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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/params.xacro
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<?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>