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Add URDF and XACRO files for iiwa7 robot and tool patron

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- Created iiwa7_gazebo.urdf to define the iiwa7 robot model with detailed links, joints, and Gazebo integration.
- Introduced patron.xacro for the tool patron, including its inertial properties, visual representation, and collision geometry.
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Даниил Грабарь
2026-04-09 12:01:43 +10:00
parent f474d330ad
commit 58f246e1f2
28 changed files with 793 additions and 66 deletions
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src/iiwa_description/urdf/meshes.xacro
+16 -16
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@@ -4,23 +4,23 @@
<xacro:property name="pkg" value="package://iiwa_description/resource/meshes"/>
<!-- Меши отображения -->
<xacro:property name="mesh_base_v" value="${pkg}/visual/base_link.DAE"/>
<xacro:property name="mesh_link1_v" value="${pkg}/visual/link1.DAE"/>
<xacro:property name="mesh_link2_v" value="${pkg}/visual/link2.DAE"/>
<xacro:property name="mesh_link3_v" value="${pkg}/visual/link3.DAE"/>
<xacro:property name="mesh_link4_v" value="${pkg}/visual/link4.DAE"/>
<xacro:property name="mesh_link5_v" value="${pkg}/visual/link5.DAE"/>
<xacro:property name="mesh_link6_v" value="${pkg}/visual/link6.DAE"/>
<xacro:property name="mesh_link7_v" value="${pkg}/visual/link7.DAE"/>
<xacro:property name="mesh_base_v" value="${pkg}/iiwa/visual/base_link.DAE"/>
<xacro:property name="mesh_link1_v" value="${pkg}/iiwa/visual/link1.DAE"/>
<xacro:property name="mesh_link2_v" value="${pkg}/iiwa/visual/link2.DAE"/>
<xacro:property name="mesh_link3_v" value="${pkg}/iiwa/visual/link3.DAE"/>
<xacro:property name="mesh_link4_v" value="${pkg}/iiwa/visual/link4.DAE"/>
<xacro:property name="mesh_link5_v" value="${pkg}/iiwa/visual/link5.DAE"/>
<xacro:property name="mesh_link6_v" value="${pkg}/iiwa/visual/link6.DAE"/>
<xacro:property name="mesh_link7_v" value="${pkg}/iiwa/visual/link7.DAE"/>
<!-- Меши колизии -->
<xacro:property name="mesh_base_c" value="${pkg}/collision/base_link.STL"/>
<xacro:property name="mesh_link1_c" value="${pkg}/collision/link1.STL"/>
<xacro:property name="mesh_link2_c" value="${pkg}/collision/link2.STL"/>
<xacro:property name="mesh_link3_c" value="${pkg}/collision/link3.STL"/>
<xacro:property name="mesh_link4_c" value="${pkg}/collision/link4.STL"/>
<xacro:property name="mesh_link5_c" value="${pkg}/collision/link5.STL"/>
<xacro:property name="mesh_link6_c" value="${pkg}/collision/link6.STL"/>
<xacro:property name="mesh_link7_c" value="${pkg}/collision/link7.STL"/>
<xacro:property name="mesh_base_c" value="${pkg}/iiwa/collision/base_link.STL"/>
<xacro:property name="mesh_link1_c" value="${pkg}/iiwa/collision/link1.STL"/>
<xacro:property name="mesh_link2_c" value="${pkg}/iiwa/collision/link2.STL"/>
<xacro:property name="mesh_link3_c" value="${pkg}/iiwa/collision/link3.STL"/>
<xacro:property name="mesh_link4_c" value="${pkg}/iiwa/collision/link4.STL"/>
<xacro:property name="mesh_link5_c" value="${pkg}/iiwa/collision/link5.STL"/>
<xacro:property name="mesh_link6_c" value="${pkg}/iiwa/collision/link6.STL"/>
<xacro:property name="mesh_link7_c" value="${pkg}/iiwa/collision/link7.STL"/>
</robot>