Даниил Грабарь
58f246e1f2
- Created iiwa7_gazebo.urdf to define the iiwa7 robot model with detailed links, joints, and Gazebo integration. - Introduced patron.xacro for the tool patron, including its inertial properties, visual representation, and collision geometry.
26 lines
1.5 KiB
XML
26 lines
1.5 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
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<xacro:property name="pkg" value="package://iiwa_description/resource/meshes"/>
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<!-- Меши отображения -->
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<xacro:property name="mesh_base_v" value="${pkg}/iiwa/visual/base_link.DAE"/>
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<xacro:property name="mesh_link1_v" value="${pkg}/iiwa/visual/link1.DAE"/>
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<xacro:property name="mesh_link2_v" value="${pkg}/iiwa/visual/link2.DAE"/>
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<xacro:property name="mesh_link3_v" value="${pkg}/iiwa/visual/link3.DAE"/>
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<xacro:property name="mesh_link4_v" value="${pkg}/iiwa/visual/link4.DAE"/>
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<xacro:property name="mesh_link5_v" value="${pkg}/iiwa/visual/link5.DAE"/>
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<xacro:property name="mesh_link6_v" value="${pkg}/iiwa/visual/link6.DAE"/>
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<xacro:property name="mesh_link7_v" value="${pkg}/iiwa/visual/link7.DAE"/>
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<!-- Меши колизии -->
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<xacro:property name="mesh_base_c" value="${pkg}/iiwa/collision/base_link.STL"/>
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<xacro:property name="mesh_link1_c" value="${pkg}/iiwa/collision/link1.STL"/>
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<xacro:property name="mesh_link2_c" value="${pkg}/iiwa/collision/link2.STL"/>
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<xacro:property name="mesh_link3_c" value="${pkg}/iiwa/collision/link3.STL"/>
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<xacro:property name="mesh_link4_c" value="${pkg}/iiwa/collision/link4.STL"/>
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<xacro:property name="mesh_link5_c" value="${pkg}/iiwa/collision/link5.STL"/>
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<xacro:property name="mesh_link6_c" value="${pkg}/iiwa/collision/link6.STL"/>
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<xacro:property name="mesh_link7_c" value="${pkg}/iiwa/collision/link7.STL"/>
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</robot> |