Реализован спавн робота с контроллерами в виртуальной среде webots
This commit is contained in:
Даниил Грабарь
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#VRML_SIM R2025a utf8
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# license: Apache License 2.0
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# license url: https://www.apache.org/licenses/LICENSE-2.0
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# keywords: industrial/other
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# A table for placing collaborative work and working with it
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# It is possible to add a network cabinet on the back of the table
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# template language: javascript
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PROTO CollaborativeRobotTable [
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field SFVec3f translation 0 0 0
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field SFRotation rotation 0 0 1 0
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field SFString name "CollaborativeRobotTable"
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field SFString contactMaterial "TableMaterial"
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field SFBool locked FALSE
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field SFBool showCabinet FALSE # Defines the display of the network cabinet
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]
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{
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%<
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let showCabinet = fields.showCabinet.value;
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>%
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Solid {
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translation IS translation
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rotation IS rotation
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name IS name
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locked IS locked
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contactMaterial IS contactMaterial
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children [
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%< if (showCabinet) { >%
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Group {
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children [
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Solid {
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translation -0.66 4.26e-06 0.099998
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rotation 0.5773509358560258 -0.577349935856137 -0.577349935856137 2.09439
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children [
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Pose {
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translation -0.3135 0.19 0
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.57 0.57 0.57
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roughness 1
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}
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geometry Mesh {
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url [
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"./meshes/iiwaTable/ElectricCabinet.obj"
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]
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}
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}
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]
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translationStep 0.001
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}
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Shape {
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appearance PBRAppearance {
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baseColor 0.57 0.57 0.57
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roughness 1
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}
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geometry Mesh {
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url [
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"./meshes/iiwaTable/CabinetFrame.obj"
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]
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}
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}
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]
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name "Cabinet"
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}
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]
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}
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%< } >%
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Group {
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children [
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Solid {
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children [
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Pose {
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translation 0 0 0.79
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children [
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Shape {
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appearance PBRAppearance {
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roughness 1
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metalness 0
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}
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geometry Box {
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size 1.28 1.08 0.02
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}
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}
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]
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}
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Shape {
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appearance PBRAppearance {
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baseColor 0.57 0.57 0.57
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roughness 1
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}
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geometry Mesh {
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url [
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"./meshes/iiwaTable/TableFrame.obj"
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]
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}
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}
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Pose {
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translation -0.263 0 0.8
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.517647 0.513726 0.568627
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roughness 1
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}
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geometry Mesh {
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url [
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"./meshes/iiwaTable/PlateUnderRobot.obj"
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]
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}
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}
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]
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translationStep 0.001
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}
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]
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name "Table"
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}
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]
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}
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]
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boundingObject Group {
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children [
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%< if (showCabinet) { >%
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Pose {
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translation -0.78 4.97601e-06 0.609998
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rotation 0.5773509358560258 -0.577349935856137 -0.577349935856137 2.09439
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children [
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Box {
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size 0.66 0.96 0.28
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}
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]
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}
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%< } >%
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Pose {
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translation 0 0 0.4035
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children [
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Box {
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size 1.28 1.08 0.7926
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}
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]
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}
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]
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}
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}
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}
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@@ -0,0 +1,111 @@
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#VRML_SIM R2025a utf8
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# license: Apache License 2.0
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# license url: http://www.apache.org/licenses/LICENSE-2.0
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# Model of the Intel Realsense D455 RGBD camera.
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# keywords: sensor/range-finder, sensor/camera
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# template language: javascript
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PROTO IntelRealsenseD455 [
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field SFVec3f translation 0 0 0
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field SFRotation rotation 0 0 1 0
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field SFString name "IntelRealsenseD455"
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field SFBool locked FALSE
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field SFString controller "<none>"
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field MFString controllerArgs [ ]
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field SFBool supervisor FALSE
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field SFString{"HD", "VGA", "FULL"} resolution "VGA"
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field SFFloat fieldOfView 1.4746 # Diagonal ~84.43° from inr parametrs
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field SFFloat minRange 0.01
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field SFFloat maxRange 6.0
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field SFNode focus NULL
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field SFNode recognition Recognition{}
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field SFNode physics Physics {
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density -1
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mass 0.35
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centerOfMass [0 0 0]
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}
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]
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{
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%<
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const cameraName = fields.name.value;
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const resMode = fields.resolution.value.toUpperCase();
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let width = 1280;
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let height = 800;
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if (resMode === "VGA") {
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width = 640;
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height = 480;
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} else if (resMode === "HD") {
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width = 1280;
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height = 720;
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} else if (resMode === "FULL") {
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width = 1280;
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height = 800;
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}
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>%
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Robot {
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translation IS translation
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rotation IS rotation
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name IS name
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locked IS locked
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controller IS controller
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controllerArgs IS controllerArgs
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supervisor IS supervisor
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children [
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RangeFinder {
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translation 0.005 0 0
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name %<='"' + cameraName + '_depth"'>%
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locked TRUE
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radarCrossSection 0.01
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fieldOfView IS fieldOfView
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width %<= width >%
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height %<= height >%
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near IS minRange
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minRange IS minRange
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maxRange IS maxRange
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noise 0.01
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resolution 0.001
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}
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Camera {
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translation 0.005 0 0
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name %<='"' + cameraName + '_rgb"'>%
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locked TRUE
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fieldOfView IS fieldOfView
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width %<= width >%
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height %<= height >%
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near IS minRange
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far 10
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exposure 0.5
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antiAliasing TRUE
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noise 0.01
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focus IS focus
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recognition IS recognition
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}
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Solid {
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translation 0.013 0 0
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rotation 0.5773489358556708 0.5773509358554485 0.5773509358554485 2.0944
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children [
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CadShape {
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url [
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"./meshes/cameras/visual/IntelRealsenseD455.dae"
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]
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}
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]
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locked TRUE
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}
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]
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boundingObject Pose {
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children [
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Box {
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size 0.027 0.123 0.025
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}
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]
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}
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physics IS physics
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}
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}
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@@ -0,0 +1,83 @@
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#VRML_SIM R2025a utf8
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# license: Apache License 2.0
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# license url: https://www.apache.org/licenses/LICENSE-2.0
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# keywords: industrial/other
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# Workspace limiter in the form of square blocks that can be increased in size
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# template language: javascript
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PROTO WorkspaceLimiter [
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field SFVec3f translation 0 0 0
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field SFRotation rotation 0 0 1 0
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field SFString name "WorkspaceLimiter"
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field SFBool locked FALSE
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field SFVec2f countLimiter 1 1 # Defines the number of blocks by X and Y
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field SFVec3f scale 1 1 1 # Defines the size of the blocks
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field SFFloat spacing 0.02 # Defines the distance between blocks
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]
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{
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%<
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let countLimiter = fields.countLimiter.value;
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let scale = fields.scale.value;
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let spacing = fields.spacing.value;
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let widthCount = countLimiter.x;
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let heightCount = countLimiter.y;
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let boxWidth = 1.25;
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let boxHeight = 1;
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let boxDepth = 0.01;
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if (spacing <= 0) {
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console.error("The indentation between the blocks cannot be negative")
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spacing = 0.02
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}
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>%
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Solid {
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||||
translation IS translation
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rotation IS rotation
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name IS name
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locked IS locked
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children [
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%<
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for (let i = 0; i < widthCount; i++) {
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for (let j = 0; j < heightCount; j++) {
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let x = (i * (boxWidth + spacing) - (widthCount - 1) * (boxWidth + spacing) / 2) * scale.x;
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let y = (j * (boxHeight + spacing) - (heightCount - 1) * (boxHeight + spacing) / 2) * scale.y;
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>%
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Transform {
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translation %<= x >% 0 %<= y >%
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scale %<= scale.x >% %<= scale.y >% %<= scale.z >%
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children [
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Shape {
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appearance PBRAppearance {
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||||
roughness 1
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metalness 0
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IBLStrength 5
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}
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geometry Box {
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||||
size %<= boxWidth >% %<= boxDepth >% %<= boxHeight >%
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}
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||||
}
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||||
Shape {
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||||
appearance PBRAppearance {
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||||
baseColor 0.57 0.57 0.57
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roughness 1
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metalness 0
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}
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geometry Mesh {
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url ["./meshes/WorkspaceLimiter/fence.obj"]
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}
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}
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]
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}
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%<
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}
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}
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>%
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]
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}
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}
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Binary file not shown.
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After Width: | Height: | Size: 13 KiB |
Binary file not shown.
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After Width: | Height: | Size: 4.6 KiB |
Binary file not shown.
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After Width: | Height: | Size: 15 KiB |
@@ -0,0 +1,130 @@
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#OBJ
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||||
#T-FLEX CAD ObjGenerator generate date:21.11.2024 15:39:40
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vn 0 0 -1
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vn 0 0 -1
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vn 1 0 0
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vn 1 0 0
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vn 1 0 0
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vn 1 0 0
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vn 0 0 1
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vn 0 0 1
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vn 0 0 1
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vn 0 0 1
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vn -1 0 0
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vn -1 0 0
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vn -1 0 0
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vn -1 0 0
|
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f 1//1 2//2 3//3
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f 2//2 4//4 5//5
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f 4//4 6//6 7//7
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f 6//6 1//1 8//8
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f 5//5 3//3 2//2
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f 8//8 7//7 6//6
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f 7//7 5//5 4//4
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f 3//3 8//8 1//1
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f 9//9 10//10 11//11
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f 10//10 12//12 13//13
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f 12//12 14//14 15//15
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f 14//14 9//9 16//16
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f 33//33 34//34 35//35
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f 35//35 36//36 33//33
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f 37//37 38//38 39//39
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f 41//41 42//42 43//43
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f 43//43 44//44 41//41
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f 45//45 46//46 47//47
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f 47//47 48//48 45//45
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||||
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@@ -0,0 +1,194 @@
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||||
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|
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -27,15 +27,23 @@ def data_files_from_tree(src_dir: str, dst_root: str) -> list:
|
||||
|
||||
package_name = 'iiwa_description'
|
||||
|
||||
resource_intsall_root = f"share/{package_name}/resource"
|
||||
meshes_intsall_root = f"share/{package_name}/meshes"
|
||||
urdf_intsall_root = f"share/{package_name}/urdf"
|
||||
worlds_intsall_root = f"share/{package_name}/worlds"
|
||||
protos_intsall_root = f"share/{package_name}/protos"
|
||||
|
||||
|
||||
|
||||
data_files = [
|
||||
('share/' + package_name, ['package.xml']),
|
||||
]
|
||||
|
||||
data_files += data_files_from_tree('resource', resource_intsall_root)
|
||||
data_files += data_files_from_tree('meshes', meshes_intsall_root)
|
||||
data_files += data_files_from_tree('urdf', urdf_intsall_root)
|
||||
data_files += data_files_from_tree('worlds', worlds_intsall_root)
|
||||
data_files += data_files_from_tree('protos', protos_intsall_root)
|
||||
|
||||
|
||||
setup(
|
||||
|
||||
@@ -0,0 +1,280 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from ./src/iiwa_description/urdf/iiwa7.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="iiwa7">
|
||||
<link name="world"/>
|
||||
<link name="base_link">
|
||||
<inertial>
|
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<origin rpy="0 0 0" xyz="-0.012856764088336 7.05371084939836E-07 0.0679655592591469"/>
|
||||
<mass value="30.2763517543289"/>
|
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<inertia ixx="0.111239565538359" ixy="-3.81097437253422e-07" ixz="0.00486659750522703" iyy="0.139017104291389" iyz="7.87871531503135e-07" izz="0.133028621926226"/>
|
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</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
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|
||||
</geometry>
|
||||
<material name="iiwa_material">
|
||||
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/collision/base_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="link1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-4.78790441849064E-07 -0.0348192058752328 -0.0692021315991948"/>
|
||||
<mass value="21.1627406257303"/>
|
||||
<inertia ixx="0.133321610552378" ixy="-5.3830316300325e-07" ixz="9.16989471201082e-07" iyy="0.127213841326705" iyz="0.0236704924620788" izz="0.047155320135412"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/visual/link1.DAE"/>
|
||||
</geometry>
|
||||
<material name="iiwa_material">
|
||||
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/collision/link1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="link2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-5.2906167189587E-07 -0.0869460684741495 0.0287906957294968"/>
|
||||
<mass value="25.1403147192251"/>
|
||||
<inertia ixx="0.197631241693207" ixy="9.50708464039702e-08" ixz="-3.51963818841194e-07" iyy="0.0602720613821397" iyz="-0.0367196702125505" izz="0.187557269753206"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/visual/link2.DAE"/>
|
||||
</geometry>
|
||||
<material name="iiwa_material">
|
||||
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/collision/link2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="link3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="8.94264666317923E-07 0.0343188244798595 -0.0692020521907963"/>
|
||||
<mass value="21.1627874292289"/>
|
||||
<inertia ixx="0.133322417523041" ixy="-2.72387851582384e-07" ixz="-2.31579646685682e-07" iyy="0.127213838333813" iyz="-0.0236710393468367" izz="0.0471557500559207"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/visual/link3.DAE"/>
|
||||
</geometry>
|
||||
<material name="iiwa_material">
|
||||
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/collision/link3.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="link4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="9.9343785475714E-08 -0.0869462342636022 -0.0292907044657978"/>
|
||||
<mass value="25.140328983289"/>
|
||||
<inertia ixx="0.197630839812683" ixy="-3.9082887807781e-07" ixz="-3.24564289064112e-07" iyy="0.0602723071447973" iyz="0.0367195588674331" izz="0.187556898167347"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/visual/link4.DAE"/>
|
||||
</geometry>
|
||||
<material name="iiwa_material">
|
||||
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/collision/link4.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="link5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-1.5059645121912E-07 -0.0298223596156005 -0.116233672352317"/>
|
||||
<mass value="9.53466992761605"/>
|
||||
<inertia ixx="0.0529038960536523" ixy="6.86274869084724e-08" ixz="3.57472026918582e-07" iyy="0.0444942713885967" iyz="0.0174914068345989" izz="0.0239916848880951"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/visual/link5.DAE"/>
|
||||
</geometry>
|
||||
<material name="iiwa_material">
|
||||
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/collision/link5.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="link6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="3.09820422451923E-06 -0.000588422963829549 0.000348569863276505"/>
|
||||
<mass value="14.2007599322815"/>
|
||||
<inertia ixx="0.0384515762635731" ixy="-6.70279497724119e-08" ixz="2.19173188415509e-06" iyy="0.0280010940276735" iyz="-0.00192249677468735" izz="0.0368124806983828"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/visual/link6.DAE"/>
|
||||
</geometry>
|
||||
<material name="iiwa_material">
|
||||
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/collision/link6.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="link7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="5.28878934317328E-07 3.37199922245852E-07 -0.0274928177649973"/>
|
||||
<mass value="2.47156969383589"/>
|
||||
<inertia ixx="0.00177365937026673" ixy="-1.2410521430667e-07" ixz="-2.95409038849194e-08" iyy="0.00177328722902027" iyz="-1.57567641084958e-08" izz="0.00272748710623445"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/visual/link7.DAE"/>
|
||||
</geometry>
|
||||
<material name="iiwa_material">
|
||||
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/collision/link7.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="link_ee"/>
|
||||
<joint name="world_base_joint" type="fixed">
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||||
<parent link="world"/>
|
||||
<child link="base_link"/>
|
||||
</joint>
|
||||
<joint name="joint1" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.3375"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="link1"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="176" lower="-2.97" upper="2.97" velocity="1.71"/>
|
||||
</joint>
|
||||
<joint name="joint2" type="revolute">
|
||||
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="176" lower="-2.09" upper="2.09" velocity="1.71"/>
|
||||
</joint>
|
||||
<joint name="joint3" type="revolute">
|
||||
<origin rpy="1.5708 0 0" xyz="0 -0.3993 0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="110" lower="-2.97" upper="2.97" velocity="1.75"/>
|
||||
</joint>
|
||||
<joint name="joint4" type="revolute">
|
||||
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="110" lower="-2.09" upper="2.09" velocity="2.27"/>
|
||||
</joint>
|
||||
<joint name="joint5" type="revolute">
|
||||
<origin rpy="1.5708 0 0" xyz="0 -0.3993 0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="110" lower="-2.97" upper="2.97" velocity="2.44"/>
|
||||
</joint>
|
||||
<joint name="joint6" type="revolute">
|
||||
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="40" lower="-2.09" upper="2.09" velocity="3.14"/>
|
||||
</joint>
|
||||
<joint name="joint7" type="revolute">
|
||||
<origin rpy="1.5708 0 0" xyz="0 -0.126 0"/>
|
||||
<parent link="link6"/>
|
||||
<child link="link7"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="40" lower="-3.05" upper="3.05" velocity="3.14"/>
|
||||
</joint>
|
||||
<joint name="tools_joint" type="fixed">
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||||
<parent link="link7"/>
|
||||
<child link="link_ee"/>
|
||||
</joint>
|
||||
<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">
|
||||
<state_interface name="position"/>
|
||||
<command_interface name="position"/>
|
||||
</joint>
|
||||
<joint name="joint2">
|
||||
<state_interface name="position"/>
|
||||
<command_interface name="position"/>
|
||||
</joint>
|
||||
<joint name="joint3">
|
||||
<state_interface name="position"/>
|
||||
<command_interface name="position"/>
|
||||
</joint>
|
||||
<joint name="joint4">
|
||||
<state_interface name="position"/>
|
||||
<command_interface name="position"/>
|
||||
</joint>
|
||||
<joint name="joint5">
|
||||
<state_interface name="position"/>
|
||||
<command_interface name="position"/>
|
||||
</joint>
|
||||
<joint name="joint6">
|
||||
<state_interface name="position"/>
|
||||
<command_interface name="position"/>
|
||||
</joint>
|
||||
<joint name="joint7">
|
||||
<state_interface name="position"/>
|
||||
<command_interface name="position"/>
|
||||
</joint>
|
||||
</ros2_control>
|
||||
</robot>
|
||||
@@ -6,5 +6,51 @@
|
||||
<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">
|
||||
<state_interface name="position"/>
|
||||
<command_interface name="position"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint2">
|
||||
<state_interface name="position"/>
|
||||
<command_interface name="position"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint3">
|
||||
<state_interface name="position"/>
|
||||
<command_interface name="position"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint4">
|
||||
<state_interface name="position"/>
|
||||
<command_interface name="position"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint5">
|
||||
<state_interface name="position"/>
|
||||
<command_interface name="position"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6">
|
||||
<state_interface name="position"/>
|
||||
<command_interface name="position"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint7">
|
||||
<state_interface name="position"/>
|
||||
<command_interface name="position"/>
|
||||
</joint>
|
||||
|
||||
</ros2_control>
|
||||
|
||||
|
||||
</robot>
|
||||
@@ -12,48 +12,48 @@
|
||||
<!-- joint1 -->
|
||||
<xacro:revolute_joint jname="joint1" parent="base_link" child="link1"
|
||||
xyz="0 0 0.3375" rpy="0 0 0" axis="0 0 -1"
|
||||
lower="-2.97" upper="2.97" effort="176" velocity="1.71"/>
|
||||
lower="-2.97" upper="2.97" effort="500" velocity="1.71"/>
|
||||
|
||||
|
||||
<!-- joint2 -->
|
||||
<xacro:revolute_joint jname="joint2" parent="link1" child="link2"
|
||||
xyz="0 0 0" rpy="-1.5708 0 0" axis="0 0 1"
|
||||
lower="-2.09" upper="2.09" effort="176" velocity="1.71"/>
|
||||
lower="-2.09" upper="2.09" effort="500" velocity="1.71"/>
|
||||
|
||||
|
||||
<!-- joint3 -->
|
||||
<xacro:revolute_joint jname="joint3" parent="link2" child="link3"
|
||||
xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 -1"
|
||||
lower="-2.97" upper="2.97" effort="110" velocity="1.75"/>
|
||||
lower="-2.97" upper="2.97" effort="500" velocity="1.75"/>
|
||||
|
||||
|
||||
<!-- joint4 -->
|
||||
<xacro:revolute_joint jname="joint4" parent="link3" child="link4"
|
||||
xyz="0 0 0" rpy="-1.5708 0 0" axis="0 0 -1"
|
||||
lower="-2.09" upper="2.09" effort="110" velocity="2.27"/>
|
||||
lower="-2.09" upper="2.09" effort="500" velocity="2.27"/>
|
||||
|
||||
|
||||
<!-- joint5 -->
|
||||
<xacro:revolute_joint jname="joint5" parent="link4" child="link5"
|
||||
xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 -1"
|
||||
lower="-2.97" upper="2.97" effort="110" velocity="2.44"/>
|
||||
lower="-2.97" upper="2.97" effort="500" velocity="2.44"/>
|
||||
|
||||
|
||||
<!-- joint6 -->
|
||||
<xacro:revolute_joint jname="joint6" parent="link5" child="link6"
|
||||
xyz="0 0 0" rpy="-1.5708 0 0" axis="0 0 1"
|
||||
lower="-2.09" upper="2.09" effort="40" velocity="3.14"/>
|
||||
lower="-2.09" upper="2.09" effort="500" velocity="3.14"/>
|
||||
|
||||
|
||||
<!-- joint7 -->
|
||||
<xacro:revolute_joint jname="joint7" parent="link6" child="link7"
|
||||
xyz="0 -0.126 0" rpy="1.5708 0 0" axis="0 0 1"
|
||||
lower="-3.05" upper="3.05" effort="40" velocity="3.14"/>
|
||||
lower="-3.05" upper="3.05" effort="500" velocity="3.14"/>
|
||||
|
||||
<joint name="tools_joint" type="fixed">
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<parent link="link7"/>
|
||||
<child link="link7_ee"/>
|
||||
<child link="link_ee"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
@@ -101,6 +101,6 @@
|
||||
mesh_vision="${mesh_link7_v}"
|
||||
mesh_collision="${mesh_link7_c}"/>
|
||||
|
||||
<link name="link7_ee" />
|
||||
<link name="link_ee" />
|
||||
|
||||
</robot>
|
||||
@@ -1,7 +1,7 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
|
||||
|
||||
<xacro:property name="pkg" value="package://iiwa_description/meshes"/>
|
||||
<xacro:property name="pkg" value="package://iiwa_description/resource/meshes"/>
|
||||
|
||||
<!-- Меши отображения -->
|
||||
<xacro:property name="mesh_base_v" value="${pkg}/visual/base_link.DAE"/>
|
||||
|
||||
@@ -0,0 +1,67 @@
|
||||
#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"
|
||||
|
||||
WorldInfo {
|
||||
title "iiwa robotics"
|
||||
contactProperties [
|
||||
ContactProperties {
|
||||
material1 "TableMaterial"
|
||||
coulombFriction [
|
||||
0
|
||||
]
|
||||
bounce 0
|
||||
bounceVelocity 0
|
||||
softERP 1
|
||||
softCFM 0.0001
|
||||
}
|
||||
]
|
||||
}
|
||||
Viewpoint {
|
||||
orientation 0.19675345789351045 -0.08356742903703787 -0.976885132249993 3.928186370440618
|
||||
position 5.324715157515194 -4.7927780008585446 4.166958679133935
|
||||
followType "Mounted Shot"
|
||||
ambientOcclusionRadius 3
|
||||
}
|
||||
TexturedBackground {
|
||||
}
|
||||
TexturedBackgroundLight {
|
||||
texture "noon_sunny_empty"
|
||||
luminosity 2
|
||||
}
|
||||
RectangleArena {
|
||||
name "Room"
|
||||
floorSize 12 12
|
||||
wallHeight 2
|
||||
}
|
||||
CollaborativeRobotTable {
|
||||
translation 0 0 -0.007
|
||||
locked TRUE
|
||||
showCabinet TRUE
|
||||
}
|
||||
|
||||
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
|
||||
}
|
||||
@@ -0,0 +1,19 @@
|
||||
#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"
|
||||
|
||||
WorldInfo {
|
||||
}
|
||||
Viewpoint {
|
||||
orientation -0.20135401485081894 0.14705590432610455 0.9684168119700772 1.9104172436184537
|
||||
position 2.126114183750861 -6.172386590547907 2.2530769187603243
|
||||
}
|
||||
TexturedBackground {
|
||||
}
|
||||
TexturedBackgroundLight {
|
||||
}
|
||||
RectangleArena {
|
||||
floorSize 5 5
|
||||
}
|
||||
Reference in New Issue
Block a user