grabardm/lightweight-cobot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 1 Wiki Activity

Add URDF model for table and SDF world configuration

Browse Source 
- Created a new URDF file for the table model, including links for the table frame, wood palette, robot palette, cabinet frame, and cabinet, along with their respective visual and collision properties.
- Defined joints to connect the various components of the table model.
- Added a new SDF file for the simulation world, setting up the environment with physics properties, a ground plane, and lighting.
This commit is contained in:
Даниил Грабарь
2026-04-08 16:38:59 +10:00
parent 45e134e116
commit f474d330ad
9 changed files with 4402 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/iiwa_config/config/rviz/rviz_moveit.rviz
+77 -17
View File
@@ -7,7 +7,7 @@ Panels:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 166
Tree Height: 164
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@@ -78,11 +78,31 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
@@ -122,6 +142,16 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
plate:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
screw:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
@@ -135,7 +165,7 @@ Visualization Manager:
State Display Time: 3x
Trail Step Size: 1
Trajectory Topic: /display_planned_path
Use Sim Time: True
Use Sim Time: true
Planning Metrics:
Payload: 1
Show Joint Torques: false
@@ -147,7 +177,7 @@ Visualization Manager:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0.3
Interactive Marker Size: 0.30000001192092896
Joint Violation Color: 255; 0; 255
Planning Group: iiwa_arm
Query Goal State: true
@@ -172,11 +202,31 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
@@ -216,6 +266,16 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
plate:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
screw:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
@@ -278,30 +338,30 @@ Visualization Manager:
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
X: -0.2744624614715576
Y: 0.14776650071144104
Z: 0.4366345703601837
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.570398211479187
Pitch: 0.5853981971740723
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.948578357696533
Yaw: 5.813575267791748
Saved: ~
Window Geometry:
"":
collapsed: false
" - Trajectory Slider":
collapsed: false
Displays:
collapsed: false
Height: 846
Height: 992
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001c1000002b2fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003c00000130000000c800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004000fffffffbffffffff01000001720000017c0000017100ffffff000000010000010f000002b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003c000002b2000000a200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000023200fffffffb0000000800540069006d00650100000000000004500000000000000000000001d4000002b200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001c100000344fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003c0000012e000000c800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004000fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000170000002100000017100ffffff000000010000010f00000344fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003c00000344000000a200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005000000003efc0100000002fb0000000800540069006d00650100000000000005000000023200fffffffb0000000800540069006d00650100000000000004500000000000000000000002240000034400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -310,6 +370,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 60
Y: 60
Width: 1280
X: 1920
Y: 56