Создана базовая конфигурация робота

2025-11-20 14:23:10 +10:00
commit a24cc16e0a
33 changed files with 6802 additions and 0 deletions
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="iiwa7">
+    
+    <xacro:include filename="$(find iiwa_description)/urdf/params.xacro"/>
+    <xacro:include filename="$(find iiwa_description)/urdf/macros.xacro"/>
+    <xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
+    <xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>
+
+
+</robot>
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
+
+<xacro:include filename="macros.xacro" />
+
+    <joint name="world_base_joint" type="fixed">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+        <parent link="world"/>
+        <child link="base_link"/>
+    </joint>
+
+    <!-- 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="176" velocity="1.71"/>
+
+
+    <!-- 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="176" velocity="1.71"/>
+
+
+    <!-- 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="110" velocity="1.75"/>
+
+
+    <!-- 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="110" velocity="2.27"/>
+
+
+    <!-- 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="110" velocity="2.44"/>
+
+
+    <!-- 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="40" velocity="3.14"/>
+
+
+    <!-- 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="40" velocity="3.14"/>
+
+    <joint name="tools_joint" type="fixed">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+        <parent link="link7"/>
+        <child link="link7_ee"/>
+    </joint>
+
+</robot>
@@ -0,0 +1,106 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
+
+    <link name="world" />
+
+    <xacro:iiwa_link name="base_link"
+                     xyz_iner="-0.012856764088336 7.05371084939836E-07 0.0679655592591469"
+                     mass="${mass_base}" 
+                     ixx="0.111239565538359"
+                     ixy="-3.81097437253422E-07"
+                     ixz="0.00486659750522703"
+                     iyy="0.139017104291389"
+                     iyz="7.87871531503135E-07"
+                     izz="0.133028621926226"
+                     mesh_vision="${mesh_base_v}" 
+                     mesh_collision="${mesh_base_c}"/>
+    
+    <xacro:iiwa_link name="link1"
+                     xyz_iner="-4.78790441849064E-07 -0.0348192058752328 -0.0692021315991948"
+                     mass="${mass_link1}" 
+                     ixx="0.133321610552378"
+                     ixy="-5.3830316300325E-07"
+                     ixz="9.16989471201082E-07"
+                     iyy="0.127213841326705"
+                     iyz="0.0236704924620788"
+                     izz="0.047155320135412" 
+                     mesh_vision="${mesh_link1_v}" 
+                     mesh_collision="${mesh_link1_c}"/>
+
+    <xacro:iiwa_link name="link2"
+                     xyz_iner="-5.2906167189587E-07 -0.0869460684741495 0.0287906957294968"
+                     mass="${mass_link2}" 
+                     ixx="0.197631241693207"
+                     ixy="9.50708464039702E-08"
+                     ixz="-3.51963818841194E-07"
+                     iyy="0.0602720613821397"
+                     iyz="-0.0367196702125505"
+                     izz="0.187557269753206" 
+                     mesh_vision="${mesh_link2_v}" 
+                     mesh_collision="${mesh_link2_c}"/>
+
+
+    <xacro:iiwa_link name="link3"
+                     xyz_iner="8.94264666317923E-07 0.0343188244798595 -0.0692020521907963"
+                     mass="${mass_link3}" 
+                     ixx="0.133322417523041"
+                     ixy="-2.72387851582384E-07"
+                     ixz="-2.31579646685682E-07"
+                     iyy="0.127213838333813"
+                     iyz="-0.0236710393468367"
+                     izz="0.0471557500559207"
+                     mesh_vision="${mesh_link3_v}" 
+                     mesh_collision="${mesh_link3_c}"/>
+
+    <xacro:iiwa_link name="link4" 
+                     xyz_iner="9.9343785475714E-08 -0.0869462342636022 -0.0292907044657978"
+                     mass="${mass_link4}" 
+                     ixx="0.197630839812683"
+                     ixy="-3.9082887807781E-07"
+                     ixz="-3.24564289064112E-07"
+                     iyy="0.0602723071447973"
+                     iyz="0.0367195588674331"
+                     izz="0.187556898167347"
+                     mesh_vision="${mesh_link4_v}" 
+                     mesh_collision="${mesh_link4_c}"/>
+
+
+    <xacro:iiwa_link name="link5" 
+                     xyz_iner="-1.5059645121912E-07 -0.0298223596156005 -0.116233672352317"
+                     mass="${mass_link5}" 
+                     ixx="0.0529038960536523"
+                     ixy="6.86274869084724E-08"
+                     ixz="3.57472026918582E-07"
+                     iyy="0.0444942713885967"
+                     iyz="0.0174914068345989"
+                     izz="0.0239916848880951"
+                     mesh_vision="${mesh_link5_v}" 
+                     mesh_collision="${mesh_link5_c}"/>
+
+    <xacro:iiwa_link name="link6" 
+                     xyz_iner="3.09820422451923E-06 -0.000588422963829549 0.000348569863276505"
+                     mass="${mass_link6}" 
+                     ixx="0.0384515762635731"
+                     ixy="-6.70279497724119E-08"
+                     ixz="2.19173188415509E-06"
+                     iyy="0.0280010940276735"
+                     iyz="-0.00192249677468735"
+                     izz="0.0368124806983828"
+                     mesh_vision="${mesh_link6_v}" 
+                     mesh_collision="${mesh_link6_c}"/>
+
+    <xacro:iiwa_link name="link7" 
+                     xyz_iner="5.28878934317328E-07 3.37199922245852E-07 -0.0274928177649973"
+                     mass="${mass_link7}" 
+                     ixx="0.00177365937026673"
+                     ixy="-1.2410521430667E-07"
+                     ixz="-2.95409038849194E-08"
+                     iyy="0.00177328722902027"
+                     iyz="-1.57567641084958E-08"
+                     izz="0.00272748710623445"
+                     mesh_vision="${mesh_link7_v}" 
+                     mesh_collision="${mesh_link7_c}"/>
+
+    <link name="link7_ee" />
+
+</robot>
@@ -0,0 +1,43 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
+
+    <!-- Макрос для описания link-а с использованием переменных путей к мешам и массы -->
+    <xacro:macro name="iiwa_link" params="name xyz_iner mass ixx ixy ixz iyy iyz izz mesh_vision mesh_collision">
+        <link name="${name}">
+            <inertial>
+                <origin xyz="${xyz_iner}" rpy="0 0 0"/>
+                <mass value="${mass}"/>
+                <inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}" iyy="${iyy}" iyz="${iyz}" izz="${izz}"/>
+            </inertial>
+
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <mesh filename="${mesh_vision}"/>
+                </geometry>
+                <material name="iiwa_material">
+                    <color rgba="${color_r} ${color_g} ${color_b} ${color_a}"/>
+                </material>
+            </visual>
+
+            <collision>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <mesh filename="${mesh_collision}"/>
+                </geometry>
+            </collision>
+        </link>
+    </xacro:macro>
+
+    <!-- Макрос для описания соединений -->
+    <xacro:macro name="revolute_joint" params="jname parent child xyz rpy axis lower upper effort velocity">
+        <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}"/>
+        </joint>
+    </xacro:macro>
+
+</robot>
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
+
+    <xacro:property name="pkg" value="package://iiwa_description/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"/>
+
+    <!-- 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"/>
+
+</robot>
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<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"/>
+
+    <!-- Общие цвета / материал -->
+    <xacro:property name="color_r" value="0.647058823529412"/>
+    <xacro:property name="color_g" value="0.619607843137255"/>
+    <xacro:property name="color_b" value="0.588235294117647"/>
+    <xacro:property name="color_a" value="1"/>
+
+    <xacro:include filename="$(find iiwa_description)/urdf/meshes.xacro" />
+
+
+</robot>