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Создана базовая конфигурация робота

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Даниил Грабарь
2025-11-20 14:23:10 +10:00
commit a24cc16e0a
33 changed files with 6802 additions and 0 deletions
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src/iiwa_description/urdf/meshes.xacro
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<?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>