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Обновлены параметры планирования и добавлены новые файлы для модуля планирования движения, включая C++ и Python реализации.

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Даниил Грабарь
2026-04-05 12:22:30 +03:00
parent bce4dd6067
commit 032935dec9
8 changed files with 404 additions and 21 deletions
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src/iiwa_description/urdf/iiwa7.urdf
+295
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@@ -0,0 +1,295 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from iiwa7.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="iiwa7">
<link name="world"/>
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.012856764088336 7.05371084939836E-07 0.0679655592591469"/>
<mass value="30.2763517543289"/>
<inertia ixx="0.111239565538359" ixy="-3.81097437253422e-07" ixz="0.00486659750522703" iyy="0.139017104291389" iyz="7.87871531503135e-07" izz="0.133028621926226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/base_link.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/base_link.STL"/>
</geometry>
</collision>
</link>
<link name="link1">
<inertial>
<origin rpy="0 0 0" xyz="-4.78790441849064E-07 -0.0348192058752328 -0.0692021315991948"/>
<mass value="21.1627406257303"/>
<inertia ixx="0.133321610552378" ixy="-5.3830316300325e-07" ixz="9.16989471201082e-07" iyy="0.127213841326705" iyz="0.0236704924620788" izz="0.047155320135412"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/link1.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/link1.STL"/>
</geometry>
</collision>
</link>
<link name="link2">
<inertial>
<origin rpy="0 0 0" xyz="-5.2906167189587E-07 -0.0869460684741495 0.0287906957294968"/>
<mass value="25.1403147192251"/>
<inertia ixx="0.197631241693207" ixy="9.50708464039702e-08" ixz="-3.51963818841194e-07" iyy="0.0602720613821397" iyz="-0.0367196702125505" izz="0.187557269753206"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/link2.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/link2.STL"/>
</geometry>
</collision>
</link>
<link name="link3">
<inertial>
<origin rpy="0 0 0" xyz="8.94264666317923E-07 0.0343188244798595 -0.0692020521907963"/>
<mass value="21.1627874292289"/>
<inertia ixx="0.133322417523041" ixy="-2.72387851582384e-07" ixz="-2.31579646685682e-07" iyy="0.127213838333813" iyz="-0.0236710393468367" izz="0.0471557500559207"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/link3.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/link3.STL"/>
</geometry>
</collision>
</link>
<link name="link4">
<inertial>
<origin rpy="0 0 0" xyz="9.9343785475714E-08 -0.0869462342636022 -0.0292907044657978"/>
<mass value="25.140328983289"/>
<inertia ixx="0.197630839812683" ixy="-3.9082887807781e-07" ixz="-3.24564289064112e-07" iyy="0.0602723071447973" iyz="0.0367195588674331" izz="0.187556898167347"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/link4.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/link4.STL"/>
</geometry>
</collision>
</link>
<link name="link5">
<inertial>
<origin rpy="0 0 0" xyz="-1.5059645121912E-07 -0.0298223596156005 -0.116233672352317"/>
<mass value="9.53466992761605"/>
<inertia ixx="0.0529038960536523" ixy="6.86274869084724e-08" ixz="3.57472026918582e-07" iyy="0.0444942713885967" iyz="0.0174914068345989" izz="0.0239916848880951"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/link5.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/link5.STL"/>
</geometry>
</collision>
</link>
<link name="link6">
<inertial>
<origin rpy="0 0 0" xyz="3.09820422451923E-06 -0.000588422963829549 0.000348569863276505"/>
<mass value="14.2007599322815"/>
<inertia ixx="0.0384515762635731" ixy="-6.70279497724119e-08" ixz="2.19173188415509e-06" iyy="0.0280010940276735" iyz="-0.00192249677468735" izz="0.0368124806983828"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/link6.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/link6.STL"/>
</geometry>
</collision>
</link>
<link name="link7">
<inertial>
<origin rpy="0 0 0" xyz="5.28878934317328E-07 3.37199922245852E-07 -0.0274928177649973"/>
<mass value="2.47156969383589"/>
<inertia ixx="0.00177365937026673" ixy="-1.2410521430667e-07" ixz="-2.95409038849194e-08" iyy="0.00177328722902027" iyz="-1.57567641084958e-08" izz="0.00272748710623445"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/link7.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/link7.STL"/>
</geometry>
</collision>
</link>
<link name="link_ee"/>
<joint name="world_base_joint" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<parent link="world"/>
<child link="base_link"/>
</joint>
<joint name="joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.3375"/>
<parent link="base_link"/>
<child link="link1"/>
<axis xyz="0 0 -1"/>
<limit effort="500" lower="-2.97" upper="2.97" velocity="1.71"/>
</joint>
<joint name="joint2" type="revolute">
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
<parent link="link1"/>
<child link="link2"/>
<axis xyz="0 0 1"/>
<limit effort="500" lower="-2.09" upper="2.09" velocity="1.71"/>
</joint>
<joint name="joint3" type="revolute">
<origin rpy="1.5708 0 0" xyz="0 -0.3993 0"/>
<parent link="link2"/>
<child link="link3"/>
<axis xyz="0 0 -1"/>
<limit effort="500" lower="-2.97" upper="2.97" velocity="1.75"/>
</joint>
<joint name="joint4" type="revolute">
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
<parent link="link3"/>
<child link="link4"/>
<axis xyz="0 0 -1"/>
<limit effort="500" lower="-2.09" upper="2.09" velocity="2.27"/>
</joint>
<joint name="joint5" type="revolute">
<origin rpy="1.5708 0 0" xyz="0 -0.3993 0"/>
<parent link="link4"/>
<child link="link5"/>
<axis xyz="0 0 -1"/>
<limit effort="500" lower="-2.97" upper="2.97" velocity="2.44"/>
</joint>
<joint name="joint6" type="revolute">
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
<parent link="link5"/>
<child link="link6"/>
<axis xyz="0 0 1"/>
<limit effort="500" lower="-2.09" upper="2.09" velocity="3.14"/>
</joint>
<joint name="joint7" type="revolute">
<origin rpy="1.5708 0 0" xyz="0 -0.126 0"/>
<parent link="link6"/>
<child link="link7"/>
<axis xyz="0 0 1"/>
<limit effort="500" lower="-3.05" upper="3.05" velocity="3.14"/>
</joint>
<joint name="tools_joint" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<parent link="link7"/>
<child link="link_ee"/>
</joint>
<webots>
<plugin type="webots_ros2_control::Ros2Control"/>
</webots>
<ros2_control name="iiwaWebotsControl" type="system">
<hardware>
<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
<!-- <plugin>mock_components/GenericSystem</plugin> -->
</hardware>
<joint name="joint1">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
<joint name="joint2">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
<joint name="joint3">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
<joint name="joint4">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
<joint name="joint5">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
<joint name="joint6">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
<joint name="joint7">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
</ros2_control>
</robot>
src/iiwa_description/urdf/joints.xacro
+14 -7
View File
@@ -12,43 +12,50 @@
<!-- joint1 -->
<xacro:revolute_joint jname="joint1" parent="base_link" child="link1"
xyz="0 0 0.3375" rpy="0 0 0" axis="0 0 -1"
lower="-2.97" upper="2.97" effort="500" velocity="1.71"/>
lower="-2.97" upper="2.97" effort="500"
velocity="1.71" damping="0.5"/>
<!-- joint2 -->
<xacro:revolute_joint jname="joint2" parent="link1" child="link2"
xyz="0 0 0" rpy="-1.5708 0 0" axis="0 0 1"
lower="-2.09" upper="2.09" effort="500" velocity="1.71"/>
lower="-2.09" upper="2.09" effort="500"
velocity="1.71" damping="0.5"/>
<!-- joint3 -->
<xacro:revolute_joint jname="joint3" parent="link2" child="link3"
xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 -1"
lower="-2.97" upper="2.97" effort="500" velocity="1.75"/>
lower="-2.97" upper="2.97" effort="500"
velocity="1.75" damping="0.5"/>
<!-- joint4 -->
<xacro:revolute_joint jname="joint4" parent="link3" child="link4"
xyz="0 0 0" rpy="-1.5708 0 0" axis="0 0 -1"
lower="-2.09" upper="2.09" effort="500" velocity="2.27"/>
lower="-2.09" upper="2.09" effort="500"
velocity="2.27" damping="0.5"/>
<!-- joint5 -->
<xacro:revolute_joint jname="joint5" parent="link4" child="link5"
xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 -1"
lower="-2.97" upper="2.97" effort="500" velocity="2.44"/>
lower="-2.97" upper="2.97" effort="500"
velocity="2.44" damping="0.5"/>
<!-- joint6 -->
<xacro:revolute_joint jname="joint6" parent="link5" child="link6"
xyz="0 0 0" rpy="-1.5708 0 0" axis="0 0 1"
lower="-2.09" upper="2.09" effort="500" velocity="3.14"/>
lower="-2.09" upper="2.09" effort="500"
velocity="3.14" damping="0.5"/>
<!-- joint7 -->
<xacro:revolute_joint jname="joint7" parent="link6" child="link7"
xyz="0 -0.126 0" rpy="1.5708 0 0" axis="0 0 1"
lower="-3.05" upper="3.05" effort="500" velocity="3.14"/>
lower="-3.05" upper="3.05" effort="500"
velocity="3.14" damping="0.5"/>
<joint name="tools_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
src/iiwa_description/urdf/macros.xacro
+3 -2
View File
@@ -30,14 +30,15 @@
</xacro:macro>
<!-- Макрос для описания соединений -->
<xacro:macro name="revolute_joint" params="jname parent child xyz rpy axis lower upper effort velocity">
<xacro:macro name="revolute_joint" params="jname parent child xyz rpy axis lower upper effort velocity damping">
<joint name="${jname}" type="revolute">
<origin xyz="${xyz}" rpy="${rpy}"/>
<parent link="${parent}"/>
<child link="${child}"/>
<axis xyz="${axis}"/>
<limit lower="${lower}" upper="${upper}" effort="${effort}" velocity="${velocity}"/>
<dynamics damping="${damping}"/>
</joint>
</xacro:macro>
</robot>
</robot>
src/iiwa_description/urdf/params.xacro
+9 -9
View File
@@ -2,14 +2,14 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
<!-- Массы звеньев -->
<xacro:property name="mass_base" value="30.2763517543289"/>
<xacro:property name="mass_link1" value="21.1627406257303"/>
<xacro:property name="mass_link2" value="25.1403147192251"/>
<xacro:property name="mass_link3" value="21.1627874292289"/>
<xacro:property name="mass_link4" value="25.140328983289"/>
<xacro:property name="mass_link5" value="9.53466992761605"/>
<xacro:property name="mass_link6" value="14.2007599322815"/>
<xacro:property name="mass_link7" value="2.47156969383589"/>
<xacro:property name="mass_base" value="0.1"/>
<xacro:property name="mass_link1" value="4"/>
<xacro:property name="mass_link2" value="4"/>
<xacro:property name="mass_link3" value="3"/>
<xacro:property name="mass_link4" value="2.7"/>
<xacro:property name="mass_link5" value="1.7"/>
<xacro:property name="mass_link6" value="1.8"/>
<xacro:property name="mass_link7" value="0.3"/>
<!-- Общие цвета / материал -->
<xacro:property name="color_r" value="0.647058823529412"/>
@@ -20,4 +20,4 @@
<xacro:include filename="$(find iiwa_description)/urdf/meshes.xacro" />
</robot>
</robot>