Реализован спавн робота с контроллерами в виртуальной среде webots
This commit is contained in:
Даниил Грабарь
@@ -0,0 +1,3 @@
|
||||
Подмена файла по пути обязательна: `/opt/ros/rolling/lib/webots_ros2_driver/ros2_supervisor.py`
|
||||
|
||||
> необходимо `warn` заменить на `warning` в логере
|
||||
@@ -0,0 +1,30 @@
|
||||
controller_manager:
|
||||
ros__parameters:
|
||||
update_rate: 31
|
||||
|
||||
joint_state_broadcaster:
|
||||
type: "joint_state_broadcaster/JointStateBroadcaster"
|
||||
|
||||
joint_trajectory_controller:
|
||||
type: "joint_trajectory_controller/JointTrajectoryController"
|
||||
|
||||
|
||||
joint_trajectory_controller:
|
||||
ros__parameters:
|
||||
joints:
|
||||
- joint1
|
||||
- joint2
|
||||
- joint3
|
||||
- joint4
|
||||
- joint5
|
||||
- joint6
|
||||
- joint7
|
||||
|
||||
command_interfaces:
|
||||
- position
|
||||
|
||||
state_interfaces:
|
||||
- position
|
||||
|
||||
allow_partial_joints_goal: false
|
||||
interpolate_from_desired_state: true
|
||||
@@ -0,0 +1,170 @@
|
||||
# TODO: код на будущее
|
||||
|
||||
import os
|
||||
import re
|
||||
from pathlib import Path
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import (
|
||||
DeclareLaunchArgument,
|
||||
RegisterEventHandler,
|
||||
OpaqueFunction,
|
||||
)
|
||||
from launch.event_handlers import OnProcessExit
|
||||
from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
from launch_ros.actions import Node
|
||||
from webots_ros2_driver.webots_launcher import WebotsLauncher
|
||||
from webots_ros2_driver.urdf_spawner import URDFSpawner
|
||||
|
||||
|
||||
def _patch_proto_controller(proto_path: str):
|
||||
pattern = r'(field\s+SFString\s+controller\s+)"void"'
|
||||
replacement = r'\1"exec"'
|
||||
proto = Path(proto_path)
|
||||
text = proto.read_text(encoding='utf-8')
|
||||
new_text, count = re.subn(pattern, replacement, text)
|
||||
|
||||
if count != 0:
|
||||
proto.write_text(new_text, encoding='utf-8')
|
||||
|
||||
|
||||
def _after_xacro(context, *args, **kwargs):
|
||||
"""Выполняется после завершения xacro2proto: патчим proto и возвращаем actions (webots, rsp)."""
|
||||
proto_path = kwargs['proto_path']
|
||||
# проверим существование
|
||||
if not Path(proto_path).exists():
|
||||
raise RuntimeError(f"Expected proto file not found: {proto_path}")
|
||||
|
||||
# Патчим
|
||||
_patch_proto_controller(proto_path)
|
||||
|
||||
# создаём действия, которые будут запущены ПОСЛЕ xacro2proto
|
||||
world_path = LaunchConfiguration('world').perform(context)
|
||||
webots = WebotsLauncher(world=world_path,
|
||||
ros2_supervisor=True)
|
||||
|
||||
# robot_state_publisher можно запускать после webots (или вместе)
|
||||
robot_description_sub: Command = kwargs['robot_description_sub']
|
||||
robot_description_str = robot_description_sub.perform(context)
|
||||
rsp_node = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
name="robot_state_publisher",
|
||||
output="screen",
|
||||
parameters=[{
|
||||
"robot_description": robot_description_str,
|
||||
"use_sim_time": True
|
||||
}]
|
||||
)
|
||||
|
||||
# вернуть список действий, которые launch затем подключит
|
||||
return [ webots, rsp_node ]
|
||||
|
||||
def _runtime_setup(context, *args, **kwargs):
|
||||
# Получаем значения
|
||||
model_path = LaunchConfiguration('model').perform(context)
|
||||
protos_path = LaunchConfiguration('protos_path').perform(context)
|
||||
robot_name = LaunchConfiguration('robot_name').perform(context)
|
||||
tool_slot = LaunchConfiguration('tool_slot').perform(context)
|
||||
transform_proto = LaunchConfiguration('transform_proto').perform(context)
|
||||
rotation_proto = LaunchConfiguration('rotation_proto').perform(context)
|
||||
|
||||
|
||||
|
||||
# убедимся, что директория существует
|
||||
os.makedirs(protos_path, exist_ok=True)
|
||||
|
||||
proto_output = f"{protos_path}/{robot_name}.proto" # <- явное .proto
|
||||
|
||||
xacro2proto_node = Node(
|
||||
package="webots_ros2_importer",
|
||||
executable="xacro2proto",
|
||||
name="xacro2proto",
|
||||
output="screen",
|
||||
arguments=[
|
||||
"--input", str(model_path),
|
||||
"--output", proto_output,
|
||||
"--tool-slot", str(tool_slot),
|
||||
"--translation", str(transform_proto).replace(",", " "),
|
||||
"--rotation", str(rotation_proto).replace(",", " "),
|
||||
]
|
||||
)
|
||||
|
||||
# обработчик: после завершения xacro2proto запускаем OpaqueFunction, который патчит и запускает webots+rsp
|
||||
after_xacro = RegisterEventHandler(
|
||||
OnProcessExit(
|
||||
target_action=xacro2proto_node,
|
||||
on_exit=[
|
||||
OpaqueFunction(
|
||||
function=_after_xacro,
|
||||
kwargs={
|
||||
'proto_path': proto_output,
|
||||
'robot_description_sub': kwargs['robot_description_sub']
|
||||
}
|
||||
)
|
||||
]
|
||||
)
|
||||
)
|
||||
|
||||
return [ xacro2proto_node, after_xacro ]
|
||||
|
||||
def generate_launch_description():
|
||||
description_pkg = "iiwa_description"
|
||||
|
||||
declare_model_arg = DeclareLaunchArgument(
|
||||
name="model",
|
||||
default_value=PathJoinSubstitution([
|
||||
FindPackageShare(description_pkg),
|
||||
"urdf",
|
||||
"iiwa7.urdf.xacro"
|
||||
]),
|
||||
)
|
||||
|
||||
declare_robot_name_arg = DeclareLaunchArgument(name="robot_name", default_value="iiwa7")
|
||||
declare_world_arg = DeclareLaunchArgument(
|
||||
name="world",
|
||||
default_value=PathJoinSubstitution([
|
||||
FindPackageShare(description_pkg),
|
||||
"worlds",
|
||||
"simple_world.wbt"
|
||||
]),
|
||||
)
|
||||
declare_proto_arg = DeclareLaunchArgument(
|
||||
name="protos_path",
|
||||
default_value=PathJoinSubstitution([
|
||||
FindPackageShare(description_pkg),
|
||||
"protos"
|
||||
]),
|
||||
)
|
||||
declare_transform_arg = DeclareLaunchArgument(
|
||||
name="transform_proto",
|
||||
default_value="0 0 0"
|
||||
)
|
||||
declare_rotation_arg = DeclareLaunchArgument(
|
||||
name="rotation_proto",
|
||||
default_value="0 0 1 0"
|
||||
)
|
||||
declare_tool_arg = DeclareLaunchArgument(name="tool_slot", default_value="link7_ee")
|
||||
|
||||
|
||||
robot_description_cmd = Command([
|
||||
"xacro ", LaunchConfiguration("model"),
|
||||
" robot_name:=", LaunchConfiguration("robot_name")
|
||||
])
|
||||
|
||||
runtime_setup = OpaqueFunction(
|
||||
function=_runtime_setup,
|
||||
kwargs={'robot_description_sub': robot_description_cmd}
|
||||
)
|
||||
|
||||
ld = LaunchDescription([
|
||||
declare_model_arg,
|
||||
declare_robot_name_arg,
|
||||
declare_world_arg,
|
||||
declare_proto_arg,
|
||||
declare_transform_arg,
|
||||
declare_rotation_arg,
|
||||
declare_tool_arg,
|
||||
runtime_setup,
|
||||
])
|
||||
return ld
|
||||
@@ -0,0 +1,245 @@
|
||||
import xacro
|
||||
from pathlib import Path
|
||||
from launch.events import Shutdown
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import (
|
||||
DeclareLaunchArgument,
|
||||
RegisterEventHandler,
|
||||
OpaqueFunction,
|
||||
EmitEvent,
|
||||
TimerAction
|
||||
)
|
||||
from launch.event_handlers import OnProcessExit, OnProcessStart
|
||||
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
from launch_ros.actions import Node
|
||||
from webots_ros2_driver.webots_launcher import WebotsLauncher
|
||||
from webots_ros2_driver.urdf_spawner import URDFSpawner
|
||||
from webots_ros2_driver.webots_controller import WebotsController
|
||||
|
||||
|
||||
def _runtime_controller(robot_name: str,
|
||||
robot_description_str: str,
|
||||
transform_proto: str = "0 0 0",
|
||||
rotation_proto: str = "0 0 1 0",
|
||||
controller_manager_timer: int = 50):
|
||||
tmo = ['--controller-manager-timeout', str(controller_manager_timer)]
|
||||
|
||||
jsb = Node(
|
||||
package='controller_manager',
|
||||
executable='spawner',
|
||||
output='screen',
|
||||
arguments=['joint_state_broadcaster'] + tmo,
|
||||
parameters=[{'use_sim_time': False}],
|
||||
)
|
||||
|
||||
jtc = Node(
|
||||
package='controller_manager',
|
||||
executable='spawner',
|
||||
output='screen',
|
||||
arguments=['joint_trajectory_controller'] + tmo, # название с yaml файла
|
||||
parameters=[{'use_sim_time': False}],
|
||||
)
|
||||
|
||||
spawner_urdf = URDFSpawner(
|
||||
name=robot_name,
|
||||
robot_description=robot_description_str,
|
||||
translation=transform_proto,
|
||||
rotation=rotation_proto
|
||||
)
|
||||
|
||||
return [jsb, jtc, spawner_urdf]
|
||||
|
||||
|
||||
def _runtime_setup(context, *args, **kwargs):
|
||||
# Получение параметров от пользователя при запуске launch
|
||||
model = LaunchConfiguration('model').perform(context)
|
||||
robot_name = LaunchConfiguration('robot_name').perform(context)
|
||||
transform_proto = LaunchConfiguration('transform_proto').perform(context)
|
||||
rotation_proto = LaunchConfiguration('rotation_proto').perform(context)
|
||||
world_path = LaunchConfiguration('world').perform(context)
|
||||
rviz_status = LaunchConfiguration('rviz').perform(context).lower() in ['true', '1', 'yes']
|
||||
controller_manager = LaunchConfiguration('controller_manager').perform(context)
|
||||
|
||||
# Загрузка описания робота
|
||||
model_path = Path(model)
|
||||
suffix = model_path.suffix.lower()
|
||||
if suffix == ".xacro":
|
||||
robot_description_str = xacro.process_file(model, mappings={'name': str(robot_name)}).toxml()
|
||||
elif suffix==".urdf":
|
||||
robot_description_str = Path(model).read_text(encoding="utf-8")
|
||||
else:
|
||||
raise FileNotFoundError(f"Поддерживаются форматы файла: xacro/urdf")
|
||||
|
||||
# Запуск узлов
|
||||
webots = WebotsLauncher(world=world_path,
|
||||
ros2_supervisor=True)
|
||||
|
||||
rsp_node = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
name="robot_state_publisher",
|
||||
output="screen",
|
||||
parameters=[{
|
||||
"robot_description": robot_description_str,
|
||||
"use_sim_time": False
|
||||
}]
|
||||
)
|
||||
|
||||
# работа с драйверами
|
||||
driver = WebotsController(
|
||||
robot_name=robot_name,
|
||||
parameters=[
|
||||
{
|
||||
"robot_description": model,
|
||||
"use_sim_time": False,
|
||||
"set_robot_state_publisher": False
|
||||
},
|
||||
LaunchConfiguration('controller').perform(context)
|
||||
],
|
||||
respawn=True
|
||||
)
|
||||
|
||||
# Во время запуска драйвера спавниться робот и ros2_controllers
|
||||
spawn_on_driver_start = RegisterEventHandler(
|
||||
event_handler=OnProcessStart(
|
||||
target_action=driver,
|
||||
on_start=lambda evt, ctx: [
|
||||
TimerAction(period=2.0,
|
||||
actions=_runtime_controller(robot_name=robot_name,
|
||||
robot_description_str=robot_description_str,
|
||||
transform_proto=transform_proto,
|
||||
rotation_proto=rotation_proto,
|
||||
controller_manager_timer=controller_manager))
|
||||
]
|
||||
)
|
||||
)
|
||||
|
||||
# При закрытии webots закрываем все
|
||||
shutdown_on_webots_exit = RegisterEventHandler(
|
||||
OnProcessExit(
|
||||
target_action=webots,
|
||||
on_exit=[EmitEvent(event=Shutdown())]
|
||||
)
|
||||
)
|
||||
|
||||
setup = [webots,
|
||||
webots._supervisor,
|
||||
rsp_node,
|
||||
driver,
|
||||
spawn_on_driver_start,
|
||||
shutdown_on_webots_exit
|
||||
]
|
||||
|
||||
|
||||
# Настройка rviz
|
||||
if rviz_status:
|
||||
|
||||
rviz_config = PathJoinSubstitution([
|
||||
FindPackageShare(kwargs['package_name']),
|
||||
'config',
|
||||
'rviz_iiwa.rviz'
|
||||
])
|
||||
|
||||
rviz = Node(
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz2',
|
||||
arguments=['-d', rviz_config],
|
||||
output='log'
|
||||
)
|
||||
|
||||
# При закрытии rviz закрываем все
|
||||
shutdown_on_rviz_exit = RegisterEventHandler(
|
||||
OnProcessExit(
|
||||
target_action=rviz,
|
||||
on_exit=[EmitEvent(event=Shutdown())]
|
||||
)
|
||||
)
|
||||
|
||||
setup += [rviz, shutdown_on_rviz_exit]
|
||||
|
||||
return setup
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
package_name="iiwa_bringup"
|
||||
description_pkg = "iiwa_description"
|
||||
|
||||
# Объявление аргументов командной строки
|
||||
declare_model_arg = DeclareLaunchArgument(
|
||||
name="model",
|
||||
default_value=PathJoinSubstitution([
|
||||
FindPackageShare(description_pkg),
|
||||
"urdf",
|
||||
"iiwa7.urdf.xacro"
|
||||
]),
|
||||
description="Path to robot xacro or urdf file (used to build robot_description)."
|
||||
)
|
||||
|
||||
declare_robot_name_arg = DeclareLaunchArgument(
|
||||
name="robot_name",
|
||||
default_value="iiwa7",
|
||||
description="Robot name (used for TF and naming spawned robot)."
|
||||
)
|
||||
|
||||
declare_world_arg = DeclareLaunchArgument(
|
||||
name="world",
|
||||
default_value=PathJoinSubstitution([
|
||||
FindPackageShare(description_pkg),
|
||||
"worlds",
|
||||
"iiwa.wbt"
|
||||
]),
|
||||
description="Path to the Webots world (.wbt) to launch."
|
||||
)
|
||||
|
||||
declare_controller_arg = DeclareLaunchArgument(
|
||||
name="controller",
|
||||
default_value=PathJoinSubstitution([
|
||||
FindPackageShare(package_name),
|
||||
"config",
|
||||
"iiwa_controller.yaml"
|
||||
]),
|
||||
description="Path to controllers YAML file (used by spawner and controller_manager)."
|
||||
)
|
||||
|
||||
declare_transform_arg = DeclareLaunchArgument(
|
||||
name="transform_proto",
|
||||
default_value="-0.25 0 0.79",
|
||||
description="Translation applied when spawning the robot in the Webots world (x y z)."
|
||||
)
|
||||
|
||||
declare_rotation_arg = DeclareLaunchArgument(
|
||||
name="rotation_proto",
|
||||
default_value="0 0 1 0",
|
||||
description="Rotation (axis-angle) applied when spawning the robot in the Webots world."
|
||||
)
|
||||
|
||||
declare_rviz_arg = DeclareLaunchArgument(
|
||||
name="rviz",
|
||||
default_value="0",
|
||||
description="If true|1|yes then launch RViz and joint_state_publisher_gui instead of controllers."
|
||||
)
|
||||
|
||||
declare_controller_manager_arg = DeclareLaunchArgument(
|
||||
name="controller_manager",
|
||||
default_value="50",
|
||||
description="Timeout (seconds) for controller_manager spawners (--controller-manager-timeout)."
|
||||
)
|
||||
|
||||
runtime_setup = OpaqueFunction(
|
||||
function=_runtime_setup,
|
||||
kwargs={'package_name': package_name}
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
declare_model_arg,
|
||||
declare_robot_name_arg,
|
||||
declare_world_arg,
|
||||
declare_controller_arg,
|
||||
declare_transform_arg,
|
||||
declare_rotation_arg,
|
||||
declare_rviz_arg,
|
||||
declare_controller_manager_arg,
|
||||
runtime_setup,
|
||||
])
|
||||
@@ -27,6 +27,7 @@ def data_files_from_tree(src_dir: str, dst_root: str) -> list:
|
||||
|
||||
package_name = 'iiwa_bringup'
|
||||
|
||||
resource_intsall_root = f"share/{package_name}/resource"
|
||||
launch_intsall_root = f"share/{package_name}/launch"
|
||||
config_intsall_root = f"share/{package_name}/config"
|
||||
|
||||
@@ -35,6 +36,7 @@ data_files = [
|
||||
('share/' + package_name, ['package.xml']),
|
||||
]
|
||||
|
||||
data_files += data_files_from_tree('resource', resource_intsall_root)
|
||||
data_files += data_files_from_tree('launch', launch_intsall_root)
|
||||
data_files += data_files_from_tree('config', config_intsall_root)
|
||||
|
||||
|
||||
@@ -0,0 +1,152 @@
|
||||
#VRML_SIM R2025a utf8
|
||||
# license: Apache License 2.0
|
||||
# license url: https://www.apache.org/licenses/LICENSE-2.0
|
||||
# keywords: industrial/other
|
||||
# A table for placing collaborative work and working with it
|
||||
# It is possible to add a network cabinet on the back of the table
|
||||
# template language: javascript
|
||||
|
||||
|
||||
PROTO CollaborativeRobotTable [
|
||||
field SFVec3f translation 0 0 0
|
||||
field SFRotation rotation 0 0 1 0
|
||||
field SFString name "CollaborativeRobotTable"
|
||||
field SFString contactMaterial "TableMaterial"
|
||||
field SFBool locked FALSE
|
||||
field SFBool showCabinet FALSE # Defines the display of the network cabinet
|
||||
]
|
||||
{
|
||||
|
||||
%<
|
||||
let showCabinet = fields.showCabinet.value;
|
||||
>%
|
||||
|
||||
Solid {
|
||||
translation IS translation
|
||||
rotation IS rotation
|
||||
name IS name
|
||||
locked IS locked
|
||||
contactMaterial IS contactMaterial
|
||||
|
||||
children [
|
||||
%< if (showCabinet) { >%
|
||||
Group {
|
||||
children [
|
||||
Solid {
|
||||
translation -0.66 4.26e-06 0.099998
|
||||
rotation 0.5773509358560258 -0.577349935856137 -0.577349935856137 2.09439
|
||||
children [
|
||||
Pose {
|
||||
translation -0.3135 0.19 0
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.57 0.57 0.57
|
||||
roughness 1
|
||||
}
|
||||
geometry Mesh {
|
||||
url [
|
||||
"./meshes/iiwaTable/ElectricCabinet.obj"
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
translationStep 0.001
|
||||
}
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.57 0.57 0.57
|
||||
roughness 1
|
||||
}
|
||||
geometry Mesh {
|
||||
url [
|
||||
"./meshes/iiwaTable/CabinetFrame.obj"
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
name "Cabinet"
|
||||
}
|
||||
]
|
||||
}
|
||||
%< } >%
|
||||
Group {
|
||||
children [
|
||||
Solid {
|
||||
children [
|
||||
Pose {
|
||||
translation 0 0 0.79
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
roughness 1
|
||||
metalness 0
|
||||
}
|
||||
geometry Box {
|
||||
size 1.28 1.08 0.02
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.57 0.57 0.57
|
||||
roughness 1
|
||||
}
|
||||
geometry Mesh {
|
||||
url [
|
||||
"./meshes/iiwaTable/TableFrame.obj"
|
||||
]
|
||||
}
|
||||
}
|
||||
Pose {
|
||||
translation -0.263 0 0.8
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.517647 0.513726 0.568627
|
||||
roughness 1
|
||||
}
|
||||
geometry Mesh {
|
||||
url [
|
||||
"./meshes/iiwaTable/PlateUnderRobot.obj"
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
translationStep 0.001
|
||||
}
|
||||
]
|
||||
name "Table"
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
boundingObject Group {
|
||||
children [
|
||||
%< if (showCabinet) { >%
|
||||
Pose {
|
||||
translation -0.78 4.97601e-06 0.609998
|
||||
rotation 0.5773509358560258 -0.577349935856137 -0.577349935856137 2.09439
|
||||
children [
|
||||
Box {
|
||||
size 0.66 0.96 0.28
|
||||
}
|
||||
]
|
||||
}
|
||||
%< } >%
|
||||
Pose {
|
||||
translation 0 0 0.4035
|
||||
children [
|
||||
Box {
|
||||
size 1.28 1.08 0.7926
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,111 @@
|
||||
#VRML_SIM R2025a utf8
|
||||
# license: Apache License 2.0
|
||||
# license url: http://www.apache.org/licenses/LICENSE-2.0
|
||||
# Model of the Intel Realsense D455 RGBD camera.
|
||||
# keywords: sensor/range-finder, sensor/camera
|
||||
# template language: javascript
|
||||
|
||||
PROTO IntelRealsenseD455 [
|
||||
field SFVec3f translation 0 0 0
|
||||
field SFRotation rotation 0 0 1 0
|
||||
field SFString name "IntelRealsenseD455"
|
||||
field SFBool locked FALSE
|
||||
field SFString controller "<none>"
|
||||
field MFString controllerArgs [ ]
|
||||
field SFBool supervisor FALSE
|
||||
field SFString{"HD", "VGA", "FULL"} resolution "VGA"
|
||||
field SFFloat fieldOfView 1.4746 # Diagonal ~84.43° from inr parametrs
|
||||
field SFFloat minRange 0.01
|
||||
field SFFloat maxRange 6.0
|
||||
field SFNode focus NULL
|
||||
field SFNode recognition Recognition{}
|
||||
field SFNode physics Physics {
|
||||
density -1
|
||||
mass 0.35
|
||||
centerOfMass [0 0 0]
|
||||
}
|
||||
]
|
||||
{
|
||||
%<
|
||||
const cameraName = fields.name.value;
|
||||
const resMode = fields.resolution.value.toUpperCase();
|
||||
let width = 1280;
|
||||
let height = 800;
|
||||
|
||||
if (resMode === "VGA") {
|
||||
width = 640;
|
||||
height = 480;
|
||||
} else if (resMode === "HD") {
|
||||
width = 1280;
|
||||
height = 720;
|
||||
} else if (resMode === "FULL") {
|
||||
width = 1280;
|
||||
height = 800;
|
||||
}
|
||||
>%
|
||||
|
||||
Robot {
|
||||
translation IS translation
|
||||
rotation IS rotation
|
||||
name IS name
|
||||
locked IS locked
|
||||
controller IS controller
|
||||
controllerArgs IS controllerArgs
|
||||
supervisor IS supervisor
|
||||
|
||||
children [
|
||||
RangeFinder {
|
||||
translation 0.005 0 0
|
||||
name %<='"' + cameraName + '_depth"'>%
|
||||
locked TRUE
|
||||
radarCrossSection 0.01
|
||||
fieldOfView IS fieldOfView
|
||||
width %<= width >%
|
||||
height %<= height >%
|
||||
near IS minRange
|
||||
minRange IS minRange
|
||||
maxRange IS maxRange
|
||||
noise 0.01
|
||||
resolution 0.001
|
||||
}
|
||||
|
||||
Camera {
|
||||
translation 0.005 0 0
|
||||
name %<='"' + cameraName + '_rgb"'>%
|
||||
locked TRUE
|
||||
fieldOfView IS fieldOfView
|
||||
width %<= width >%
|
||||
height %<= height >%
|
||||
near IS minRange
|
||||
far 10
|
||||
exposure 0.5
|
||||
antiAliasing TRUE
|
||||
noise 0.01
|
||||
focus IS focus
|
||||
recognition IS recognition
|
||||
}
|
||||
|
||||
Solid {
|
||||
translation 0.013 0 0
|
||||
rotation 0.5773489358556708 0.5773509358554485 0.5773509358554485 2.0944
|
||||
children [
|
||||
CadShape {
|
||||
url [
|
||||
"./meshes/cameras/visual/IntelRealsenseD455.dae"
|
||||
]
|
||||
}
|
||||
]
|
||||
locked TRUE
|
||||
}
|
||||
]
|
||||
|
||||
boundingObject Pose {
|
||||
children [
|
||||
Box {
|
||||
size 0.027 0.123 0.025
|
||||
}
|
||||
]
|
||||
}
|
||||
physics IS physics
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,83 @@
|
||||
#VRML_SIM R2025a utf8
|
||||
# license: Apache License 2.0
|
||||
# license url: https://www.apache.org/licenses/LICENSE-2.0
|
||||
# keywords: industrial/other
|
||||
# Workspace limiter in the form of square blocks that can be increased in size
|
||||
# template language: javascript
|
||||
|
||||
|
||||
PROTO WorkspaceLimiter [
|
||||
field SFVec3f translation 0 0 0
|
||||
field SFRotation rotation 0 0 1 0
|
||||
field SFString name "WorkspaceLimiter"
|
||||
field SFBool locked FALSE
|
||||
field SFVec2f countLimiter 1 1 # Defines the number of blocks by X and Y
|
||||
field SFVec3f scale 1 1 1 # Defines the size of the blocks
|
||||
field SFFloat spacing 0.02 # Defines the distance between blocks
|
||||
]
|
||||
{
|
||||
|
||||
%<
|
||||
let countLimiter = fields.countLimiter.value;
|
||||
let scale = fields.scale.value;
|
||||
let spacing = fields.spacing.value;
|
||||
|
||||
let widthCount = countLimiter.x;
|
||||
let heightCount = countLimiter.y;
|
||||
|
||||
let boxWidth = 1.25;
|
||||
let boxHeight = 1;
|
||||
let boxDepth = 0.01;
|
||||
|
||||
if (spacing <= 0) {
|
||||
console.error("The indentation between the blocks cannot be negative")
|
||||
spacing = 0.02
|
||||
}
|
||||
|
||||
>%
|
||||
|
||||
Solid {
|
||||
translation IS translation
|
||||
rotation IS rotation
|
||||
name IS name
|
||||
locked IS locked
|
||||
children [
|
||||
%<
|
||||
for (let i = 0; i < widthCount; i++) {
|
||||
for (let j = 0; j < heightCount; j++) {
|
||||
let x = (i * (boxWidth + spacing) - (widthCount - 1) * (boxWidth + spacing) / 2) * scale.x;
|
||||
let y = (j * (boxHeight + spacing) - (heightCount - 1) * (boxHeight + spacing) / 2) * scale.y;
|
||||
>%
|
||||
Transform {
|
||||
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"]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
%<
|
||||
}
|
||||
}
|
||||
>%
|
||||
]
|
||||
}
|
||||
}
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 13 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 4.6 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 15 KiB |
@@ -0,0 +1,130 @@
|
||||
#OBJ
|
||||
#T-FLEX CAD ObjGenerator generate date:21.11.2024 15:39:40
|
||||
v 0.625 0.05 0.5
|
||||
v 0.625 0.05 -0.5
|
||||
v 0.574999 0.05 -0.449999
|
||||
v -0.625 0.05 -0.5
|
||||
v -0.574999 0.05 -0.449999
|
||||
v -0.625 0.05 0.5
|
||||
v -0.574999 0.05 0.449999
|
||||
v 0.574999 0.05 0.449999
|
||||
v 0.625 0 -0.5
|
||||
v 0.625 0 0.5
|
||||
v 0.574999 0 0.449999
|
||||
v -0.625 0 0.5
|
||||
v -0.574999 0 0.449999
|
||||
v -0.625 0 -0.5
|
||||
v -0.574999 0 -0.449999
|
||||
v 0.574999 0 -0.449999
|
||||
v 0.574999 0.05 0.449999
|
||||
v 0.574999 0 0.449999
|
||||
v -0.574999 0 0.449999
|
||||
v -0.574999 0.05 0.449999
|
||||
v 0.574999 0.05 -0.449999
|
||||
v 0.574999 0 -0.449999
|
||||
v 0.574999 0 0.449999
|
||||
v 0.574999 0.05 0.449999
|
||||
v -0.574999 0.05 -0.449999
|
||||
v -0.574999 0 -0.449999
|
||||
v 0.574999 0 -0.449999
|
||||
v 0.574999 0.05 -0.449999
|
||||
v -0.574999 0.05 0.449999
|
||||
v -0.574999 0 0.449999
|
||||
v -0.574999 0 -0.449999
|
||||
v -0.574999 0.05 -0.449999
|
||||
v 0.625 0.05 -0.5
|
||||
v 0.625 0 -0.5
|
||||
v -0.625 0 -0.5
|
||||
v -0.625 0.05 -0.5
|
||||
v 0.625 0.05 0.5
|
||||
v 0.625 0 0.5
|
||||
v 0.625 0 -0.5
|
||||
v 0.625 0.05 -0.5
|
||||
v -0.625 0.05 0.5
|
||||
v -0.625 0 0.5
|
||||
v 0.625 0 0.5
|
||||
v 0.625 0.05 0.5
|
||||
v -0.625 0.05 -0.5
|
||||
v -0.625 0 -0.5
|
||||
v -0.625 0 0.5
|
||||
v -0.625 0.05 0.5
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
f 1//1 2//2 3//3
|
||||
f 2//2 4//4 5//5
|
||||
f 4//4 6//6 7//7
|
||||
f 6//6 1//1 8//8
|
||||
f 5//5 3//3 2//2
|
||||
f 8//8 7//7 6//6
|
||||
f 7//7 5//5 4//4
|
||||
f 3//3 8//8 1//1
|
||||
f 9//9 10//10 11//11
|
||||
f 10//10 12//12 13//13
|
||||
f 12//12 14//14 15//15
|
||||
f 14//14 9//9 16//16
|
||||
f 13//13 11//11 10//10
|
||||
f 16//16 15//15 14//14
|
||||
f 15//15 13//13 12//12
|
||||
f 11//11 16//16 9//9
|
||||
f 17//17 18//18 19//19
|
||||
f 19//19 20//20 17//17
|
||||
f 21//21 22//22 23//23
|
||||
f 23//23 24//24 21//21
|
||||
f 25//25 26//26 27//27
|
||||
f 27//27 28//28 25//25
|
||||
f 29//29 30//30 31//31
|
||||
f 31//31 32//32 29//29
|
||||
f 33//33 34//34 35//35
|
||||
f 35//35 36//36 33//33
|
||||
f 37//37 38//38 39//39
|
||||
f 39//39 40//40 37//37
|
||||
f 41//41 42//42 43//43
|
||||
f 43//43 44//44 41//41
|
||||
f 45//45 46//46 47//47
|
||||
f 47//47 48//48 45//45
|
||||
Binary file not shown.
File diff suppressed because one or more lines are too long
@@ -0,0 +1,194 @@
|
||||
#OBJ
|
||||
#T-FLEX CAD ObjGenerator generate date:20.11.2024 23:59:52
|
||||
v 0.27 0.23 -0.019999
|
||||
v 0.27 0.949999 -0.019999
|
||||
v 0.31 0.99 -0.019999
|
||||
v -0.31 0.99 -0.019999
|
||||
v -0.27 0.949999 -0.019999
|
||||
v -0.27 0.23 -0.019999
|
||||
v 0.27 0.189999 -0.019999
|
||||
v -0.31 0 -0.019999
|
||||
v -0.27 0.189999 -0.019999
|
||||
v 0.31 0 -0.019999
|
||||
v 0.27 0 -0.019999
|
||||
v -0.27 -0 -0.019999
|
||||
v -0.27 0.23 0.019999
|
||||
v -0.27 0.189999 0.019999
|
||||
v 0.27 0.189999 0.019999
|
||||
v -0.31 0.99 0.019999
|
||||
v -0.31 0 0.019999
|
||||
v -0.27 -0 0.019999
|
||||
v 0.27 0.949999 0.019999
|
||||
v 0.31 0.99 0.019999
|
||||
v 0.27 0.23 0.019999
|
||||
v 0.31 0 0.019999
|
||||
v -0.27 0.949999 0.019999
|
||||
v 0.27 0 0.019999
|
||||
v 0.27 0.23 0.019999
|
||||
v 0.27 0.23 -0.019999
|
||||
v -0.27 0.23 -0.019999
|
||||
v -0.27 0.23 0.019999
|
||||
v -0.31 0.99 0.019999
|
||||
v -0.31 0.99 -0.019999
|
||||
v -0.31 0 -0.019999
|
||||
v -0.31 0 0.019999
|
||||
v -0.31 0.99 0.019999
|
||||
v 0.31 0.99 0.019999
|
||||
v 0.31 0.99 -0.019999
|
||||
v -0.31 0.99 -0.019999
|
||||
v 0.31 0 0.019999
|
||||
v 0.31 0 -0.019999
|
||||
v 0.31 0.99 -0.019999
|
||||
v 0.31 0.99 0.019999
|
||||
v 0.27 0 0.019999
|
||||
v 0.27 0 -0.019999
|
||||
v 0.31 0 -0.019999
|
||||
v 0.31 0 0.019999
|
||||
v 0.27 0 -0.019999
|
||||
v 0.27 0 0.019999
|
||||
v 0.27 0.189999 0.019999
|
||||
v 0.27 0.189999 -0.019999
|
||||
v -0.27 0.189999 0.019999
|
||||
v -0.27 0.189999 -0.019999
|
||||
v 0.27 0.189999 -0.019999
|
||||
v 0.27 0.189999 0.019999
|
||||
v -0.27 -0 0.019999
|
||||
v -0.27 -0 -0.019999
|
||||
v -0.27 0.189999 -0.019999
|
||||
v -0.27 0.189999 0.019999
|
||||
v -0.31 0 0.019999
|
||||
v -0.31 0 -0.019999
|
||||
v -0.27 -0 -0.019999
|
||||
v -0.27 -0 0.019999
|
||||
v 0.27 0.23 -0.019999
|
||||
v 0.27 0.23 0.019999
|
||||
v 0.27 0.949999 0.019999
|
||||
v 0.27 0.949999 -0.019999
|
||||
v 0.27 0.949999 -0.019999
|
||||
v 0.27 0.949999 0.019999
|
||||
v -0.27 0.949999 0.019999
|
||||
v -0.27 0.949999 -0.019999
|
||||
v -0.27 0.949999 -0.019999
|
||||
v -0.27 0.949999 0.019999
|
||||
v -0.27 0.23 0.019999
|
||||
v -0.27 0.23 -0.019999
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 1 -0 0
|
||||
vn 1 -0 0
|
||||
vn 1 -0 0
|
||||
vn 1 -0 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn -1 -0 0
|
||||
vn -1 -0 0
|
||||
vn -1 -0 0
|
||||
vn -1 -0 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn -0 -1 0
|
||||
vn -0 -1 0
|
||||
vn -0 -1 0
|
||||
vn -0 -1 0
|
||||
vn -1 -0 0
|
||||
vn -1 -0 0
|
||||
vn -1 -0 0
|
||||
vn -1 -0 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
f 1//1 2//2 3//3
|
||||
f 4//4 5//5 6//6
|
||||
f 4//4 3//3 2//2
|
||||
f 2//2 5//5 4//4
|
||||
f 3//3 7//7 1//1
|
||||
f 6//6 1//1 7//7
|
||||
f 8//8 6//6 9//9
|
||||
f 7//7 9//9 6//6
|
||||
f 6//6 8//8 4//4
|
||||
f 10//10 11//11 7//7
|
||||
f 7//7 3//3 10//10
|
||||
f 9//9 12//12 8//8
|
||||
f 13//13 14//14 15//15
|
||||
f 14//14 16//16 17//17
|
||||
f 17//17 18//18 14//14
|
||||
f 19//19 20//20 16//16
|
||||
f 21//21 15//15 20//20
|
||||
f 15//15 21//21 13//13
|
||||
f 22//22 20//20 15//15
|
||||
f 20//20 19//19 21//21
|
||||
f 16//16 23//23 19//19
|
||||
f 16//16 14//14 13//13
|
||||
f 13//13 23//23 16//16
|
||||
f 15//15 24//24 22//22
|
||||
f 25//25 26//26 27//27
|
||||
f 27//27 28//28 25//25
|
||||
f 29//29 30//30 31//31
|
||||
f 31//31 32//32 29//29
|
||||
f 33//33 34//34 35//35
|
||||
f 35//35 36//36 33//33
|
||||
f 37//37 38//38 39//39
|
||||
f 39//39 40//40 37//37
|
||||
f 41//41 42//42 43//43
|
||||
f 43//43 44//44 41//41
|
||||
f 45//45 46//46 47//47
|
||||
f 47//47 48//48 45//45
|
||||
f 49//49 50//50 51//51
|
||||
f 51//51 52//52 49//49
|
||||
f 53//53 54//54 55//55
|
||||
f 55//55 56//56 53//53
|
||||
f 57//57 58//58 59//59
|
||||
f 59//59 60//60 57//57
|
||||
f 61//61 62//62 63//63
|
||||
f 63//63 64//64 61//61
|
||||
f 65//65 66//66 67//67
|
||||
f 67//67 68//68 65//65
|
||||
f 69//69 70//70 71//71
|
||||
f 71//71 72//72 69//69
|
||||
@@ -0,0 +1,222 @@
|
||||
#OBJ
|
||||
#T-FLEX CAD ObjGenerator generate date:20.11.2024 23:59:6
|
||||
v 0.625 0.541 0.019999
|
||||
v 0.625 0.764999 0.019999
|
||||
v 0.675 0.721 0.019999
|
||||
v 0.634999 0.764999 0.019999
|
||||
v 0.675 0.725 0.019999
|
||||
v 0.634999 0.541 0.019999
|
||||
v 0.675 0.721 0.208
|
||||
v 0.625 0.764999 0.208
|
||||
v 0.625 0.541 0.208
|
||||
v 0.675 0.725 0.208
|
||||
v 0.634999 0.764999 0.208
|
||||
v 0.634999 0.541 0.208
|
||||
v 0.634999 0.764999 0.208
|
||||
v 0.675 0.725 0.208
|
||||
v 0.675 0.725 0.019999
|
||||
v 0.634999 0.764999 0.019999
|
||||
v 0.675 0.721 0.208
|
||||
v 0.634999 0.541 0.208
|
||||
v 0.634999 0.541 0.019999
|
||||
v 0.675 0.721 0.019999
|
||||
v 0.625 0.541 0.208
|
||||
v 0.625 0.541 0.019999
|
||||
v 0.634999 0.541 0.019999
|
||||
v 0.634999 0.541 0.208
|
||||
v 0.675 0.725 0.208
|
||||
v 0.675 0.721 0.208
|
||||
v 0.675 0.721 0.019999
|
||||
v 0.675 0.725 0.019999
|
||||
v 0.634999 0.764999 0.208
|
||||
v 0.634999 0.764999 0.019999
|
||||
v 0.625 0.764999 0.019999
|
||||
v 0.625 0.764999 0.208
|
||||
v 0.6125 0.787999 0.261999
|
||||
v 0.0125 0.787999 0.261999
|
||||
v 0.0125 0.012 0.261999
|
||||
v 0.6125 0.012 0.261999
|
||||
v 0.0125 0.787999 0.25
|
||||
v 0.0125 0.787999 0.261999
|
||||
v 0.6125 0.787999 0.261999
|
||||
v 0.6125 0.787999 0.25
|
||||
v 0.6125 0.787999 0.25
|
||||
v 0.6125 0.787999 0.261999
|
||||
v 0.6125 0.012 0.261999
|
||||
v 0.6125 0.012 0.25
|
||||
v 0.6125 0.012 0.25
|
||||
v 0.6125 0.012 0.261999
|
||||
v 0.0125 0.012 0.261999
|
||||
v 0.0125 0.012 0.25
|
||||
v 0.0125 0.012 0.25
|
||||
v 0.0125 0.012 0.261999
|
||||
v 0.0125 0.787999 0.261999
|
||||
v 0.0125 0.787999 0.25
|
||||
v 0.625 0 0
|
||||
v 0 0 0
|
||||
v 0 0.8 0
|
||||
v 0.625 0.8 0
|
||||
v 0 0 0.25
|
||||
v 0.0125 0.012 0.25
|
||||
v 0.0125 0.787999 0.25
|
||||
v 0.625 0 0.25
|
||||
v 0.6125 0.012 0.25
|
||||
v 0.625 0.8 0.25
|
||||
v 0.6125 0.787999 0.25
|
||||
v 0 0.8 0.25
|
||||
v 0.625 0.8 0.25
|
||||
v 0.625 0.8 0
|
||||
v 0 0.8 0
|
||||
v 0 0.8 0.25
|
||||
v 0 0 0.25
|
||||
v 0 0 0
|
||||
v 0.625 0 0
|
||||
v 0.625 0 0.25
|
||||
v 0 0 0
|
||||
v 0 0 0.25
|
||||
v 0 0.8 0.25
|
||||
v 0 0.8 0
|
||||
v 0.625 0.8 0
|
||||
v 0.625 0.764999 0.019999
|
||||
v 0.625 0.541 0.019999
|
||||
v 0.625 0.541 0.208
|
||||
v 0.625 0.764999 0.208
|
||||
v 0.625 0.8 0.25
|
||||
v 0.625 0 0
|
||||
v 0.625 0 0.25
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0.707106 0.707106 0
|
||||
vn 0.707106 0.707106 0
|
||||
vn 0.707106 0.707106 0
|
||||
vn 0.707106 0.707106 0
|
||||
vn 0.976187 -0.21693 0
|
||||
vn 0.976187 -0.21693 0
|
||||
vn 0.976187 -0.21693 0
|
||||
vn 0.976187 -0.21693 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn -0 1 0
|
||||
vn -0 1 0
|
||||
vn -0 1 0
|
||||
vn -0 1 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn -1 -0 0
|
||||
vn -1 -0 0
|
||||
vn -1 -0 0
|
||||
vn -1 -0 0
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
f 1//1 2//2 3//3
|
||||
f 2//2 4//4 5//5
|
||||
f 5//5 3//3 2//2
|
||||
f 3//3 6//6 1//1
|
||||
f 7//7 8//8 9//9
|
||||
f 7//7 10//10 11//11
|
||||
f 9//9 12//12 7//7
|
||||
f 11//11 8//8 7//7
|
||||
f 13//13 14//14 15//15
|
||||
f 15//15 16//16 13//13
|
||||
f 17//17 18//18 19//19
|
||||
f 19//19 20//20 17//17
|
||||
f 21//21 22//22 23//23
|
||||
f 23//23 24//24 21//21
|
||||
f 25//25 26//26 27//27
|
||||
f 27//27 28//28 25//25
|
||||
f 29//29 30//30 31//31
|
||||
f 31//31 32//32 29//29
|
||||
f 33//33 34//34 35//35
|
||||
f 35//35 36//36 33//33
|
||||
f 37//37 38//38 39//39
|
||||
f 39//39 40//40 37//37
|
||||
f 41//41 42//42 43//43
|
||||
f 43//43 44//44 41//41
|
||||
f 45//45 46//46 47//47
|
||||
f 47//47 48//48 45//45
|
||||
f 49//49 50//50 51//51
|
||||
f 51//51 52//52 49//49
|
||||
f 53//53 54//54 55//55
|
||||
f 55//55 56//56 53//53
|
||||
f 57//57 58//58 59//59
|
||||
f 60//60 61//61 58//58
|
||||
f 58//58 57//57 60//60
|
||||
f 60//60 62//62 63//63
|
||||
f 64//64 59//59 63//63
|
||||
f 59//59 64//64 57//57
|
||||
f 63//63 62//62 64//64
|
||||
f 63//63 61//61 60//60
|
||||
f 65//65 66//66 67//67
|
||||
f 67//67 68//68 65//65
|
||||
f 69//69 70//70 71//71
|
||||
f 71//71 72//72 69//69
|
||||
f 73//73 74//74 75//75
|
||||
f 75//75 76//76 73//73
|
||||
f 77//77 78//78 79//79
|
||||
f 80//80 81//81 82//82
|
||||
f 79//79 83//83 77//77
|
||||
f 81//81 78//78 77//77
|
||||
f 80//80 84//84 83//83
|
||||
f 77//77 82//82 81//81
|
||||
f 83//83 79//79 80//80
|
||||
f 82//82 84//84 80//80
|
||||
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>
|
||||
<origin rpy="0 0 0" xyz="-0.012856764088336 7.05371084939836E-07 0.0679655592591469"/>
|
||||
<mass value="30.2763517543289"/>
|
||||
<inertia ixx="0.111239565538359" ixy="-3.81097437253422e-07" ixz="0.00486659750522703" iyy="0.139017104291389" iyz="7.87871531503135e-07" izz="0.133028621926226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://iiwa_description/resource/meshes/visual/base_link.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/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