet.value;
+  >%
+
+  Solid {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    locked IS locked
+    contactMaterial IS contactMaterial
+
+    children [
+      %< if (showCabinet) { >%
+      Group {
+        children [
+          Solid {
+            translation -0.66 4.26e-06 0.099998
+            rotation 0.5773509358560258 -0.577349935856137 -0.577349935856137 2.09439
+            children [
+              Pose {
+                translation -0.3135 0.19 0
+                children [
+                  Shape {
+                    appearance PBRAppearance {
+                      baseColor 0.57 0.57 0.57
+                      roughness 1
+                    }
+                    geometry Mesh {
+                      url [
+                        "./meshes/iiwaTable/ElectricCabinet.obj"
+                      ]
+                    }
+                  }
+                ]
+                translationStep 0.001
+              }
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.57 0.57 0.57
+                  roughness 1
+                }
+                geometry Mesh {
+                  url [
+                    "./meshes/iiwaTable/CabinetFrame.obj"
+                  ]
+                }
+              }
+            ]
+            name "Cabinet"
+          }
+        ]
+      }
+      %< } >%
+      Group {
+        children [
+          Solid {
+            children [
+              Pose {
+                translation 0 0 0.79
+                children [
+                  Shape {
+                    appearance PBRAppearance {
+                      roughness 1
+                      metalness 0
+                    }
+                    geometry Box {
+                      size 1.28 1.08 0.02
+                    }
+                  }
+                ]
+              }
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.57 0.57 0.57
+                  roughness 1
+                }
+                geometry Mesh {
+                  url [
+                    "./meshes/iiwaTable/TableFrame.obj"
+                  ]
+                }
+              }
+              Pose {
+                translation -0.263 0 0.8
+                children [
+                  Shape {
+                    appearance PBRAppearance {
+                      baseColor 0.517647 0.513726 0.568627
+                      roughness 1
+                    }
+                    geometry Mesh {
+                      url [
+                        "./meshes/iiwaTable/PlateUnderRobot.obj"
+                      ]
+                    }
+                  }
+                ]
+                translationStep 0.001
+              }
+            ]
+            name "Table"
+          }
+        ]
+      }
+    ]
+    boundingObject Group {
+      children [
+        %< if (showCabinet) { >%
+        Pose {
+          translation -0.78 4.97601e-06 0.609998
+          rotation 0.5773509358560258 -0.577349935856137 -0.577349935856137 2.09439
+          children [
+            Box {
+              size 0.66 0.96 0.28
+            }
+          ]
+        }
+        %< } >%
+        Pose {
+          translation 0 0 0.4035
+          children [
+            Box {
+              size 1.28 1.08 0.7926
+            }
+          ]
+        }
+      ]
+    }
+  }
+
+}
+
+
diff --git a/src/iiwa_description/resource/protos/IntelRealsenseD455.proto b/src/iiwa_description/resource/protos/IntelRealsenseD455.proto
new file mode 100644
index 0000000..bd76e3f
--- /dev/null
+++ b/src/iiwa_description/resource/protos/IntelRealsenseD455.proto
@@ -0,0 +1,111 @@
+#VRML_SIM R2025a utf8
+# license: Apache License 2.0
+# license url: http://www.apache.org/licenses/LICENSE-2.0
+# Model of the Intel Realsense D455 RGBD camera.
+# keywords: sensor/range-finder, sensor/camera
+# template language: javascript
+
+PROTO IntelRealsenseD455 [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFString name "IntelRealsenseD455"
+  field SFBool locked FALSE
+  field SFString controller "<none>"
+  field MFString controllerArgs [ ]
+  field SFBool supervisor FALSE
+  field SFString{"HD", "VGA", "FULL"} resolution "VGA"
+  field SFFloat fieldOfView 1.4746  # Diagonal ~84.43° from inr parametrs
+  field SFFloat minRange 0.01
+  field SFFloat maxRange 6.0
+  field SFNode focus NULL
+  field SFNode recognition Recognition{}
+  field SFNode physics Physics {
+    density -1
+    mass 0.35
+    centerOfMass [0 0 0]
+  }
+]
+{
+  %<
+    const cameraName = fields.name.value;
+    const resMode = fields.resolution.value.toUpperCase();
+    let width = 1280;
+    let height = 800;
+
+    if (resMode === "VGA") {
+      width = 640;
+      height = 480;
+    } else if (resMode === "HD") {
+      width = 1280;
+      height = 720;
+    } else if (resMode === "FULL") {
+      width = 1280;
+      height = 800;
+    }
+  >%
+
+  Robot {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    locked IS locked
+    controller IS controller
+    controllerArgs IS controllerArgs
+    supervisor IS supervisor
+
+    children [
+      RangeFinder {
+        translation 0.005 0 0
+        name %<='"' + cameraName + '_depth"'>%
+        locked TRUE
+        radarCrossSection 0.01
+        fieldOfView IS fieldOfView
+        width %<= width >%
+        height %<= height >%
+        near IS minRange
+        minRange IS minRange
+        maxRange IS maxRange
+        noise 0.01
+        resolution 0.001
+      }
+
+      Camera {
+        translation 0.005 0 0
+        name %<='"' + cameraName + '_rgb"'>%
+        locked TRUE
+        fieldOfView IS fieldOfView
+        width %<= width >%
+        height %<= height >%
+        near IS minRange
+        far 10
+        exposure 0.5
+        antiAliasing TRUE
+        noise 0.01
+        focus IS focus
+        recognition IS recognition
+      }
+
+      Solid {
+        translation 0.013 0 0
+        rotation 0.5773489358556708 0.5773509358554485 0.5773509358554485 2.0944
+        children [
+          CadShape {
+            url [
+              "./meshes/cameras/visual/IntelRealsenseD455.dae"
+            ]
+          }
+        ]
+        locked TRUE
+      }
+    ]
+
+    boundingObject Pose {
+      children [
+        Box {
+          size 0.027 0.123 0.025
+        }
+      ]
+    }
+    physics IS physics
+  }
+}
diff --git a/src/iiwa_description/resource/protos/WorkspaceLimiter.proto b/src/iiwa_description/resource/protos/WorkspaceLimiter.proto
new file mode 100644
index 0000000..2e2bb61
--- /dev/null
+++ b/src/iiwa_description/resource/protos/WorkspaceLimiter.proto
@@ -0,0 +1,83 @@
+#VRML_SIM R2025a utf8
+# license: Apache License 2.0
+# license url: https://www.apache.org/licenses/LICENSE-2.0
+# keywords: industrial/other
+# Workspace limiter in the form of square blocks that can be increased in size
+# template language: javascript
+
+
+PROTO WorkspaceLimiter [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFString name "WorkspaceLimiter"
+  field SFBool locked FALSE
+  field SFVec2f countLimiter 1 1 # Defines the number of blocks by X and Y
+  field SFVec3f scale 1 1 1 # Defines the size of the blocks
+  field SFFloat spacing 0.02 # Defines the distance between blocks
+]
+{
+
+  %<
+    let countLimiter = fields.countLimiter.value;
+    let scale = fields.scale.value;
+    let spacing = fields.spacing.value;
+
+    let widthCount = countLimiter.x;
+    let heightCount = countLimiter.y;
+
+    let boxWidth = 1.25;
+    let boxHeight = 1;
+    let boxDepth = 0.01;
+
+    if (spacing <= 0) {
+      console.error("The indentation between the blocks cannot be negative")
+      spacing = 0.02
+    }
+
+  >%
+
+  Solid {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    locked IS locked
+    children [
+      %<
+        for (let i = 0; i < widthCount; i++) {
+          for (let j = 0; j < heightCount; j++) {
+            let x = (i * (boxWidth + spacing) - (widthCount - 1) * (boxWidth + spacing) / 2) * scale.x;
+            let y = (j * (boxHeight + spacing) - (heightCount - 1) * (boxHeight + spacing) / 2) * scale.y;
+      >%
+        Transform {
+          translation %<= x >% 0 %<= y >%
+          scale %<= scale.x >% %<= scale.y >% %<= scale.z >%
+          children [
+            Shape {
+              appearance PBRAppearance {
+                roughness 1
+                metalness 0
+                IBLStrength 5
+              }
+              geometry Box {
+                size %<= boxWidth >% %<= boxDepth >% %<= boxHeight >%
+              }
+            }
+            Shape {
+              appearance PBRAppearance {
+                baseColor 0.57 0.57 0.57
+                roughness 1
+                metalness 0
+              }
+              geometry Mesh {
+                url ["./meshes/WorkspaceLimiter/fence.obj"]
+              }
+            }
+          ]
+        }
+      %<
+          }
+        }
+      >%
+    ]
+  }
+}
diff --git a/src/iiwa_description/resource/protos/icons/CollaborativeRobotTable.png b/src/iiwa_description/resource/protos/icons/CollaborativeRobotTable.png
new file mode 100644
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diff --git a/src/iiwa_description/resource/protos/icons/WorkspaceLimiter.png b/src/iiwa_description/resource/protos/icons/WorkspaceLimiter.png
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diff --git a/src/iiwa_description/resource/protos/meshes/cameras/visual/IntelRealsenseD455.dae b/src/iiwa_description/resource/protos/meshes/cameras/visual/IntelRealsenseD455.dae
new file mode 100644
index 0000000..bf9f949
--- /dev/null
+++ b/src/iiwa_description/resource/protos/meshes/cameras/visual/IntelRealsenseD455.dae
@@ -0,0 +1,1954 @@
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+          <technique_common>
+            <accessor count="1060" source="#cubenormals-array0-array" stride="3">
+              <param type="float" name="X"/>
+              <param type="float" name="Y"/>
+              <param type="float" name="Z"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="cubeverts-array0-vertices">
+          <input semantic="POSITION" source="#cubeverts-array0"/>
+        </vertices>
+        <triangles count="1060" material="ref_Part__Feature009">
+          <input offset="0" semantic="VERTEX" source="#cubeverts-array0-vertices"/>
+          <input offset="1" semantic="NORMAL" source="#cubenormals-array0"/>
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+              <param type="float" name="X"/>
+              <param type="float" name="Y"/>
+              <param type="float" name="Z"/>
+            </accessor>
+          </technique_common>
+        </source>
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+          <input semantic="POSITION" source="#cubeverts-array8"/>
+        </vertices>
+        <triangles count="3064" material="ref_Part__Feature005">
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+    </geometry>
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967 5314 2591 5314 2592 5314 967 5315 2592 5315 969 5315 1152 5316 1154 5316 1973 5316 3461 5317 3460 5317 2770 5317 3461 5318 2770 5318 2771 5318 3461 5319 2771 5319 2772 5319 965 5320 2584 5320 2591 5320 965 5321 2591 5321 967 5321 1151 5322 1152 5322 1973 5322 3462 5323 3461 5323 2772 5323 3462 5324 2772 5324 2773 5324 963 5325 2582 5325 2583 5325 963 5326 2583 5326 2584 5326 963 5327 2584 5327 965 5327 1149 5328 1151 5328 1973 5328 3463 5329 3462 5329 2773 5329 3463 5330 2773 5330 2774 5330 961 5331 2575 5331 2582 5331 961 5332 2582 5332 963 5332 1147 5333 1149 5333 1973 5333 3464 5334 3463 5334 2774 5334 3464 5335 2774 5335 2775 5335 3464 5336 2775 5336 2776 5336 1145 5337 1147 5337 1973 5337 959 5338 2574 5338 2575 5338 959 5339 2575 5339 961 5339 1143 5340 1145 5340 1973 5340 1143 5341 1973 5341 2761 5341 3465 5342 3464 5342 2776 5342 3465 5343 2776 5343 2777 5343 957 5344 2568 5344 2574 5344 957 5345 2574 5345 959 5345 1141 5346 1143 5346 2761 5346 3466 5347 2777 5347 2778 5347 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+          <technique_common>
+            <accessor count="5319" source="#cubenormals-array18-array" stride="3">
+              <param type="float" name="X"/>
+              <param type="float" name="Y"/>
+              <param type="float" name="Z"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="cubeverts-array18-vertices">
+          <input semantic="POSITION" source="#cubeverts-array18"/>
+        </vertices>
+        <triangles count="5319" material="ref_Part__Feature015">
+          <input offset="0" semantic="VERTEX" source="#cubeverts-array18-vertices"/>
+          <input offset="1" semantic="NORMAL" source="#cubenormals-array18"/>
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+          <technique_common>
+            <accessor count="8092" source="#cubenormals-array20-array" stride="3">
+              <param type="float" name="X"/>
+              <param type="float" name="Y"/>
+              <param type="float" name="Z"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="cubeverts-array20-vertices">
+          <input semantic="POSITION" source="#cubeverts-array20"/>
+        </vertices>
+        <triangles count="8092" material="ref_Part__Feature018">
+          <input offset="0" semantic="VERTEX" source="#cubeverts-array20-vertices"/>
+          <input offset="1" semantic="NORMAL" source="#cubenormals-array20"/>
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+              <param type="float" name="X"/>
+              <param type="float" name="Y"/>
+              <param type="float" name="Z"/>
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+          </technique_common>
+        </source>
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+        </vertices>
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2121 903 2122 1206 2122 1207 2122 904 2123 903 2123 1207 2123 904 2124 1207 2124 1208 2124 905 2125 904 2125 1208 2125 905 2126 1208 2126 1209 2126 906 2127 905 2127 1209 2127 906 2128 1209 2128 1210 2128 907 2129 906 2129 1210 2129 907 2130 1210 2130 1211 2130 908 2131 907 2131 1211 2131 908 2132 1211 2132 1212 2132 909 2133 908 2133 1212 2133 909 2134 1212 2134 1213 2134 910 2135 909 2135 1213 2135 910 2136 1213 2136 1214 2136 911 2137 910 2137 1214 2137 911 2138 1214 2138 1215 2138 912 2139 911 2139 1215 2139 912 2140 1215 2140 1216 2140 1006 2141 912 2141 1216 2141 1006 2142 1216 2142 1217 2142 913 2143 1006 2143 1217 2143 913 2144 1217 2144 1218 2144 914 2145 913 2145 1218 2145 914 2146 1218 2146 1219 2146 915 2147 914 2147 1219 2147 915 2148 1219 2148 1220 2148 916 2149 915 2149 1220 2149 916 2150 1220 2150 1221 2150 917 2151 916 2151 1221 2151 917 2152 1221 2152 1222 2152 918 2153 917 2153 1222 2153 918 2154 1222 2154 1223 2154 919 2155 918 2155 1223 2155 919 2156 1223 2156 1224 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+    </geometry>
+  </library_geometries>
+  <library_materials>
+    <material id="mat_Part__Feature009" name="Part__Feature009">
+      <instance_effect url="#effect_Part__Feature009"/>
+    </material>
+    <material id="mat_Part__Feature010" name="Part__Feature010">
+      <instance_effect url="#effect_Part__Feature010"/>
+    </material>
+    <material id="mat_Part__Feature011" name="Part__Feature011">
+      <instance_effect url="#effect_Part__Feature011"/>
+    </material>
+    <material id="mat_Part__Feature014" name="Part__Feature014">
+      <instance_effect url="#effect_Part__Feature014"/>
+    </material>
+    <material id="mat_Part__Feature022" name="Part__Feature022">
+      <instance_effect url="#effect_Part__Feature022"/>
+    </material>
+    <material id="mat_Part__Feature" name="Part__Feature">
+      <instance_effect url="#effect_Part__Feature"/>
+    </material>
+    <material id="mat_Part__Feature003" name="Part__Feature003">
+      <instance_effect url="#effect_Part__Feature003"/>
+    </material>
+    <material id="mat_Part__Feature004" name="Part__Feature004">
+      <instance_effect url="#effect_Part__Feature004"/>
+    </material>
+    <material id="mat_Part__Feature005" name="Part__Feature005">
+      <instance_effect url="#effect_Part__Feature005"/>
+    </material>
+    <material id="mat_Part__Feature006" name="Part__Feature006">
+      <instance_effect url="#effect_Part__Feature006"/>
+    </material>
+    <material id="mat_Part__Feature007" name="Part__Feature007">
+      <instance_effect url="#effect_Part__Feature007"/>
+    </material>
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+      <instance_effect url="#effect_Part__Feature008"/>
+    </material>
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+      <instance_effect url="#effect_Part__Feature012"/>
+    </material>
+    <material id="mat_Part__Feature013" name="Part__Feature013">
+      <instance_effect url="#effect_Part__Feature013"/>
+    </material>
+    <material id="mat_Part__Feature016" name="Part__Feature016">
+      <instance_effect url="#effect_Part__Feature016"/>
+    </material>
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+      <instance_effect url="#effect_Part__Feature021"/>
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+      <instance_effect url="#effect_Part__Feature001"/>
+    </material>
+    <material id="mat_Part__Feature002" name="Part__Feature002">
+      <instance_effect url="#effect_Part__Feature002"/>
+    </material>
+    <material id="mat_Part__Feature015" name="Part__Feature015">
+      <instance_effect url="#effect_Part__Feature015"/>
+    </material>
+    <material id="mat_Part__Feature017" name="Part__Feature017">
+      <instance_effect url="#effect_Part__Feature017"/>
+    </material>
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+      <instance_effect url="#effect_Part__Feature018"/>
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+    </material>
+    <material id="mat_Part__Feature020" name="Part__Feature020">
+      <instance_effect url="#effect_Part__Feature020"/>
+    </material>
+  </library_materials>
+  <library_visual_scenes>
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diff --git a/src/iiwa_description/resource/protos/meshes/iiwaTable/TableFrame.obj b/src/iiwa_description/resource/protos/meshes/iiwaTable/TableFrame.obj
new file mode 100644
index 0000000..b1b1f70
--- /dev/null
+++ b/src/iiwa_description/resource/protos/meshes/iiwaTable/TableFrame.obj
@@ -0,0 +1,2308 @@
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diff --git a/src/iiwa_description/setup.py b/src/iiwa_description/setup.py
index b78e23e..cd782de 100644
--- a/src/iiwa_description/setup.py
+++ b/src/iiwa_description/setup.py
@@ -27,15 +27,23 @@ def data_files_from_tree(src_dir: str, dst_root: str) -> list:
 
 package_name = 'iiwa_description'
 
+resource_intsall_root = f"share/{package_name}/resource"
 meshes_intsall_root = f"share/{package_name}/meshes"
 urdf_intsall_root = f"share/{package_name}/urdf"
+worlds_intsall_root = f"share/{package_name}/worlds"
+protos_intsall_root = f"share/{package_name}/protos"
+
+
 
 data_files = [
     ('share/' + package_name, ['package.xml']),
 ]
 
+data_files += data_files_from_tree('resource', resource_intsall_root)
 data_files += data_files_from_tree('meshes', meshes_intsall_root)
 data_files += data_files_from_tree('urdf', urdf_intsall_root)
+data_files += data_files_from_tree('worlds', worlds_intsall_root)
+data_files += data_files_from_tree('protos', protos_intsall_root)
 
 
 setup(
diff --git a/src/iiwa_description/urdf/iiwa7.urdf b/src/iiwa_description/urdf/iiwa7.urdf
new file mode 100644
index 0000000..3f004ba
--- /dev/null
+++ b/src/iiwa_description/urdf/iiwa7.urdf
@@ -0,0 +1,280 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ./src/iiwa_description/urdf/iiwa7.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="iiwa7">
+  <link name="world"/>
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.012856764088336 7.05371084939836E-07 0.0679655592591469"/>
+      <mass value="30.2763517543289"/>
+      <inertia ixx="0.111239565538359" ixy="-3.81097437253422e-07" ixz="0.00486659750522703" iyy="0.139017104291389" iyz="7.87871531503135e-07" izz="0.133028621926226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/visual/base_link.DAE"/>
+      </geometry>
+      <material name="iiwa_material">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/collision/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-4.78790441849064E-07 -0.0348192058752328 -0.0692021315991948"/>
+      <mass value="21.1627406257303"/>
+      <inertia ixx="0.133321610552378" ixy="-5.3830316300325e-07" ixz="9.16989471201082e-07" iyy="0.127213841326705" iyz="0.0236704924620788" izz="0.047155320135412"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/visual/link1.DAE"/>
+      </geometry>
+      <material name="iiwa_material">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/collision/link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-5.2906167189587E-07 -0.0869460684741495 0.0287906957294968"/>
+      <mass value="25.1403147192251"/>
+      <inertia ixx="0.197631241693207" ixy="9.50708464039702e-08" ixz="-3.51963818841194e-07" iyy="0.0602720613821397" iyz="-0.0367196702125505" izz="0.187557269753206"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/visual/link2.DAE"/>
+      </geometry>
+      <material name="iiwa_material">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/collision/link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="8.94264666317923E-07 0.0343188244798595 -0.0692020521907963"/>
+      <mass value="21.1627874292289"/>
+      <inertia ixx="0.133322417523041" ixy="-2.72387851582384e-07" ixz="-2.31579646685682e-07" iyy="0.127213838333813" iyz="-0.0236710393468367" izz="0.0471557500559207"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/visual/link3.DAE"/>
+      </geometry>
+      <material name="iiwa_material">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/collision/link3.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="9.9343785475714E-08 -0.0869462342636022 -0.0292907044657978"/>
+      <mass value="25.140328983289"/>
+      <inertia ixx="0.197630839812683" ixy="-3.9082887807781e-07" ixz="-3.24564289064112e-07" iyy="0.0602723071447973" iyz="0.0367195588674331" izz="0.187556898167347"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/visual/link4.DAE"/>
+      </geometry>
+      <material name="iiwa_material">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/collision/link4.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-1.5059645121912E-07 -0.0298223596156005 -0.116233672352317"/>
+      <mass value="9.53466992761605"/>
+      <inertia ixx="0.0529038960536523" ixy="6.86274869084724e-08" ixz="3.57472026918582e-07" iyy="0.0444942713885967" iyz="0.0174914068345989" izz="0.0239916848880951"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/visual/link5.DAE"/>
+      </geometry>
+      <material name="iiwa_material">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/collision/link5.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="3.09820422451923E-06 -0.000588422963829549 0.000348569863276505"/>
+      <mass value="14.2007599322815"/>
+      <inertia ixx="0.0384515762635731" ixy="-6.70279497724119e-08" ixz="2.19173188415509e-06" iyy="0.0280010940276735" iyz="-0.00192249677468735" izz="0.0368124806983828"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/visual/link6.DAE"/>
+      </geometry>
+      <material name="iiwa_material">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/collision/link6.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="5.28878934317328E-07 3.37199922245852E-07 -0.0274928177649973"/>
+      <mass value="2.47156969383589"/>
+      <inertia ixx="0.00177365937026673" ixy="-1.2410521430667e-07" ixz="-2.95409038849194e-08" iyy="0.00177328722902027" iyz="-1.57567641084958e-08" izz="0.00272748710623445"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/visual/link7.DAE"/>
+      </geometry>
+      <material name="iiwa_material">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iiwa_description/resource/meshes/collision/link7.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_ee"/>
+  <joint name="world_base_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="world"/>
+    <child link="base_link"/>
+  </joint>
+  <joint name="joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.3375"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="176" lower="-2.97" upper="2.97" velocity="1.71"/>
+  </joint>
+  <joint name="joint2" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
+    <parent link="link1"/>
+    <child link="link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="176" lower="-2.09" upper="2.09" velocity="1.71"/>
+  </joint>
+  <joint name="joint3" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 -0.3993 0"/>
+    <parent link="link2"/>
+    <child link="link3"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="110" lower="-2.97" upper="2.97" velocity="1.75"/>
+  </joint>
+  <joint name="joint4" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
+    <parent link="link3"/>
+    <child link="link4"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="110" lower="-2.09" upper="2.09" velocity="2.27"/>
+  </joint>
+  <joint name="joint5" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 -0.3993 0"/>
+    <parent link="link4"/>
+    <child link="link5"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="110" lower="-2.97" upper="2.97" velocity="2.44"/>
+  </joint>
+  <joint name="joint6" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
+    <parent link="link5"/>
+    <child link="link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="40" lower="-2.09" upper="2.09" velocity="3.14"/>
+  </joint>
+  <joint name="joint7" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 -0.126 0"/>
+    <parent link="link6"/>
+    <child link="link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="40" lower="-3.05" upper="3.05" velocity="3.14"/>
+  </joint>
+  <joint name="tools_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="link7"/>
+    <child link="link_ee"/>
+  </joint>
+  <webots>
+    <plugin type="webots_ros2_control::Ros2Control"/>
+  </webots>
+  <ros2_control name="iiwaWebotsControl" type="system">
+    <hardware>
+      <plugin>webots_ros2_control::Ros2ControlSystem</plugin>
+    </hardware>
+    <joint name="joint1">
+      <state_interface name="position"/>
+      <command_interface name="position"/>
+    </joint>
+    <joint name="joint2">
+      <state_interface name="position"/>
+      <command_interface name="position"/>
+    </joint>
+    <joint name="joint3">
+      <state_interface name="position"/>
+      <command_interface name="position"/>
+    </joint>
+    <joint name="joint4">
+      <state_interface name="position"/>
+      <command_interface name="position"/>
+    </joint>
+    <joint name="joint5">
+      <state_interface name="position"/>
+      <command_interface name="position"/>
+    </joint>
+    <joint name="joint6">
+      <state_interface name="position"/>
+      <command_interface name="position"/>
+    </joint>
+    <joint name="joint7">
+      <state_interface name="position"/>
+      <command_interface name="position"/>
+    </joint>
+  </ros2_control>
+</robot>
diff --git a/src/iiwa_description/urdf/iiwa7.urdf.xacro b/src/iiwa_description/urdf/iiwa7.urdf.xacro
index 6abc628..c4a4248 100644
--- a/src/iiwa_description/urdf/iiwa7.urdf.xacro
+++ b/src/iiwa_description/urdf/iiwa7.urdf.xacro
@@ -6,5 +6,51 @@
     <xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
     <xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>
 
+    <webots>
+        <plugin type="webots_ros2_control::Ros2Control"/>
+    </webots>
+
+    <ros2_control name="iiwaWebotsControl" type="system">
+        <hardware>
+            <plugin>webots_ros2_control::Ros2ControlSystem</plugin>
+        </hardware>
+
+        <joint name="joint1">
+            <state_interface name="position"/>
+            <command_interface name="position"/>
+        </joint>
+
+        <joint name="joint2">
+            <state_interface name="position"/>
+            <command_interface name="position"/>
+        </joint>
+
+        <joint name="joint3">
+            <state_interface name="position"/>
+            <command_interface name="position"/>
+        </joint>
+
+        <joint name="joint4">
+            <state_interface name="position"/>
+            <command_interface name="position"/>
+        </joint>
+
+        <joint name="joint5">
+            <state_interface name="position"/>
+            <command_interface name="position"/>
+        </joint>
+
+        <joint name="joint6">
+            <state_interface name="position"/>
+            <command_interface name="position"/>
+        </joint>
+
+        <joint name="joint7">
+            <state_interface name="position"/>
+            <command_interface name="position"/>
+        </joint>
+
+    </ros2_control>
+
 
 </robot>
\ No newline at end of file
diff --git a/src/iiwa_description/urdf/joints.xacro b/src/iiwa_description/urdf/joints.xacro
index 96a0289..c2440cc 100644
--- a/src/iiwa_description/urdf/joints.xacro
+++ b/src/iiwa_description/urdf/joints.xacro
@@ -12,48 +12,48 @@
     <!-- joint1 -->
     <xacro:revolute_joint jname="joint1" parent="base_link" child="link1"
                         xyz="0 0 0.3375" rpy="0 0 0" axis="0 0 -1"
-                        lower="-2.97" upper="2.97" effort="176" velocity="1.71"/>
+                        lower="-2.97" upper="2.97" effort="500" velocity="1.71"/>
 
 
     <!-- joint2 -->
     <xacro:revolute_joint jname="joint2" parent="link1" child="link2"
                         xyz="0 0 0" rpy="-1.5708 0 0" axis="0 0 1"
-                        lower="-2.09" upper="2.09" effort="176" velocity="1.71"/>
+                        lower="-2.09" upper="2.09" effort="500" velocity="1.71"/>
 
 
     <!-- joint3 -->
     <xacro:revolute_joint jname="joint3" parent="link2" child="link3"
                         xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 -1"
-                        lower="-2.97" upper="2.97" effort="110" velocity="1.75"/>
+                        lower="-2.97" upper="2.97" effort="500" velocity="1.75"/>
 
 
     <!-- joint4 -->
     <xacro:revolute_joint jname="joint4" parent="link3" child="link4"
                         xyz="0 0 0" rpy="-1.5708 0 0" axis="0 0 -1"
-                        lower="-2.09" upper="2.09" effort="110" velocity="2.27"/>
+                        lower="-2.09" upper="2.09" effort="500" velocity="2.27"/>
 
 
     <!-- joint5 -->
     <xacro:revolute_joint jname="joint5" parent="link4" child="link5"
                         xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 -1"
-                        lower="-2.97" upper="2.97" effort="110" velocity="2.44"/>
+                        lower="-2.97" upper="2.97" effort="500" velocity="2.44"/>
 
 
     <!-- joint6 -->
     <xacro:revolute_joint jname="joint6" parent="link5" child="link6"
                         xyz="0 0 0" rpy="-1.5708 0 0" axis="0 0 1"
-                        lower="-2.09" upper="2.09" effort="40" velocity="3.14"/>
+                        lower="-2.09" upper="2.09" effort="500" velocity="3.14"/>
 
 
     <!-- joint7 -->
     <xacro:revolute_joint jname="joint7" parent="link6" child="link7"
                         xyz="0 -0.126 0" rpy="1.5708 0 0" axis="0 0 1"
-                        lower="-3.05" upper="3.05" effort="40" velocity="3.14"/>
+                        lower="-3.05" upper="3.05" effort="500" velocity="3.14"/>
 
     <joint name="tools_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
         <parent link="link7"/>
-        <child link="link7_ee"/>
+        <child link="link_ee"/>
     </joint>
 
 </robot>
\ No newline at end of file
diff --git a/src/iiwa_description/urdf/links.xacro b/src/iiwa_description/urdf/links.xacro
index ae4b4a3..136b2b6 100644
--- a/src/iiwa_description/urdf/links.xacro
+++ b/src/iiwa_description/urdf/links.xacro
@@ -101,6 +101,6 @@
                      mesh_vision="${mesh_link7_v}" 
                      mesh_collision="${mesh_link7_c}"/>
 
-    <link name="link7_ee" />
+    <link name="link_ee" />
 
 </robot>
\ No newline at end of file
diff --git a/src/iiwa_description/urdf/meshes.xacro b/src/iiwa_description/urdf/meshes.xacro
index f58d5d2..5de8ddf 100644
--- a/src/iiwa_description/urdf/meshes.xacro
+++ b/src/iiwa_description/urdf/meshes.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
 
-    <xacro:property name="pkg" value="package://iiwa_description/meshes"/>
+    <xacro:property name="pkg" value="package://iiwa_description/resource/meshes"/>
 
     <!-- Меши отображения -->
     <xacro:property name="mesh_base_v" value="${pkg}/visual/base_link.DAE"/>
diff --git a/src/iiwa_description/worlds/iiwa.wbt b/src/iiwa_description/worlds/iiwa.wbt
new file mode 100644
index 0000000..6f9e95c
--- /dev/null
+++ b/src/iiwa_description/worlds/iiwa.wbt
@@ -0,0 +1,67 @@
+#VRML_SIM R2025a utf8
+
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/RectangleArena.proto"
+EXTERNPROTO "../resource/protos/CollaborativeRobotTable.proto"
+EXTERNPROTO "../resource/protos/WorkspaceLimiter.proto"
+
+WorldInfo {
+  title "iiwa robotics"
+  contactProperties [
+    ContactProperties {
+      material1 "TableMaterial"
+      coulombFriction [
+        0
+      ]
+      bounce 0
+      bounceVelocity 0
+      softERP 1
+      softCFM 0.0001
+    }
+  ]
+}
+Viewpoint {
+  orientation 0.19675345789351045 -0.08356742903703787 -0.976885132249993 3.928186370440618
+  position 5.324715157515194 -4.7927780008585446 4.166958679133935
+  followType "Mounted Shot"
+  ambientOcclusionRadius 3
+}
+TexturedBackground {
+}
+TexturedBackgroundLight {
+  texture "noon_sunny_empty"
+  luminosity 2
+}
+RectangleArena {
+  name "Room"
+  floorSize 12 12
+  wallHeight 2
+}
+CollaborativeRobotTable {
+  translation 0 0 -0.007
+  locked TRUE
+  showCabinet TRUE
+}
+
+Group {
+  children [
+    WorkspaceLimiter {
+      translation -1.56 -0.219999 1.01
+      rotation 0 0 1 1.5708
+      name "WorkspaceLimiter_back"
+      locked TRUE
+      scale 2.32 1 2
+    }
+    WorkspaceLimiter {
+      translation -0.04 1.18 1.01
+      name "WorkspaceLimiter_right"
+      locked TRUE
+      scale 2.43 1 2
+    }
+  ]
+}
+DirectionalLight {
+  direction -0.1 0.1 0
+  intensity 2
+}
diff --git a/src/iiwa_description/worlds/simple_world.wbt b/src/iiwa_description/worlds/simple_world.wbt
new file mode 100644
index 0000000..2271a17
--- /dev/null
+++ b/src/iiwa_description/worlds/simple_world.wbt
@@ -0,0 +1,19 @@
+#VRML_SIM R2025a utf8
+
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/RectangleArena.proto"
+
+WorldInfo {
+}
+Viewpoint {
+  orientation -0.20135401485081894 0.14705590432610455 0.9684168119700772 1.9104172436184537
+  position 2.126114183750861 -6.172386590547907 2.2530769187603243
+}
+TexturedBackground {
+}
+TexturedBackgroundLight {
+}
+RectangleArena {
+  floorSize 5 5
+}