Создана базовая конфигурация робота

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@@ -0,0 +1,209 @@
 Panels:
  - Class: rviz_common/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /RobotModel1
        - /RobotModel1/Mass Properties1
      Splitter Ratio: 0.5
    Tree Height: 834
  - Class: rviz_common/Selection
    Name: Selection
  - Class: rviz_common/Tool Properties
    Expanded:
      - /2D Goal Pose1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz_common/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz_common/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
 Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz_default_plugins/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz_default_plugins/RobotModel
      Collision Enabled: false
      Description File: ""
      Description Source: Topic
      Description Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /robot_description
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link4:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link5:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link6:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link7:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link7_ee:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        world:
          Alpha: 1
          Show Axes: false
          Show Trail: false
      Mass Properties:
        Inertia: false
        Mass: false
      Name: RobotModel
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: base_link
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz_default_plugins/Interact
      Hide Inactive Objects: true
    - Class: rviz_default_plugins/MoveCamera
    - Class: rviz_default_plugins/Select
    - Class: rviz_default_plugins/FocusCamera
    - Class: rviz_default_plugins/Measure
      Line color: 128; 128; 0
    - Class: rviz_default_plugins/SetInitialPose
      Covariance x: 0.25
      Covariance y: 0.25
      Covariance yaw: 0.06853891909122467
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /initialpose
    - Class: rviz_default_plugins/SetGoal
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /goal_pose
    - Class: rviz_default_plugins/PublishPoint
      Single click: true
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /clicked_point
  Transformation:
    Current:
      Class: rviz_default_plugins/TF
  Value: true
  Views:
    Current:
      Class: rviz_default_plugins/Orbit
      Distance: 3.324988842010498
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.7203982472419739
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 5.598599910736084
    Saved: ~
 Window Geometry:
  Displays:
    collapsed: false
  Height: 1128
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd000000040000000000000156000003ccfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003c000003cc000000c800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003ccfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003c000003cc000000a200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000023200fffffffb0000000800540069006d006501000000000000045000000000000000000000050f000003cc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1920
  X: 0
  Y: 0
@@ -0,0 +1,71 @@
 from launch_ros.actions import Node
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch_ros.substitutions import FindPackageShare
 from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
 def generate_launch_description():
    package_name="iiwa_bringup"
    description_package_name = "iiwa_description"
    declare_model_arg = DeclareLaunchArgument(
        name="model",
        default_value=PathJoinSubstitution([
            FindPackageShare(description_package_name),
            "urdf",
            "iiwa7.urdf.xacro"
        ]),
        description="Path to the robot URDF/Xacro file"
    )
    declare_robot_name_arg = DeclareLaunchArgument(
        name="robot_name",
        default_value="iiwa7",
        description="Robot name fro the TF tree"
    )
    robot_description = Command([
        "xacro ", LaunchConfiguration('model'),
        " robot_name:=", LaunchConfiguration("robot_name")
    ])
    robot_state_publisher = Node(
        package="robot_state_publisher",
        executable="robot_state_publisher",
        name="robot_state_publisher",
        output="both",
        parameters=[{
            "robot_description": robot_description,
            "use_sim_time": False,
        }]
    )
    joint_state_publisher_gui = Node(
        package='joint_state_publisher_gui',
        executable='joint_state_publisher_gui',
        name='joint_state_publisher_gui',
        parameters=[{"use_sim_time": False}]
    )
    rviz_config = PathJoinSubstitution([
        FindPackageShare(package_name),
        'config',
        'rviz_iiwa.rviz'
    ])
    rviz = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        arguments=['-d', rviz_config],
        output='log'
    )
    return LaunchDescription([
        declare_model_arg,
        declare_robot_name_arg,
        robot_state_publisher,
        joint_state_publisher_gui,
        rviz
    ])
@@ -0,0 +1,19 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>iiwa_bringup</name>
  <version>0.0.1</version>
  <description>TODO: Package description</description>
  <maintainer email="grabardm@ml-dev.ru">Grabar Daniil</maintainer>
  <license>Apache-2.0</license>
  <test_depend>ament_copyright</test_depend>
  <test_depend>ament_flake8</test_depend>
  <test_depend>ament_pep257</test_depend>
  <test_depend>ament_xmllint</test_depend>
  <test_depend>python3-pytest</test_depend>
  <export>
    <build_type>ament_python</build_type>
  </export>
 </package>
@@ -0,0 +1,4 @@
 [develop]
 script_dir=$base/lib/iiwa_bringup
 [install]
 install_scripts=$base/lib/iiwa_bringup
@@ -0,0 +1,63 @@
 import os
 from setuptools import find_packages, setup
 EXCLUDES = {'.DS_Store', 'Thumbs.db'}
 EXCLUDE_DIRS = {'__pycache__', '.pytest_cache', '.git', '.idea'}
 def data_files_from_tree(src_dir: str, dst_root: str) -> list:
    """
    Собирает data_files в формате, подходящем для setuptools.
    Возвращает список пар (dst_path, [file1, file2, ...]).
    """
    entries = []
    for root, dirs, files in os.walk(src_dir):
        # исключаем служебные директории
        dirs[:] = [d for d in dirs if d not in EXCLUDE_DIRS]
        file_list = [os.path.join(root, f) for f in files if f not in EXCLUDES]
        if not file_list:
            continue
        rel = os.path.relpath(root, src_dir)
        dst_dir = os.path.join(dst_root, rel) if rel != '.' else dst_root
        entries.append((dst_dir, file_list))
    return entries
 package_name = 'iiwa_bringup'
 launch_intsall_root = f"share/{package_name}/launch"
 config_intsall_root = f"share/{package_name}/config"
 data_files = [
    ('share/' + package_name, ['package.xml']),
 ]
 data_files += data_files_from_tree('launch', launch_intsall_root)
 data_files += data_files_from_tree('config', config_intsall_root)
 setup(
    name=package_name,
    version='0.0.1',
    packages=find_packages(exclude=['test']),
    data_files=data_files,
    install_requires=['setuptools'],
    zip_safe=True,
    maintainer='Grabar Daniil',
    maintainer_email='grabardm@ml-dev.ru',
    description='TODO: Package description',
    license='Apache-2.0',
    extras_require={
        'test': [
            'pytest',
        ],
    },
    entry_points={
        'console_scripts': [
        ],
    },
 )
@@ -0,0 +1,202 @@
                                 Apache License
                           Version 2.0, January 2004
                        http://www.apache.org/licenses/
   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
   1. Definitions.
      "License" shall mean the terms and conditions for use, reproduction,
      and distribution as defined by Sections 1 through 9 of this document.
      "Licensor" shall mean the copyright owner or entity authorized by
      the copyright owner that is granting the License.
      "Legal Entity" shall mean the union of the acting entity and all
      other entities that control, are controlled by, or are under common
      control with that entity. For the purposes of this definition,
      "control" means (i) the power, direct or indirect, to cause the
      direction or management of such entity, whether by contract or
      otherwise, or (ii) ownership of fifty percent (50%) or more of the
      outstanding shares, or (iii) beneficial ownership of such entity.
      "You" (or "Your") shall mean an individual or Legal Entity
      exercising permissions granted by this License.
      "Source" form shall mean the preferred form for making modifications,
      including but not limited to software source code, documentation
      source, and configuration files.
      "Object" form shall mean any form resulting from mechanical
      transformation or translation of a Source form, including but
      not limited to compiled object code, generated documentation,
      and conversions to other media types.
      "Work" shall mean the work of authorship, whether in Source or
      Object form, made available under the License, as indicated by a
      copyright notice that is included in or attached to the work
      (an example is provided in the Appendix below).
      "Derivative Works" shall mean any work, whether in Source or Object
      form, that is based on (or derived from) the Work and for which the
      editorial revisions, annotations, elaborations, or other modifications
      represent, as a whole, an original work of authorship. For the purposes
      of this License, Derivative Works shall not include works that remain
      separable from, or merely link (or bind by name) to the interfaces of,
      the Work and Derivative Works thereof.
      "Contribution" shall mean any work of authorship, including
      the original version of the Work and any modifications or additions
      to that Work or Derivative Works thereof, that is intentionally
      submitted to Licensor for inclusion in the Work by the copyright owner
      or by an individual or Legal Entity authorized to submit on behalf of
      the copyright owner. For the purposes of this definition, "submitted"
      means any form of electronic, verbal, or written communication sent
      to the Licensor or its representatives, including but not limited to
      communication on electronic mailing lists, source code control systems,
      and issue tracking systems that are managed by, or on behalf of, the
      Licensor for the purpose of discussing and improving the Work, but
      excluding communication that is conspicuously marked or otherwise
      designated in writing by the copyright owner as "Not a Contribution."
      "Contributor" shall mean Licensor and any individual or Legal Entity
      on behalf of whom a Contribution has been received by Licensor and
      subsequently incorporated within the Work.
   2. Grant of Copyright License. Subject to the terms and conditions of
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      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
      copyright license to reproduce, prepare Derivative Works of,
      publicly display, publicly perform, sublicense, and distribute the
      Work and such Derivative Works in Source or Object form.
   3. Grant of Patent License. Subject to the terms and conditions of
      this License, each Contributor hereby grants to You a perpetual,
      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
      (except as stated in this section) patent license to make, have made,
      use, offer to sell, sell, import, and otherwise transfer the Work,
      where such license applies only to those patent claims licensable
      by such Contributor that are necessarily infringed by their
      Contribution(s) alone or by combination of their Contribution(s)
      with the Work to which such Contribution(s) was submitted. If You
      institute patent litigation against any entity (including a
      cross-claim or counterclaim in a lawsuit) alleging that the Work
      or a Contribution incorporated within the Work constitutes direct
      or contributory patent infringement, then any patent licenses
      granted to You under this License for that Work shall terminate
      as of the date such litigation is filed.
   4. Redistribution. You may reproduce and distribute copies of the
      Work or Derivative Works thereof in any medium, with or without
      modifications, and in Source or Object form, provided that You
      meet the following conditions:
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          Derivative Works a copy of this License; and
      (b) You must cause any modified files to carry prominent notices
          stating that You changed the files; and
      (c) You must retain, in the Source form of any Derivative Works
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      (d) If the Work includes a "NOTICE" text file as part of its
          distribution, then any Derivative Works that You distribute must
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          within such NOTICE file, excluding those notices that do not
          pertain to any part of the Derivative Works, in at least one
          of the following places: within a NOTICE text file distributed
          as part of the Derivative Works; within the Source form or
          documentation, if provided along with the Derivative Works; or,
          within a display generated by the Derivative Works, if and
          wherever such third-party notices normally appear. The contents
          of the NOTICE file are for informational purposes only and
          do not modify the License. You may add Your own attribution
          notices within Derivative Works that You distribute, alongside
          or as an addendum to the NOTICE text from the Work, provided
          that such additional attribution notices cannot be construed
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      You may add Your own copyright statement to Your modifications and
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   Copyright [yyyy] [name of copyright owner]
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@@ -0,0 +1,19 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>iiwa_description</name>
  <version>0.0.1</version>
  <description>TODO: Package description</description>
  <maintainer email="grabardm@ml-dev.ru">Grabar Daniil</maintainer>
  <license>Apache-2.0</license>
  <test_depend>ament_copyright</test_depend>
  <test_depend>ament_flake8</test_depend>
  <test_depend>ament_pep257</test_depend>
  <test_depend>ament_xmllint</test_depend>
  <test_depend>python3-pytest</test_depend>
  <export>
    <build_type>ament_python</build_type>
  </export>
 </package>
@@ -0,0 +1,4 @@
 [develop]
 script_dir=$base/lib/iiwa_description
 [install]
 install_scripts=$base/lib/iiwa_description
@@ -0,0 +1,61 @@
 import os
 from setuptools import find_packages, setup
 EXCLUDES = {'.DS_Store', 'Thumbs.db'}
 EXCLUDE_DIRS = {'__pycache__', '.pytest_cache', '.git', '.idea'}
 def data_files_from_tree(src_dir: str, dst_root: str) -> list:
    """
    Собирает data_files в формате, подходящем для setuptools.
    Возвращает список пар (dst_path, [file1, file2, ...]).
    """
    entries = []
    for root, dirs, files in os.walk(src_dir):
        # исключаем служебные директории
        dirs[:] = [d for d in dirs if d not in EXCLUDE_DIRS]
        file_list = [os.path.join(root, f) for f in files if f not in EXCLUDES]
        if not file_list:
            continue
        rel = os.path.relpath(root, src_dir)
        dst_dir = os.path.join(dst_root, rel) if rel != '.' else dst_root
        entries.append((dst_dir, file_list))
    return entries
 package_name = 'iiwa_description'
 meshes_intsall_root = f"share/{package_name}/meshes"
 urdf_intsall_root = f"share/{package_name}/urdf"
 data_files = [
    ('share/' + package_name, ['package.xml']),
 ]
 data_files += data_files_from_tree('meshes', meshes_intsall_root)
 data_files += data_files_from_tree('urdf', urdf_intsall_root)
 setup(
    name=package_name,
    version='0.0.1',
    packages=find_packages(exclude=['test']),
    data_files=data_files,
    install_requires=['setuptools'],
    zip_safe=True,
    maintainer='Grabar Daniil',
    maintainer_email='grabardm@ml-dev.ru',
    description='TODO: Package description',
    license='Apache-2.0',
    extras_require={
        'test': [
            'pytest',
        ],
    },
    entry_points={
        'console_scripts': [
        ],
    },
 )
@@ -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>