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Добавлены 3д модели для второго эксперемнта и два мира для эксперемента

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This commit is contained in:
Даниил Грабарь
2026-11-06 16:37:06 +10:00
parent e94f9ac47e
commit 1caa919ea4
31 changed files with 536188 additions and 142043 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/iiwa_description/objects/diser/automat.mtl
+72
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# Blender 5.2.1 LTS MTL File: 'None'
# www.blender.org
newmtl Металл_|_оцинкованный
Ns 562.500000
Ka 0.820000 0.820000 0.820000
Kd 0.566810 0.612066 0.625345
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 3
newmtl Металл_|_тёмный
Ns 462.399994
Ka 0.750000 0.750000 0.750000
Kd 0.151058 0.176774 0.186989
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 3
newmtl Пластик_|_графит
Ns 291.599945
Ka 1.000000 1.000000 1.000000
Kd 0.039947 0.046149 0.052842
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Пластик_|_светло-серый
Ns 384.399994
Ka 1.000000 1.000000 1.000000
Kd 0.701169 0.708298 0.680020
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Пластик_|_серый
Ns 313.600006
Ka 1.000000 1.000000 1.000000
Kd 0.425905 0.453456 0.442323
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Пластик_|_средне-серый
Ns 302.500000
Ka 1.000000 1.000000 1.000000
Kd 0.271577 0.293216 0.288816
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Резина_|_чёрная
Ns 102.399994
Ka 1.000000 1.000000 1.000000
Kd 0.002263 0.002932 0.003697
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
src/iiwa_description/objects/diser/automat.obj
+22762
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src/iiwa_description/objects/diser/clema.mtl
+62
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# Blender 5.2.1 LTS MTL File: 'None'
# www.blender.org
newmtl Клеммник_|_синий_по_референсу
Ns 384.399994
Ka 1.000000 1.000000 1.000000
Kd 0.001963 0.133209 0.409826
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Металл_|_оцинкованный.001
Ns 562.500000
Ka 0.820000 0.820000 0.820000
Kd 0.566810 0.612066 0.625345
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 3
newmtl Металл_|_тёмный.002
Ns 462.399994
Ka 0.750000 0.750000 0.750000
Kd 0.151058 0.176774 0.186989
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 3
newmtl Пластик_|_графит.002
Ns 291.599945
Ka 1.000000 1.000000 1.000000
Kd 0.039947 0.046149 0.052842
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Пластик_|_тёмно-синий
Ns 313.600006
Ka 1.000000 1.000000 1.000000
Kd 0.000805 0.071761 0.212044
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Резина_|_чёрная.002
Ns 102.399994
Ka 1.000000 1.000000 1.000000
Kd 0.002263 0.002932 0.003697
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
src/iiwa_description/objects/diser/clema.obj
+86574
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src/iiwa_description/objects/diser/lotock.mtl
+12
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@@ -0,0 +1,12 @@
# Blender 5.2.1 LTS MTL File: 'None'
# www.blender.org
newmtl Лотки_|_глубокий_синий
Ns 360.000000
Ka 1.000000 1.000000 1.000000
Kd 0.000805 0.042987 0.183549
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
src/iiwa_description/objects/diser/lotock.obj
+4860
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src/iiwa_description/objects/diser/panel.mtl
+32
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# Blender 5.2.1 LTS MTL File: 'None'
# www.blender.org
newmtl Платформа_|_текстурированная
Ns 48.400013
Ka 1.000000 1.000000 1.000000
Kd 0.013473 0.016068 0.017936
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Разметка_|_жёлтая
Ns 360.000000
Ka 1.000000 1.000000 1.000000
Kd 0.804559 0.573159 0.000000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Разметка_|_серая
Ns 250.000000
Ka 1.000000 1.000000 1.000000
Kd 0.344026 0.368591 0.378676
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
src/iiwa_description/objects/diser/panel.obj
+4080
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src/iiwa_description/objects/diser/plk.mtl
+92
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@@ -0,0 +1,92 @@
# Blender 5.2.1 LTS MTL File: 'None'
# www.blender.org
newmtl Корпуса_|_серый_по_референсу.001
Ns 291.599945
Ka 1.000000 1.000000 1.000000
Kd 0.353741 0.383775 0.378676
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Металл_|_оцинкованный.002
Ns 562.500000
Ka 0.820000 0.820000 0.820000
Kd 0.566810 0.612066 0.625345
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 3
newmtl Металл_|_тёмный.003
Ns 462.399994
Ka 0.750000 0.750000 0.750000
Kd 0.151058 0.176774 0.186989
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 3
newmtl Панель_ПЛК_|_тёмный_графит
Ns 250.000000
Ka 1.000000 1.000000 1.000000
Kd 0.010398 0.013473 0.016988
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Пластик_|_графит.003
Ns 291.599945
Ka 1.000000 1.000000 1.000000
Kd 0.039947 0.046149 0.052842
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Пластик_|_светло-серый.002
Ns 384.399994
Ka 1.000000 1.000000 1.000000
Kd 0.701169 0.708298 0.680020
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Пластик_|_серый.001
Ns 313.600006
Ka 1.000000 1.000000 1.000000
Kd 0.425905 0.453456 0.442323
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Пластик_|_средне-серый.002
Ns 302.500000
Ka 1.000000 1.000000 1.000000
Kd 0.271577 0.293216 0.288816
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Резина_|_чёрная.003
Ns 102.399994
Ka 1.000000 1.000000 1.000000
Kd 0.002263 0.002932 0.003697
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
src/iiwa_description/objects/diser/plk.obj
+113053
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src/iiwa_description/objects/diser/power-block.mtl
+72
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@@ -0,0 +1,72 @@
# Blender 5.2.1 LTS MTL File: 'None'
# www.blender.org
newmtl Индикатор_|_зелёный
Ns 608.399963
Ka 1.000000 1.000000 1.000000
Kd 0.052842 0.573159 0.067725
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Корпуса_|_серый_по_референсу
Ns 291.599945
Ka 1.000000 1.000000 1.000000
Kd 0.353741 0.383775 0.378676
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Металл_|_тёмный.001
Ns 462.399994
Ka 0.750000 0.750000 0.750000
Kd 0.151058 0.176774 0.186989
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 3
newmtl Пластик_|_графит.001
Ns 291.599945
Ka 1.000000 1.000000 1.000000
Kd 0.039947 0.046149 0.052842
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Пластик_|_светло-серый.001
Ns 384.399994
Ka 1.000000 1.000000 1.000000
Kd 0.701169 0.708298 0.680020
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Пластик_|_средне-серый.001
Ns 302.500000
Ka 1.000000 1.000000 1.000000
Kd 0.271577 0.293216 0.288816
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Резина_|_чёрная.001
Ns 102.399994
Ka 1.000000 1.000000 1.000000
Kd 0.002263 0.002932 0.003697
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
src/iiwa_description/objects/diser/power-block.obj
+84507
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src/iiwa_description/objects/diser/profile.mtl
+12
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@@ -0,0 +1,12 @@
# Blender 5.2.1 LTS MTL File: 'None'
# www.blender.org
newmtl Корпуса_|_серый_по_референсу.002
Ns 291.599945
Ka 1.000000 1.000000 1.000000
Kd 0.353741 0.383775 0.378676
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
src/iiwa_description/objects/diser/profile.obj
+1100
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src/iiwa_description/objects/diser/rele.mtl
+82
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@@ -0,0 +1,82 @@
# Blender 5.2.1 LTS MTL File: 'None'
# www.blender.org
newmtl Крышка_|_прозрачная_синяя
Ns 705.600098
Ka 1.000000 1.000000 1.000000
Kd 0.056374 0.353741 0.535642
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 0.420000
illum 9
newmtl Крышка_|_синие_кромки
Ns 640.000000
Ka 1.000000 1.000000 1.000000
Kd 0.020951 0.173439 0.271577
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 0.650000
illum 9
newmtl Медь_|_катушка
Ns 291.599945
Ka 0.320000 0.320000 0.320000
Kd 0.560499 0.275833 0.121986
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 3
newmtl Металл_|_оцинкованный.003
Ns 562.500000
Ka 0.820000 0.820000 0.820000
Kd 0.566810 0.612066 0.625345
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 3
newmtl Металл_|_тёмный.004
Ns 462.399994
Ka 0.750000 0.750000 0.750000
Kd 0.151058 0.176774 0.186989
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
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newmtl Пластик_|_графит.004
Ns 291.599945
Ka 1.000000 1.000000 1.000000
Kd 0.039947 0.046149 0.052842
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Пластик_|_средне-серый.003
Ns 302.500000
Ka 1.000000 1.000000 1.000000
Kd 0.271577 0.293216 0.288816
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
newmtl Пластик_|_тёмно-синий.001
Ns 313.600006
Ka 1.000000 1.000000 1.000000
Kd 0.000805 0.071761 0.212044
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
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src/iiwa_description/objects/diser/rele.obj
+70833
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src/iiwa_description/objects/diser/two-panel-lotock.mtl
+12
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@@ -0,0 +1,12 @@
# Blender 5.2.1 LTS MTL File: 'None'
# www.blender.org
newmtl Лотки_|_глубокий_синий.001
Ns 360.000000
Ka 1.000000 1.000000 1.000000
Kd 0.000805 0.042987 0.183549
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
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src/iiwa_description/objects/diser/two-panel-lotock.obj
+5271
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src/iiwa_description/objects/grant/magnit-tool.mtl
+2 -2
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@@ -1,7 +1,7 @@
# Blender 5.2.1 LTS MTL File: 'None'
# www.blender.org
newmtl Dark_tool_steel.002
newmtl Dark_tool_steel.003
Ns 504.100067
Ka 0.820000 0.820000 0.820000
Kd 0.160000 0.180000 0.200000
@@ -21,7 +21,7 @@ Ni 1.500000
d 1.000000
illum 3
newmtl Satin_stainless_steel.002
newmtl Satin_stainless_steel.003
Ns 562.500000
Ka 0.880000 0.880000 0.880000
Kd 0.520000 0.560000 0.590000
src/iiwa_description/objects/grant/magnit-tool.obj
+19553 -19537
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src/iiwa_description/objects/grant/tool-magizine.obj
+73264 -73248
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src/iiwa_description/objects/grant/vacum-tool.mtl
+4 -4
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@@ -1,7 +1,7 @@
# Blender 5.2.1 LTS MTL File: 'None'
# www.blender.org
newmtl Black_elastomer
newmtl Black_elastomer.001
Ns 193.600006
Ka 1.000000 1.000000 1.000000
Kd 0.012000 0.016000 0.019000
@@ -11,7 +11,7 @@ Ni 1.500000
d 1.000000
illum 2
newmtl Dark_tool_steel.001
newmtl Dark_tool_steel.005
Ns 504.100067
Ka 0.820000 0.820000 0.820000
Kd 0.160000 0.180000 0.200000
@@ -21,7 +21,7 @@ Ni 1.500000
d 1.000000
illum 3
newmtl Satin_stainless_steel.001
newmtl Satin_stainless_steel.005
Ns 562.500000
Ka 0.880000 0.880000 0.880000
Kd 0.520000 0.560000 0.590000
@@ -31,7 +31,7 @@ Ni 1.500000
d 1.000000
illum 3
newmtl Socket_recess.001
newmtl Socket_recess.004
Ns 250.000000
Ka 0.100000 0.100000 0.100000
Kd 0.006000 0.007000 0.008000
src/iiwa_description/objects/grant/vacum-tool.obj
+32186 -32157
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src/iiwa_description/objects/grant/wranch-tool.obj
+17105 -17092
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src/iiwa_description/resource/protos/GrantToolRack.proto
+122
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@@ -0,0 +1,122 @@
#VRML_SIM R2025a utf8
# Original-size grant magazine. The sealant OBJ export is 10 times smaller
# than the other tool meshes, so scale only that tool visual.
# The OBJ meshes use Y as vertical; the default rotation maps Y to world Z.
PROTO GrantToolRack [
field SFVec3f translation 0 0 0
field SFRotation rotation 1 0 0 1.57079632679
]
{
Solid {
translation IS translation
rotation IS rotation
name "grant_tool_magazine"
locked TRUE
children [
Shape {
appearance PBRAppearance {
baseColor 0.72 0.47 0.14
roughness 0.56
metalness 0.35
}
geometry Mesh {
url [ "../../objects/grant/tool-magizine.obj" ]
}
}
Solid {
translation -0.135 0.01 0
name "grant_vacuum_tool_docked"
locked TRUE
children [
Shape {
appearance PBRAppearance {
baseColor 0.16 0.47 0.72
roughness 0.5
metalness 0.25
}
geometry Mesh {
url [ "../../objects/grant/vacum-tool.obj" ]
}
}
]
boundingObject Pose {
translation 0.00054 0.07 0
children [ Box { size 0.0821 0.14 0.081 } ]
}
}
Solid {
translation -0.045 0.01 0
name "grant_magnetic_tool_docked"
locked TRUE
children [
Shape {
appearance PBRAppearance {
baseColor 0.43 0.30 0.65
roughness 0.4
metalness 0.45
}
geometry Mesh {
url [ "../../objects/grant/magnit-tool.obj" ]
}
}
]
boundingObject Pose {
translation 0 0.07 0
children [ Box { size 0.036 0.14 0.036 } ]
}
}
Solid {
translation 0.045 0.01 0
name "grant_sealant_tool_docked"
locked TRUE
children [
Transform {
scale 10 10 10
children [
Shape {
appearance PBRAppearance {
baseColor 0.23 0.57 0.31
roughness 0.6
metalness 0.15
}
geometry Mesh {
url [ "../../objects/grant/germetic-tool.obj" ]
}
}
]
}
]
boundingObject Pose {
translation 0 0.07 0
children [ Box { size 0.05608 0.14 0.05608 } ]
}
}
Solid {
translation 0.135 0.01 0
name "grant_wrench_tool_docked"
locked TRUE
children [
Shape {
appearance PBRAppearance {
baseColor 0.80 0.32 0.18
roughness 0.4
metalness 0.45
}
geometry Mesh {
url [ "../../objects/grant/wranch-tool.obj" ]
}
}
]
boundingObject Pose {
translation 0 0.07 0
children [ Box { size 0.049 0.14 0.049 } ]
}
}
]
boundingObject Pose {
translation 0 0.005 0
children [ Box { size 0.42 0.01 0.14 } ]
}
}
}
src/iiwa_description/worlds/grant/.body_hatch.wbproj
+9
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@@ -0,0 +1,9 @@
Webots Project File version R2025a
perspectives: 000000ff00000000fd0000000300000000000001ca0000039ffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000000000010000023a00000390fc0200000001fb0000001400540065007800740045006400690074006f00720100000014000003900000003f00ffffff000000030000078000000039fc0100000002fb0000000e0043006f006e0073006f006c006501000001d0000005b00000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff000005440000039000000004000000040000000100000008fc00000000
simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000002010000000101
sceneTreePerspectives: 000000ff00000001000000030000001c000002b2000000fa0100000002010000000201
maximizedDockId: -1
centralWidgetVisible: 1
orthographicViewHeight: 1
textFiles: -1
consoles: Console:All:All
src/iiwa_description/worlds/grant/.body_hatch_installed.wbproj
+8
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@@ -0,0 +1,8 @@
Webots Project File version R2025a
perspectives: 000000ff00000000fd0000000300000000000001ca0000039ffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000000000010000023a00000390fc0200000001fb0000001400540065007800740045006400690074006f00720000000014000003900000003f00ffffff0000000300000780000000a0fc0100000002fb0000000e0043006f006e0073006f006c006501000001d0000005b00000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000780000000000000000000000780000003cb00000004000000040000000100000008fc00000000
simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000002010000000101
sceneTreePerspectives: 000000ff00000001000000030000001c000000c0000000fa0100000002010000000201
maximizedDockId: -1
centralWidgetVisible: 1
orthographicViewHeight: 1
textFiles: -1
src/iiwa_description/worlds/grant/body_hatch.wbt
+188
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@@ -0,0 +1,188 @@
#VRML_SIM R2025a utf8
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/RectangleArena.proto"
EXTERNPROTO "../../resource/protos/CollaborativeRobotTable.proto"
EXTERNPROTO "../../resource/protos/WorkspaceLimiter.proto"
EXTERNPROTO "../../resource/protos/GrantToolRack.proto"
# Based on ../iiwa.wbt. The robot is spawned by iiwa_bringup at
# (-0.25, 0, 0.79), facing world +X. All workpieces stay on the table
# in front of its base. The tabletop is at world Z = 0.793 m.
# The workpiece OBJ meshes use Y as their vertical axis. The shared axis-angle
# rotation first maps Y to world Z, then turns the workpieces 45 degrees
# around world Z. Coordinates and dimensions are metres.
#
# Base scene: the hatch lies separately on the tabletop for pickup and
# transfer. The robot starts without an attached tool; the magazine holds
# four static tools. For an already installed
# hatch, use body_hatch_installed.wbt. For experiment 02, offset
# BODY_HATCH_BODY by +0.003 m in X. Experiment 03 keeps an empty fixture;
# experiment 12 omits the hatch.
WorldInfo {
title "Body and hatch - grant experiments"
basicTimeStep 32
optimalThreadCount 4
contactProperties [
ContactProperties {
material1 "TableMaterial"
coulombFriction [ 0.6 ]
bounce 0
bounceVelocity 0
softERP 1
softCFM 0.0001
}
ContactProperties {
material1 "tool"
material2 "TableMaterial"
bounce 0
softCFM 0.002
maxContactJoints 100
}
ContactProperties {
material1 "default"
material2 "default"
maxContactJoints 20
bounce 0
softCFM 0.001
}
]
}
Viewpoint {
orientation 0.19663259328507318 -0.09057124279298501 -0.9762850368805829 3.9867817928674034
position 1.75 -1.85 1.77
followType "Mounted Shot"
ambientOcclusionRadius 3
}
TexturedBackground {
}
TexturedBackgroundLight {
texture "noon_sunny_empty"
luminosity 2
}
RectangleArena {
name "Arena"
floorSize 12 12
wallHeight 2
}
CollaborativeRobotTable {
translation 0 0 -0.007
locked TRUE
showCabinet TRUE
}
DEF limiter Group {
children [
WorkspaceLimiter {
translation -1.56 -0.219999 1.01
rotation 0 0 1 1.5708
name "WorkspaceLimiter_back"
locked TRUE
scale 2.32 1 2
}
WorkspaceLimiter {
translation -0.04 1.18 1.01
name "WorkspaceLimiter_right"
locked TRUE
scale 2.43 1 2
}
]
}
DirectionalLight {
direction -0.1 0.1 0
intensity 2
}
# Fixture plate: bottom Y=-0.010 m rests on the tabletop. The two rails
# support the body at Y=+0.0161 m without intersecting its underside.
DEF BODY_HATCH_STAPEL Solid {
translation 0.30 0.12 0.803
rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
name "body_hatch_stapel"
locked TRUE
children [
Shape {
appearance PBRAppearance {
baseColor 0.30 0.34 0.39
roughness 0.55
metalness 0.55
}
geometry Mesh {
url [ "../../objects/grant/stapel.obj" ]
}
}
]
boundingObject Group {
children [
Pose {
translation 0 -0.005 0
children [ Box { size 0.35 0.01 0.22 } ]
}
Pose {
translation -0.104 0.008 0
children [ Box { size 0.014 0.016 0.156 } ]
}
Pose {
translation 0.104 0.008 0
children [ Box { size 0.014 0.016 0.156 } ]
}
]
}
}
# The body shares the fixture centre. Its +0.020 m height puts the
# underside on top of the fixture rails.
DEF BODY_HATCH_BODY Solid {
translation 0.30 0.12 0.823
rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
name "body_hatch_body"
locked TRUE
children [
Shape {
appearance PBRAppearance {
baseColor 0.64 0.68 0.72
roughness 0.45
metalness 0.45
}
geometry Mesh {
url [ "../../objects/grant/base-detail.obj" ]
}
}
]
boundingObject Pose {
translation 0 0.000695 0
children [ Box { size 0.30 0.00915 0.17 } ]
}
}
DEF BODY_HATCH_CAP Solid {
translation 0.35 -0.25 0.790667
rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
name "body_hatch_cap"
children [
Shape {
appearance PBRAppearance {
baseColor 0.78 0.82 0.86
roughness 0.35
metalness 0.55
}
geometry Mesh {
url [ "../../objects/grant/cap.obj" ]
}
}
]
boundingObject Pose {
translation 0 0.004165 0
children [ Box { size 0.1384 0.00367 0.0984 } ]
}
physics Physics {
mass 0.1
}
}
# The rack is in the front-left work area, clear of the loose hatch.
# Its 180-degree yaw faces the tool sockets toward the robot.
GrantToolRack {
translation 0.12 -0.42 0.793
rotation 0 0.70710678118 0.70710678118 3.14159265359
}
src/iiwa_description/worlds/grant/body_hatch_installed.wbt
+182
View File
@@ -0,0 +1,182 @@
#VRML_SIM R2025a utf8
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/RectangleArena.proto"
EXTERNPROTO "../../resource/protos/CollaborativeRobotTable.proto"
EXTERNPROTO "../../resource/protos/WorkspaceLimiter.proto"
EXTERNPROTO "../../resource/protos/GrantToolRack.proto"
# Based on ../iiwa.wbt. The robot is spawned by iiwa_bringup at
# (-0.25, 0, 0.79), facing world +X. All workpieces stay on the table
# in front of its base. The tabletop is at world Z = 0.793 m.
# The workpiece OBJ meshes use Y as their vertical axis. The shared axis-angle
# rotation first maps Y to world Z, then turns the workpieces 45 degrees
# around world Z. Coordinates and dimensions are metres.
#
# Installed scene for experiments 04, 14 and 15: the hatch is fixed on
# the body surface. The magazine holds the four static tool models.
# For a loose hatch that the robot can pick up, use body_hatch.wbt.
WorldInfo {
title "Body with installed hatch and tool magazine"
basicTimeStep 32
optimalThreadCount 4
contactProperties [
ContactProperties {
material1 "TableMaterial"
coulombFriction [ 0.6 ]
bounce 0
bounceVelocity 0
softERP 1
softCFM 0.0001
}
ContactProperties {
material1 "tool"
material2 "TableMaterial"
bounce 0
softCFM 0.002
maxContactJoints 100
}
ContactProperties {
material1 "default"
material2 "default"
maxContactJoints 20
bounce 0
softCFM 0.001
}
]
}
Viewpoint {
orientation 0.19663259328507318 -0.09057124279298501 -0.9762850368805829 3.9867817928674034
position 1.75 -1.85 1.77
followType "Mounted Shot"
ambientOcclusionRadius 3
}
TexturedBackground {
}
TexturedBackgroundLight {
texture "noon_sunny_empty"
luminosity 2
}
RectangleArena {
name "Arena"
floorSize 12 12
wallHeight 2
}
CollaborativeRobotTable {
translation 0 0 -0.007
locked TRUE
showCabinet TRUE
}
DEF limiter Group {
children [
WorkspaceLimiter {
translation -1.56 -0.219999 1.01
rotation 0 0 1 1.5708
name "WorkspaceLimiter_back"
locked TRUE
scale 2.32 1 2
}
WorkspaceLimiter {
translation -0.04 1.18 1.01
name "WorkspaceLimiter_right"
locked TRUE
scale 2.43 1 2
}
]
}
DirectionalLight {
direction -0.1 0.1 0
intensity 2
}
# Fixture plate: bottom Y=-0.010 m rests on the tabletop. The two rails
# support the body at Y=+0.0161 m without intersecting its underside.
DEF BODY_HATCH_STAPEL Solid {
translation 0.30 0.12 0.803
rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
name "body_hatch_stapel"
locked TRUE
children [
Shape {
appearance PBRAppearance {
baseColor 0.30 0.34 0.39
roughness 0.55
metalness 0.55
}
geometry Mesh {
url [ "../../objects/grant/stapel.obj" ]
}
}
]
boundingObject Group {
children [
Pose {
translation 0 -0.005 0
children [ Box { size 0.35 0.01 0.22 } ]
}
Pose {
translation -0.104 0.008 0
children [ Box { size 0.014 0.016 0.156 } ]
}
Pose {
translation 0.104 0.008 0
children [ Box { size 0.014 0.016 0.156 } ]
}
]
}
}
# The body shares the fixture centre. Its +0.020 m height puts the
# underside on top of the fixture rails.
DEF BODY_HATCH_BODY Solid {
translation 0.30 0.12 0.823
rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
name "body_hatch_body"
locked TRUE
children [
Shape {
appearance PBRAppearance {
baseColor 0.64 0.68 0.72
roughness 0.45
metalness 0.45
}
geometry Mesh {
url [ "../../objects/grant/base-detail.obj" ]
}
}
]
boundingObject Pose {
translation 0 0.000695 0
children [ Box { size 0.30 0.00915 0.17 } ]
}
}
DEF BODY_HATCH_CAP Solid {
translation 0.30 0.12 0.82594
rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
name "body_hatch_cap"
locked TRUE
children [
Shape {
appearance PBRAppearance {
baseColor 0.78 0.82 0.86
roughness 0.35
metalness 0.55
}
geometry Mesh {
url [ "../../objects/grant/cap.obj" ]
}
}
]
boundingObject Pose {
translation 0 0.004165 0
children [ Box { size 0.1384 0.00367 0.0984 } ]
}
}
# The rack is visible in the front-left work area, facing the robot.
GrantToolRack {
translation 0.12 -0.42 0.793
rotation 0 0.70710678118 0.70710678118 3.14159265359
}