i should be learning

yet i am refactoring
this is not a poem
pain.

src/iisy_config/launch/lbr_move_group.launch.py

@@ -149,6 +149,8 @@ def launch_setup(context, *args, **kwargs):
             robot_description,
             robot_description_semantic,
             kinematics_yaml,
+            planning,
+            use_sim_time
         ],
     )
 

src/iisy_config/srdf/iisy.srdf

@@ -27,6 +27,7 @@
         <joint name="link3_rot" value="0"/>
     </group_state>
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="table" link2="base_bottom" reason="Adjacent"/>
     <disable_collisions link1="base_bottom" link2="base_top" reason="Adjacent"/>
     <disable_collisions link1="base_top" link2="link1_full" reason="Adjacent"/>
     <disable_collisions link1="base_top" link2="link2_bottom" reason="Never"/>

src/iisy_config/urdf/iisy.urdf

@@ -5,6 +5,18 @@
 
     <link name="world"/>
     <link name="base_link"/>
+    <link name="table">
+        <collision>
+            <geometry>
+                <mesh filename="file://$(find iisy_config)/stl/table.stl"/>
+            </geometry>
+        </collision>
+        <visual>
+            <geometry>
+                <mesh filename="file://$(find iisy_config)/stl/table.stl"/>
+            </geometry>
+        </visual>
+    </link>
     <link name="base_bottom">
         <collision>
             <geometry>
@@ -22,7 +34,6 @@
             <mass value="6"/>
             <inertia ixx="1.277905" ixy="0.0" ixz="0.138279" iyy="3.070705" iyz="0.0" izz="3.284356"/>
         </inertial>
-
     </link>
     <link name="base_top">
         <collision>
@@ -138,8 +149,8 @@
             <mass value="0.8"/>
             <inertia ixx="0.228470" ixy="0.0" ixz="0.0" iyy="0.137641" iyz="0.0" izz="0.252003"/>
         </inertial>
-
     </link>
+
     <joint type="fixed" name="world_base_link_fixed">
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <parent link="world"/>
@@ -148,6 +159,11 @@
     <joint type="fixed" name="base_base_link_fixed">
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <parent link="base_link"/>
+        <child link="table"/>
+    </joint>
+    <joint type="fixed" name="table_link_fixed">
+        <origin xyz="0 0 1" rpy="0 0 0"/>
+        <parent link="table"/>
         <child link="base_bottom"/>
     </joint>
     <joint type="continuous" name="base_rot">