Первоначальная настройка
This commit is contained in:
Даниил Грабарь
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<?xml version='1.0' encoding='utf-8'?>
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<robot name="iiwa7">
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<link name="world" />
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<link name="base_link">
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<inertial>
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<origin xyz="-0.012856764088336 7.05371084939836E-07 0.0679655592591469" rpy="0 0 0" />
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<mass value="4.86" />
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<inertia ixx="0.111239565538359" ixy="-3.81097437253422E-07" ixz="0.00486659750522703" iyy="0.139017104291389" iyz="7.87871531503135E-07" izz="0.133028621926226" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/visual/base_link.DAE" />
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/collision/base_link.STL" />
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</geometry>
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</collision>
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</link>
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<link name="link1">
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<inertial>
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<origin xyz="-4.78790441849064E-07 -0.0348192058752328 -0.0692021315991948" rpy="0 0 0" />
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<mass value="4" />
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<inertia ixx="0.133321610552378" ixy="-5.3830316300325E-07" ixz="9.16989471201082E-07" iyy="0.127213841326705" iyz="0.0236704924620788" izz="0.047155320135412" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/visual/link1.DAE" />
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/collision/link1.STL" />
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</geometry>
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</collision>
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</link>
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<link name="link2">
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<inertial>
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<origin xyz="-5.2906167189587E-07 -0.0869460684741495 0.0287906957294968" rpy="0 0 0" />
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<mass value="4" />
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<inertia ixx="0.197631241693207" ixy="9.50708464039702E-08" ixz="-3.51963818841194E-07" iyy="0.0602720613821397" iyz="-0.0367196702125505" izz="0.187557269753206" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/visual/link2.DAE" />
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/collision/link2.STL" />
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</geometry>
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</collision>
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</link>
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<link name="link3">
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<inertial>
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<origin xyz="8.94264666317923E-07 0.0343188244798595 -0.0692020521907963" rpy="0 0 0" />
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<mass value="3" />
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<inertia ixx="0.133322417523041" ixy="-2.72387851582384E-07" ixz="-2.31579646685682E-07" iyy="0.127213838333813" iyz="-0.0236710393468367" izz="0.0471557500559207" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/visual/link3.DAE" />
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/collision/link3.STL" />
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</geometry>
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</collision>
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</link>
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<link name="link4">
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<inertial>
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<origin xyz="9.9343785475714E-08 -0.0869462342636022 -0.0292907044657978" rpy="0 0 0" />
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<mass value="2.7" />
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<inertia ixx="0.197630839812683" ixy="-3.9082887807781E-07" ixz="-3.24564289064112E-07" iyy="0.0602723071447973" iyz="0.0367195588674331" izz="0.187556898167347" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/visual/link4.DAE" />
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/collision/link4.STL" />
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</geometry>
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</collision>
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</link>
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<link name="link5">
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<inertial>
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<origin xyz="-1.5059645121912E-07 -0.0298223596156005 -0.116233672352317" rpy="0 0 0" />
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<mass value="1.7" />
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<inertia ixx="0.0529038960536523" ixy="6.86274869084724E-08" ixz="3.57472026918582E-07" iyy="0.0444942713885967" iyz="0.0174914068345989" izz="0.0239916848880951" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/visual/link5.DAE" />
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/collision/link5.STL" />
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</geometry>
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</collision>
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</link>
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<link name="link6">
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<inertial>
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<origin xyz="3.09820422451923E-06 -0.000588422963829549 0.000348569863276505" rpy="0 0 0" />
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<mass value="1.8" />
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<inertia ixx="0.0384515762635731" ixy="-6.70279497724119E-08" ixz="2.19173188415509E-06" iyy="0.0280010940276735" iyz="-0.00192249677468735" izz="0.0368124806983828" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/visual/link6.DAE" />
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/collision/link6.STL" />
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</geometry>
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</collision>
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</link>
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<link name="link7">
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<inertial>
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<origin xyz="5.28878934317328E-07 3.37199922245852E-07 -0.0274928177649973" rpy="0 0 0" />
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<mass value="0.3" />
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<inertia ixx="0.00177365937026673" ixy="-1.2410521430667E-07" ixz="-2.95409038849194E-08" iyy="0.00177328722902027" iyz="-1.57567641084958E-08" izz="0.00272748710623445" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/visual/link7.DAE" />
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/iiwa/collision/link7.STL" />
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</geometry>
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</collision>
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</link>
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<link name="link_ee" />
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<joint name="world_base_joint" type="fixed">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<parent link="world" />
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<child link="base_link" />
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</joint>
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<joint name="joint1" type="revolute">
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<origin xyz="0 0 0.3375" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="link1" />
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<axis xyz="0 0 1" />
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<limit lower="-2.97" upper="2.97" effort="200" velocity="1.71" />
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<dynamics damping="10.0" friction="0.1" />
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<safety_controller soft_lower_limit="-2.8827" soft_upper_limit="2.8827" k_velocity="10" />
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</joint>
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<joint name="joint2" type="revolute">
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<origin xyz="0 0 0" rpy="-1.5708 0 0" />
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<parent link="link1" />
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<child link="link2" />
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<axis xyz="0 0 1" />
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<limit lower="-2.09" upper="2.09" effort="200" velocity="1.71" />
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<dynamics damping="10.0" friction="0.1" />
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<safety_controller soft_lower_limit="-2.0027" soft_upper_limit="2.0027" k_velocity="10" />
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</joint>
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<joint name="joint3" type="revolute">
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<origin xyz="0 -0.3993 0" rpy="1.5708 0 0" />
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<parent link="link2" />
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<child link="link3" />
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<axis xyz="0 0 1" />
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<limit lower="-2.97" upper="2.97" effort="200" velocity="1.75" />
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<dynamics damping="10.0" friction="0.1" />
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<safety_controller soft_lower_limit="-2.8827" soft_upper_limit="2.8827" k_velocity="10" />
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</joint>
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<joint name="joint4" type="revolute">
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<origin xyz="0 0 0" rpy="-1.5708 0 0" />
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<parent link="link3" />
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<child link="link4" />
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<axis xyz="0 0 -1" />
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<limit lower="-2.09" upper="2.09" effort="200" velocity="2.27" />
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<dynamics damping="10.0" friction="0.1" />
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<safety_controller soft_lower_limit="-2.0027" soft_upper_limit="2.0027" k_velocity="10" />
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</joint>
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<joint name="joint5" type="revolute">
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<origin xyz="0 -0.3993 0" rpy="1.5708 0 0" />
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<parent link="link4" />
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<child link="link5" />
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<axis xyz="0 0 1" />
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<limit lower="-2.97" upper="2.97" effort="200" velocity="2.44" />
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<dynamics damping="10.0" friction="0.1" />
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<safety_controller soft_lower_limit="-2.8827" soft_upper_limit="2.8827" k_velocity="10" />
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</joint>
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<joint name="joint6" type="revolute">
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<origin xyz="0 0 0" rpy="-1.5708 0 0" />
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<parent link="link5" />
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<child link="link6" />
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<axis xyz="0 0 1" />
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<limit lower="-2.09" upper="2.09" effort="200" velocity="3.14" />
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<dynamics damping="10.0" friction="0.1" />
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<safety_controller soft_lower_limit="-2.0027" soft_upper_limit="2.0027" k_velocity="10" />
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</joint>
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<joint name="joint7" type="revolute">
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<origin xyz="0 -0.126 0" rpy="1.5708 0 0" />
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<parent link="link6" />
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<child link="link7" />
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<axis xyz="0 0 1" />
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<limit lower="-3.05" upper="3.05" effort="200" velocity="3.14" />
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<dynamics damping="10.0" friction="0.1" />
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<safety_controller soft_lower_limit="-2.9627" soft_upper_limit="2.9627" k_velocity="10" />
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</joint>
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<joint name="tools_joint" type="fixed">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<parent link="link7" />
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<child link="link_ee" />
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</joint>
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</robot>
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