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Выстроена готовая 3Д сцена

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Даниил Грабарь
2026-09-13 14:26:50 +03:00
parent 397e33bd08
commit ae30c02ddd
12 changed files with 129 additions and 32 deletions
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iiwa_genesis_description/README.md
+3
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@@ -4,6 +4,9 @@
из `iiwa_description` с сохранением кинематики, инерций, суставных ограничений
и геометрии. `table/table.urdf` — копия стола с локальными путями.
Meshes находятся в `urdf/meshes`; исходная папка не изменена.
DAE звеньев iiwa созданы в миллиметрах. Их visual mesh в URDF имеет
`scale="0.001 0.001 0.001"`: Genesis не применяет COLLADA unit автоматически.
STL коллизий, стол и инструмент уже заданы в метрах и не уменьшаются.
Воспроизводимый экспорт именно этих исходных макросов:
iiwa_genesis_description/urdf/iiwa_with_gripper.urdf
+8 -8
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@@ -10,7 +10,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/base_link.DAE" />
<mesh filename="meshes/iiwa/visual/base_link.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
@@ -32,7 +32,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/link1.DAE" />
<mesh filename="meshes/iiwa/visual/link1.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
@@ -54,7 +54,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/link2.DAE" />
<mesh filename="meshes/iiwa/visual/link2.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
@@ -76,7 +76,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/link3.DAE" />
<mesh filename="meshes/iiwa/visual/link3.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
@@ -98,7 +98,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/link4.DAE" />
<mesh filename="meshes/iiwa/visual/link4.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
@@ -120,7 +120,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/link5.DAE" />
<mesh filename="meshes/iiwa/visual/link5.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
@@ -142,7 +142,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/link6.DAE" />
<mesh filename="meshes/iiwa/visual/link6.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
@@ -164,7 +164,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/link7.DAE" />
<mesh filename="meshes/iiwa/visual/link7.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
iiwa_genesis_description/urdf/iiwa_without_gripper.urdf
+8 -8
View File
@@ -10,7 +10,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/base_link.DAE" />
<mesh filename="meshes/iiwa/visual/base_link.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
@@ -32,7 +32,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/link1.DAE" />
<mesh filename="meshes/iiwa/visual/link1.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
@@ -54,7 +54,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/link2.DAE" />
<mesh filename="meshes/iiwa/visual/link2.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
@@ -76,7 +76,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/link3.DAE" />
<mesh filename="meshes/iiwa/visual/link3.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
@@ -98,7 +98,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/link4.DAE" />
<mesh filename="meshes/iiwa/visual/link4.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
@@ -120,7 +120,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/link5.DAE" />
<mesh filename="meshes/iiwa/visual/link5.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
@@ -142,7 +142,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/link6.DAE" />
<mesh filename="meshes/iiwa/visual/link6.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
@@ -164,7 +164,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/iiwa/visual/link7.DAE" />
<mesh filename="meshes/iiwa/visual/link7.DAE" scale="0.001 0.001 0.001" />
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />