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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||||
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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 {
|
||||
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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||||
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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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||||
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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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||||
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||||
boundingObject Pose {
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||||
children [
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||||
Box {
|
||||
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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||||
>%
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||||
|
||||
Solid {
|
||||
translation IS translation
|
||||
rotation IS rotation
|
||||
name IS name
|
||||
locked IS locked
|
||||
children [
|
||||
%<
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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 >%
|
||||
scale %<= scale.x >% %<= scale.y >% %<= scale.z >%
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
roughness 1
|
||||
metalness 0
|
||||
IBLStrength 5
|
||||
}
|
||||
geometry Box {
|
||||
size %<= boxWidth >% %<= boxDepth >% %<= boxHeight >%
|
||||
}
|
||||
}
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.57 0.57 0.57
|
||||
roughness 1
|
||||
metalness 0
|
||||
}
|
||||
geometry Mesh {
|
||||
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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|
||||
vn 1 0 0
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
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 29//29 30//30 31//31
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f 31//31 32//32 29//29
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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 41//41 42//42 43//43
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f 43//43 44//44 41//41
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f 47//47 48//48 45//45
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Binary file not shown.
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|
||||
#OBJ
|
||||
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user