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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_description/urdf/iiwa7.urdf.xacro
-140
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="iiwa7">
<!-- Аргукменты -->
<xacro:arg name="initial_positions_file"
default="$(find iiwa_config)/config/moveit/initial_positions.yaml"/>
<xacro:property name="initial_positions"
value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
<xacro:include filename="$(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="$(find iiwa_description)/urdf/joints.xacro"/>
<webots>
<plugin type="webots_ros2_control::Ros2Control"/>
</webots>
<ros2_control name="iiwaWebotsControl" type="system">
<hardware>
<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint1']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint2']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint3">
<command_interface name="position">
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint3']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint4">
<command_interface name="position">
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint4']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint5">
<command_interface name="position">
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint5']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint6">
<command_interface name="position">
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint6']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint7">
<command_interface name="position">
<param name="min">-3.05</param>
<param name="max"> 3.05</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint7']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</ros2_control>
</robot>