Add gripper model and configuration for iiwa7 robot
- 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.
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Даниил Грабарь
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="iiwa7">
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<!-- Аргукменты -->
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<xacro:arg name="initial_positions_file"
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default="$(find iiwa_config)/config/moveit/initial_positions.yaml"/>
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<xacro:property name="initial_positions"
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value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
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<xacro:include filename="$(find iiwa_description)/urdf/params.xacro"/>
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<xacro:include filename="$(find iiwa_description)/urdf/macros.xacro"/>
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<xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
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<xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>
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<xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper.xacro"/>
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<webots>
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<plugin type="webots_ros2_control::Ros2Control"/>
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</webots>
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<ros2_control name="iiwaWebotsControl" type="system">
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<hardware>
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<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
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</hardware>
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<joint name="joint1">
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<command_interface name="position">
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<param name="min">-2.97</param>
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<param name="max"> 2.97</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-320</param>
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<param name="max"> 320</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint1']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint2">
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<command_interface name="position">
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<param name="min">-2.09</param>
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<param name="max"> 2.09</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-320</param>
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<param name="max"> 320</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint2']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint3">
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<command_interface name="position">
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<param name="min">-2.97</param>
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<param name="max"> 2.97</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-320</param>
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<param name="max"> 320</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint3']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint4">
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<command_interface name="position">
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<param name="min">-2.09</param>
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<param name="max"> 2.09</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-320</param>
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<param name="max"> 320</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint4']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint5">
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<command_interface name="position">
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<param name="min">-2.97</param>
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<param name="max"> 2.97</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-320</param>
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<param name="max"> 320</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint5']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint6">
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<command_interface name="position">
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<param name="min">-2.09</param>
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<param name="max"> 2.09</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-320</param>
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<param name="max"> 320</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint6']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint7">
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<command_interface name="position">
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<param name="min">-3.05</param>
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<param name="max"> 3.05</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-320</param>
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<param name="max"> 320</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint7']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<!-- Захват -->
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<!-- <joint name="base_screw">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint> -->
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</ros2_control>
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</robot>
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