Add URDF model for table and SDF world configuration
- 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
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<?xml version="1.0"?>
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<robot name="robo_table">
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<link name="world"/>
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<link name="table_frame">
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<pbr><metal><roughness>0.6</roughness><metalness>0.4</metalness></metal></pbr>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
|
||||
<link name="wood_palete">
|
||||
<inertial>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<mass value="10.0"/>
|
||||
<inertia ixx="0.5" ixy="0.0" ixz="0.0"
|
||||
iyy="0.5" iyz="0.0" izz="0.5"/>
|
||||
</inertial>
|
||||
|
||||
<visual name="top_surface">
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry><box size="1.28 1.08 0.02"/></geometry>
|
||||
<material name="table_top">
|
||||
<color rgba="0.92 0.92 0.92 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<visual name="border_front">
|
||||
<origin xyz="0.0 0.53 0.005" rpy="0.0 0.0 0.0"/>
|
||||
<geometry><box size="1.28 0.02 0.014"/></geometry>
|
||||
<material name="orange_border"><color rgba="1.0 0.38 0.0 1.0"/></material>
|
||||
</visual>
|
||||
|
||||
<visual name="border_back">
|
||||
<origin xyz="0.0 -0.53 0.005" rpy="0.0 0.0 0.0"/>
|
||||
<geometry><box size="1.28 0.02 0.014"/></geometry>
|
||||
<material name="orange_border"><color rgba="1.0 0.38 0.0 1.0"/></material>
|
||||
</visual>
|
||||
|
||||
<visual name="border_left">
|
||||
<origin xyz="0.63 0.0 0.005" rpy="0.0 0.0 0.0"/>
|
||||
<geometry><box size="0.02 1.04 0.014"/></geometry>
|
||||
<material name="orange_border"><color rgba="1.0 0.38 0.0 1.0"/></material>
|
||||
</visual>
|
||||
|
||||
<visual name="border_right">
|
||||
<origin xyz="-0.63 0.0 0.005" rpy="0.0 0.0 0.0"/>
|
||||
<geometry><box size="0.02 1.04 0.014"/></geometry>
|
||||
<material name="orange_border"><color rgba="1.0 0.38 0.0 1.0"/></material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry><box size="1.28 1.08 0.02"/></geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<gazebo reference="wood_palete">
|
||||
<visual name="top_surface">
|
||||
<material>
|
||||
<ambient>0.92 0.92 0.92 1</ambient>
|
||||
<diffuse>0.95 0.95 0.95 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name="border_front">
|
||||
<material><ambient>1.0 0.38 0.0 1</ambient><diffuse>1.0 0.38 0.0 1</diffuse><specular>0.3 0.15 0.0 1</specular></material>
|
||||
</visual>
|
||||
<visual name="border_back">
|
||||
<material><ambient>1.0 0.38 0.0 1</ambient><diffuse>1.0 0.38 0.0 1</diffuse><specular>0.3 0.15 0.0 1</specular></material>
|
||||
</visual>
|
||||
<visual name="border_left">
|
||||
<material><ambient>1.0 0.38 0.0 1</ambient><diffuse>1.0 0.38 0.0 1</diffuse><specular>0.3 0.15 0.0 1</specular></material>
|
||||
</visual>
|
||||
<visual name="border_right">
|
||||
<material><ambient>1.0 0.38 0.0 1</ambient><diffuse>1.0 0.38 0.0 1</diffuse><specular>0.3 0.15 0.0 1</specular></material>
|
||||
</visual>
|
||||
<collision>
|
||||
<surface>
|
||||
<friction><ode><mu>0.3</mu><mu2>0.3</mu2></ode></friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</gazebo>
|
||||
|
||||
<link name="robot_palete">
|
||||
<inertial>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.1" ixy="0.0" ixz="0.0"
|
||||
iyy="0.1" iyz="0.0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/table/PlateUnderRobot.obj"/>
|
||||
</geometry>
|
||||
<material name="table_metal"><color rgba="0.57 0.57 0.57 1.0"/></material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry><box size="0.47 0.4 0.01"/></geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<gazebo reference="robot_palete">
|
||||
<visual>
|
||||
<material>
|
||||
<ambient>0.55 0.55 0.58 1</ambient>
|
||||
<diffuse>0.65 0.65 0.68 1</diffuse>
|
||||
<specular>0.3 0.3 0.3 1</specular>
|
||||
<pbr><metal><roughness>0.6</roughness><metalness>0.4</metalness></metal></pbr>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
|
||||
<link name="cabinet_frame">
|
||||
<inertial>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<mass value="5.0"/>
|
||||
<inertia ixx="0.2" ixy="0.0" ixz="0.0"
|
||||
iyy="0.2" iyz="0.0" izz="0.2"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 1.57"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/table/CabinetFrame.obj"/>
|
||||
</geometry>
|
||||
<material name="table_metal"><color rgba="0.57 0.57 0.57 1.0"/></material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<gazebo reference="cabinet_frame">
|
||||
<visual>
|
||||
<material>
|
||||
<ambient>0.55 0.55 0.58 1</ambient>
|
||||
<diffuse>0.65 0.65 0.68 1</diffuse>
|
||||
<specular>0.3 0.3 0.3 1</specular>
|
||||
<pbr><metal><roughness>0.6</roughness><metalness>0.4</metalness></metal></pbr>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
|
||||
<link name="cabinet">
|
||||
<inertial>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<mass value="15.0"/>
|
||||
<inertia ixx="0.5" ixy="0.0" ixz="0.0"
|
||||
iyy="0.5" iyz="0.0" izz="0.5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.31 0.0" rpy="1.57 0.0 -1.57"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/table/ElectricCabinet.obj"/>
|
||||
</geometry>
|
||||
<material name="cabinet_dark"><color rgba="0.2 0.2 0.22 1.0"/></material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.12 0 0.4" rpy="1.57 0.0 1.57"/>
|
||||
<geometry><box size="0.65 0.83 0.32"/></geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<gazebo reference="cabinet">
|
||||
<visual>
|
||||
<material>
|
||||
<ambient>0.18 0.18 0.20 1</ambient>
|
||||
<diffuse>0.22 0.22 0.24 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<pbr><metal><roughness>0.3</roughness><metalness>0.7</metalness></metal></pbr>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
|
||||
<!-- ═══ Джойнты ═══ -->
|
||||
<joint name="world_frame" type="fixed">
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<parent link="world"/>
|
||||
<child link="table_frame"/>
|
||||
</joint>
|
||||
|
||||
<joint name="frame_palete" type="fixed">
|
||||
<origin xyz="0.0 0.0 0.79" rpy="0.0 0.0 0.0"/>
|
||||
<parent link="table_frame"/>
|
||||
<child link="wood_palete"/>
|
||||
</joint>
|
||||
|
||||
<joint name="paletes" type="fixed">
|
||||
<origin xyz="-0.263 0.0 0.02" rpy="0.0 0.0 0.0"/>
|
||||
<parent link="wood_palete"/>
|
||||
<child link="robot_palete"/>
|
||||
</joint>
|
||||
|
||||
<joint name="frames" type="fixed">
|
||||
<origin xyz="-0.66 0.0 0.09" rpy="0.0 0.0 0.0"/>
|
||||
<parent link="table_frame"/>
|
||||
<child link="cabinet_frame"/>
|
||||
</joint>
|
||||
|
||||
<joint name="cabinets" type="fixed">
|
||||
<origin xyz="-0.022 0 0.2" rpy="0.0 0.0 0.0"/>
|
||||
<parent link="cabinet_frame"/>
|
||||
<child link="cabinet"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,106 @@
|
||||
<sdf version='1.10'>
|
||||
<world name='empty'>
|
||||
<physics name='1ms' type='ignored'>
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
<real_time_update_rate>1000</real_time_update_rate>
|
||||
</physics>
|
||||
<plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
|
||||
<plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
|
||||
<plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
|
||||
<plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
|
||||
|
||||
<plugin filename="WorldControl" name="World control">
|
||||
<gz-gui>
|
||||
<title>Kuka iiwa world</title>
|
||||
<property type="string" key="state">floating</property>
|
||||
<anchors target="3D View">
|
||||
<line own="left" target="left"/>
|
||||
<line own="bottom" target="bottom"/>
|
||||
</anchors>
|
||||
</gz-gui>
|
||||
|
||||
<play_pause>true</play_pause>
|
||||
<step>false</step>
|
||||
<start_paused>false</start_paused>
|
||||
</plugin>
|
||||
|
||||
<gravity>0 0 -9.8000000000000007</gravity>
|
||||
<magnetic_field>5.5644999999999998e-06 2.2875799999999999e-05 -4.2388400000000002e-05</magnetic_field>
|
||||
<atmosphere type='adiabatic'/>
|
||||
<scene>
|
||||
<ambient>0.400000006 0.400000006 0.400000006 1</ambient>
|
||||
<background>0.699999988 0.699999988 0.699999988 1</background>
|
||||
<shadows>true</shadows>
|
||||
</scene>
|
||||
<model name='ground_plane'>
|
||||
<static>true</static>
|
||||
<link name='link'>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<bounce/>
|
||||
<contact/>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.800000012 0.800000012 0.800000012 1</ambient>
|
||||
<diffuse>0.800000012 0.800000012 0.800000012 1</diffuse>
|
||||
<specular>0.800000012 0.800000012 0.800000012 1</specular>
|
||||
</material>
|
||||
</visual>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>1</mass>
|
||||
<inertia>
|
||||
<ixx>1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<self_collide>false</self_collide>
|
||||
</model>
|
||||
|
||||
<light name='sun' type='directional'>
|
||||
<pose>0 0 10 0 0 0</pose>
|
||||
<cast_shadows>true</cast_shadows>
|
||||
<intensity>1</intensity>
|
||||
<direction>-0.5 0.10000000000000001 -0.90000000000000002</direction>
|
||||
<diffuse>0.800000012 0.800000012 0.800000012 1</diffuse>
|
||||
<specular>0.200000003 0.200000003 0.200000003 1</specular>
|
||||
<attenuation>
|
||||
<range>1000</range>
|
||||
<linear>0.01</linear>
|
||||
<constant>0.90000000000000002</constant>
|
||||
<quadratic>0.001</quadratic>
|
||||
</attenuation>
|
||||
<spot>
|
||||
<inner_angle>0</inner_angle>
|
||||
<outer_angle>0</outer_angle>
|
||||
<falloff>0</falloff>
|
||||
</spot>
|
||||
</light>
|
||||
</world>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user