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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/joints.xacro
+14 -7
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@@ -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"/>