Add URDF and XACRO files for iiwa7 robot and tool patron

- 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.
2026-04-09 12:01:43 +10:00
parent f474d330ad
commit 58f246e1f2
28 changed files with 793 additions and 66 deletions
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tool_patron">
+
+    <link name="patron">
+        <inertial>
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <mass value="0.69"/>
+            <inertia ixx="0.000483150" ixy="0.0" ixz="0.0" 
+                     iyy="0.000483150" iyz="0.0" izz="0.000241750"/>
+        </inertial>
+        <visual>
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <geometry>
+                <mesh filename="package://iiwa_description/resource/meshes/tools/patron.dae"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0.0 0.0 0.0354" rpy="0.0 0.0 0.0"/>
+            <geometry>
+                <cylinder radius="0.0315" length="0.071"/>
+            </geometry>
+        </collision>
+    </link>
+    
+    <joint name="tool" type="fixed">
+        <parent link="link_ee"/>
+        <child link="patron"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+    </joint>
+
+</robot>