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
@@ -93,7 +93,7 @@ def _runtime_setup(context, *args, **kwargs):
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# TODO: добавить аргументы для transform и rotation и передать их из setting.yaml а также мир
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# TODO: добавить аргументы для transform и rotation и передать их из setting.yaml а также мир
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launch_arguments={
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launch_arguments={
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"robot_name": settings.robot.name,
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"robot_name": settings.robot.name,
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"world": "empty.sdf",
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"world": str(get_package_share_directory("iiwa_description") + "/worlds/iiwa_world.sdf"),
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"gazebo_config": str(get_package_share_directory("iiwa_config") + "/config/gazebo/gz_bridge.yaml"),
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"gazebo_config": str(get_package_share_directory("iiwa_config") + "/config/gazebo/gz_bridge.yaml"),
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"simulate": "true",
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"simulate": "true",
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}.items(),
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}.items(),
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@@ -1,3 +1,4 @@
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from ament_index_python import get_package_share_directory
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from launch import LaunchDescription
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from launch import LaunchDescription
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from launch.actions import (
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from launch.actions import (
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IncludeLaunchDescription,
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IncludeLaunchDescription,
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@@ -32,6 +33,25 @@ def _spawn_setup(context, *args, **kwargs):
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}.items(),
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}.items(),
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)
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)
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# Table Spawner
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spawn_table = Node(
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package="ros_gz_sim",
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executable="create",
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name="spawn_table",
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output="screen",
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arguments=[
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"-file", str(
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get_package_share_directory("iiwa_description")
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+ "/urdf/table/table.urdf"
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),
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"-name", "iiwa_table",
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"-x", "0.0",
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"-y", "0.0",
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"-z", "0.0",
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],
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)
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# Robot Spawner
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# TODO: добавить аргументы для transform и rotation
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# TODO: добавить аргументы для transform и rotation
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spawn_robot = Node(
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spawn_robot = Node(
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package="ros_gz_sim",
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package="ros_gz_sim",
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@@ -41,7 +61,9 @@ def _spawn_setup(context, *args, **kwargs):
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arguments=[
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arguments=[
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"-topic", "/robot_description",
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"-topic", "/robot_description",
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"-name", robot_name,
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"-name", robot_name,
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"-z", "0.0"
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"-x", "-0.25",
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"-y", "0.0",
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"-z", "0.81"
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],
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],
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)
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)
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@@ -56,8 +78,13 @@ def _spawn_setup(context, *args, **kwargs):
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}],
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}],
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)
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)
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return [gazebo, spawn_robot, gz_bridge]
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return [
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gazebo,
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spawn_table,
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spawn_robot,
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gz_bridge
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]
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def generate_launch_description():
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def generate_launch_description():
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return LaunchDescription([OpaqueFunction(function=_spawn_setup)])
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return LaunchDescription([OpaqueFunction(function=_spawn_setup)])
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@@ -7,7 +7,7 @@ Panels:
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- /Global Options1
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- /Global Options1
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- /Status1
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- /Status1
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Splitter Ratio: 0.5
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Splitter Ratio: 0.5
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Tree Height: 166
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Tree Height: 164
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- Class: rviz_common/Selection
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- Class: rviz_common/Selection
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Name: Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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- Class: rviz_common/Tool Properties
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@@ -78,11 +78,31 @@ Visualization Manager:
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Expand Link Details: false
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Expand Link Details: false
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Expand Tree: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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Link Tree Style: Links in Alphabetic Order
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base_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_link:
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base_link:
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Alpha: 1
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Alpha: 1
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Show Axes: false
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Show Axes: false
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Show Trail: false
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Show Trail: false
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Value: true
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Value: true
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finger1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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finger2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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finger3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link1:
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link1:
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Alpha: 1
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Alpha: 1
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Show Axes: false
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Show Axes: false
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@@ -122,6 +142,16 @@ Visualization Manager:
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Alpha: 1
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Alpha: 1
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Show Axes: false
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Show Axes: false
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Show Trail: false
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Show Trail: false
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plate:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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screw:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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world:
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world:
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Alpha: 1
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Alpha: 1
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Show Axes: false
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Show Axes: false
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@@ -135,7 +165,7 @@ Visualization Manager:
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State Display Time: 3x
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State Display Time: 3x
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Trail Step Size: 1
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Trail Step Size: 1
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Trajectory Topic: /display_planned_path
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Trajectory Topic: /display_planned_path
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Use Sim Time: True
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Use Sim Time: true
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Planning Metrics:
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Planning Metrics:
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Payload: 1
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Payload: 1
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Show Joint Torques: false
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Show Joint Torques: false
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@@ -147,7 +177,7 @@ Visualization Manager:
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Colliding Link Color: 255; 0; 0
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Colliding Link Color: 255; 0; 0
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Goal State Alpha: 1
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Goal State Alpha: 1
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Goal State Color: 250; 128; 0
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Goal State Color: 250; 128; 0
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Interactive Marker Size: 0.3
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Interactive Marker Size: 0.30000001192092896
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Joint Violation Color: 255; 0; 255
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Joint Violation Color: 255; 0; 255
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Planning Group: iiwa_arm
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Planning Group: iiwa_arm
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Query Goal State: true
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Query Goal State: true
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@@ -172,11 +202,31 @@ Visualization Manager:
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Expand Link Details: false
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Expand Link Details: false
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Expand Tree: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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Link Tree Style: Links in Alphabetic Order
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base_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_link:
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base_link:
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Alpha: 1
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Alpha: 1
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Show Axes: false
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Show Axes: false
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Show Trail: false
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Show Trail: false
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Value: true
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Value: true
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finger1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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finger2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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finger3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link1:
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link1:
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Alpha: 1
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Alpha: 1
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Show Axes: false
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Show Axes: false
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@@ -216,6 +266,16 @@ Visualization Manager:
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Alpha: 1
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Alpha: 1
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Show Axes: false
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Show Axes: false
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Show Trail: false
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Show Trail: false
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plate:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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screw:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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world:
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world:
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Alpha: 1
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Alpha: 1
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Show Axes: false
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Show Axes: false
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@@ -278,30 +338,30 @@ Visualization Manager:
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Swap Stereo Eyes: false
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Swap Stereo Eyes: false
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Value: false
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Value: false
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Focal Point:
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Focal Point:
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X: 0
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X: -0.2744624614715576
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Y: 0
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Y: 0.14776650071144104
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Z: 0
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Z: 0.4366345703601837
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Focal Shape Fixed Size: true
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Invert Z Axis: false
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Name: Current View
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.570398211479187
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Pitch: 0.5853981971740723
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Target Frame: <Fixed Frame>
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Value: Orbit (rviz)
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Yaw: 5.948578357696533
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Yaw: 5.813575267791748
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Saved: ~
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Saved: ~
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Window Geometry:
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Window Geometry:
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"":
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collapsed: false
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" - Trajectory Slider":
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collapsed: false
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Displays:
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Displays:
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collapsed: false
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collapsed: false
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Height: 846
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Height: 992
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Hide Left Dock: false
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Hide Left Dock: false
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Hide Right Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001c1000002b2fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003c00000130000000c800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004000fffffffbffffffff01000001720000017c0000017100ffffff000000010000010f000002b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003c000002b2000000a200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000023200fffffffb0000000800540069006d00650100000000000004500000000000000000000001d4000002b200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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MotionPlanning:
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collapsed: false
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MotionPlanning - Trajectory Slider:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001c100000344fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003c0000012e000000c800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004000fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000170000002100000017100ffffff000000010000010f00000344fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003c00000344000000a200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005000000003efc0100000002fb0000000800540069006d00650100000000000005000000023200fffffffb0000000800540069006d00650100000000000004500000000000000000000002240000034400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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Selection:
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collapsed: false
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collapsed: false
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Time:
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Time:
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@@ -310,6 +370,6 @@ Window Geometry:
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collapsed: false
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collapsed: false
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Views:
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Views:
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collapsed: false
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collapsed: false
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Width: 1200
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Width: 1280
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X: 60
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X: 1920
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Y: 60
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Y: 56
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@@ -0,0 +1,194 @@
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#OBJ
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#T-FLEX CAD ObjGenerator generate date:20.11.2024 23:59:52
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v 0.27 0.23 -0.019999
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v 0.27 0.949999 -0.019999
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v 0.31 0.99 -0.019999
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v -0.31 0.99 -0.019999
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v -0.27 0.949999 -0.019999
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||||||
|
v -0.27 0.23 -0.019999
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v 0.27 0.189999 -0.019999
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v -0.31 0 -0.019999
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v -0.27 0.189999 -0.019999
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v 0.31 0 -0.019999
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v 0.27 0 -0.019999
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v -0.27 -0 -0.019999
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v -0.27 0.23 0.019999
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v -0.27 0.189999 0.019999
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v 0.27 0.189999 0.019999
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v -0.31 0.99 0.019999
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v -0.31 0 0.019999
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v -0.27 -0 0.019999
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v 0.27 0.949999 0.019999
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v 0.31 0.99 0.019999
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v 0.27 0.23 0.019999
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v 0.31 0 0.019999
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v -0.27 0.949999 0.019999
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v 0.27 0 0.019999
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v 0.27 0.23 0.019999
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v 0.27 0.23 -0.019999
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v -0.27 0.23 -0.019999
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v -0.27 0.23 0.019999
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v -0.31 0.99 0.019999
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v -0.31 0.99 -0.019999
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v -0.31 0 -0.019999
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v -0.31 0 0.019999
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v -0.31 0.99 0.019999
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v 0.31 0.99 0.019999
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v 0.31 0.99 -0.019999
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v -0.31 0.99 -0.019999
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v 0.31 0 0.019999
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v 0.31 0 -0.019999
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v 0.31 0.99 -0.019999
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v 0.31 0.99 0.019999
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v 0.27 0 0.019999
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v 0.27 0 -0.019999
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v 0.31 0 -0.019999
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v 0.31 0 0.019999
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v 0.27 0 -0.019999
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v 0.27 0 0.019999
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v 0.27 0.189999 0.019999
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v 0.27 0.189999 -0.019999
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v -0.27 0.189999 0.019999
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v -0.27 0.189999 -0.019999
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v 0.27 0.189999 -0.019999
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v 0.27 0.189999 0.019999
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v -0.27 -0 0.019999
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v -0.27 -0 -0.019999
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v -0.27 0.189999 -0.019999
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v -0.27 0.189999 0.019999
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v -0.31 0 0.019999
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v -0.31 0 -0.019999
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v -0.27 -0 -0.019999
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v -0.27 -0 0.019999
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v 0.27 0.23 -0.019999
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v 0.27 0.23 0.019999
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v 0.27 0.949999 0.019999
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v 0.27 0.949999 -0.019999
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v 0.27 0.949999 -0.019999
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v 0.27 0.949999 0.019999
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
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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