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Add URDF model for table and SDF world configuration

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- 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
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src/iiwa_description/worlds/iiwa_world.sdf
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<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>