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Add gripper model and configuration for iiwa7 robot

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- Created URDF model for gripper including links and joints.
- Added XACRO files for gripper components: gripper.xacro, gripper_links.xacro, gripper_joints.xacro, gripper_macros.xacro, and gripper_meshes.xacro.
- Integrated gripper into iiwa7 digital twin configuration.
- Defined properties and macros for gripper components to facilitate easier modifications and reuse.
This commit is contained in:
Даниил Грабарь
2026-04-07 14:40:23 +10:00
parent 44dd2505ca
commit a269ef3a76
17 changed files with 598 additions and 168 deletions
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src/iiwa_config/config/setting.yaml
+1 -1
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@@ -16,7 +16,7 @@ digital_twin:
rviz:
config: pkg://iiwa_config/config/rviz/rviz_moveit.rviz
description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro
description: pkg://iiwa_description/urdf/iiwa7_digital.urdf.xacro
controller:
controller_path: pkg://iiwa_config/config/moveit/iiwa_controller.yaml