Востановлены все файлы конфигурации
This commit is contained in:
Даниил Грабарь
+1
-1
@@ -16,7 +16,7 @@ digital_twin:
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max_linear_speed: 0.50 # верхний предел скорости TCP [м/с]
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max_angular_speed: 0.4 # скорость вращения TCP [рад/с]
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webots:
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world: pkg://iiwa_description/worlds/grant/body_hatch_installed.wbt
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world: pkg://iiwa_description/worlds/iiwa.wbt
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# world: pkg://iiwa_description/worlds/simple_world.wbt
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transform: "-0.25 0 0.79"
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rotation: "0 0 1 0"
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@@ -1,122 +0,0 @@
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#VRML_SIM R2025a utf8
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# Original-size grant magazine. The sealant OBJ export is 10 times smaller
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# than the other tool meshes, so scale only that tool visual.
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# The OBJ meshes use Y as vertical; the default rotation maps Y to world Z.
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PROTO GrantToolRack [
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field SFVec3f translation 0 0 0
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field SFRotation rotation 1 0 0 1.57079632679
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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 "grant_tool_magazine"
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locked TRUE
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||||
children [
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||||
Shape {
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||||
appearance PBRAppearance {
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||||
baseColor 0.72 0.47 0.14
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||||
roughness 0.56
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||||
metalness 0.35
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||||
}
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||||
geometry Mesh {
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||||
url [ "../../objects/grant/tool-magizine.obj" ]
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||||
}
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||||
}
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Solid {
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translation -0.135 0.01 0
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||||
name "grant_vacuum_tool_docked"
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||||
locked TRUE
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||||
children [
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||||
Shape {
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||||
appearance PBRAppearance {
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||||
baseColor 0.16 0.47 0.72
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||||
roughness 0.5
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||||
metalness 0.25
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||||
}
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geometry Mesh {
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||||
url [ "../../objects/grant/vacum-tool.obj" ]
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||||
}
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||||
}
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||||
]
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||||
boundingObject Pose {
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||||
translation 0.00054 0.07 0
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||||
children [ Box { size 0.0821 0.14 0.081 } ]
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||||
}
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||||
}
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||||
Solid {
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translation -0.045 0.01 0
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||||
name "grant_magnetic_tool_docked"
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||||
locked TRUE
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||||
children [
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||||
Shape {
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||||
appearance PBRAppearance {
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||||
baseColor 0.43 0.30 0.65
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||||
roughness 0.4
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||||
metalness 0.45
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||||
}
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geometry Mesh {
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||||
url [ "../../objects/grant/magnit-tool.obj" ]
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||||
}
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||||
}
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]
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boundingObject Pose {
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translation 0 0.07 0
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children [ Box { size 0.036 0.14 0.036 } ]
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||||
}
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}
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Solid {
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translation 0.045 0.01 0
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name "grant_sealant_tool_docked"
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locked TRUE
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||||
children [
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||||
Transform {
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scale 10 10 10
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||||
children [
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||||
Shape {
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||||
appearance PBRAppearance {
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||||
baseColor 0.23 0.57 0.31
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||||
roughness 0.6
|
||||
metalness 0.15
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||||
}
|
||||
geometry Mesh {
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||||
url [ "../../objects/grant/germetic-tool.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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||||
boundingObject Pose {
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||||
translation 0 0.07 0
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||||
children [ Box { size 0.05608 0.14 0.05608 } ]
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||||
}
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||||
}
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||||
Solid {
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||||
translation 0.135 0.01 0
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||||
name "grant_wrench_tool_docked"
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||||
locked TRUE
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.80 0.32 0.18
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||||
roughness 0.4
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||||
metalness 0.45
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||||
}
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||||
geometry Mesh {
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||||
url [ "../../objects/grant/wranch-tool.obj" ]
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||||
}
|
||||
}
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||||
]
|
||||
boundingObject Pose {
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||||
translation 0 0.07 0
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||||
children [ Box { size 0.049 0.14 0.049 } ]
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||||
}
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||||
}
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||||
]
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||||
boundingObject Pose {
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||||
translation 0 0.005 0
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||||
children [ Box { size 0.42 0.01 0.14 } ]
|
||||
}
|
||||
}
|
||||
}
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@@ -1,9 +0,0 @@
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Webots Project File version R2025a
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perspectives: 000000ff00000000fd0000000300000000000001ca0000039ffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000000000010000023a00000390fc0200000001fb0000001400540065007800740045006400690074006f00720100000014000003900000003f00ffffff000000030000078000000039fc0100000002fb0000000e0043006f006e0073006f006c006501000001d0000005b00000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff000005440000039000000004000000040000000100000008fc00000000
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||||
simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000002010000000101
|
||||
sceneTreePerspectives: 000000ff00000001000000030000001c000002b2000000fa0100000002010000000201
|
||||
maximizedDockId: -1
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||||
centralWidgetVisible: 1
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||||
orthographicViewHeight: 1
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||||
textFiles: -1
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||||
consoles: Console:All:All
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@@ -1,8 +0,0 @@
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Webots Project File version R2025a
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perspectives: 000000ff00000000fd0000000300000000000001ca0000039ffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000000000010000023a00000390fc0200000001fb0000001400540065007800740045006400690074006f00720000000014000003900000003f00ffffff0000000300000780000000a0fc0100000002fb0000000e0043006f006e0073006f006c006501000001d0000005b00000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000780000000000000000000000780000003cb00000004000000040000000100000008fc00000000
|
||||
simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000002010000000101
|
||||
sceneTreePerspectives: 000000ff00000001000000030000001c000000c0000000fa0100000002010000000201
|
||||
maximizedDockId: -1
|
||||
centralWidgetVisible: 1
|
||||
orthographicViewHeight: 1
|
||||
textFiles: -1
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@@ -1,188 +0,0 @@
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||||
#VRML_SIM R2025a utf8
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||||
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||||
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"
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||||
EXTERNPROTO "../../resource/protos/WorkspaceLimiter.proto"
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||||
EXTERNPROTO "../../resource/protos/GrantToolRack.proto"
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||||
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||||
# Based on ../iiwa.wbt. The robot is spawned by iiwa_bringup at
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# (-0.25, 0, 0.79), facing world +X. All workpieces stay on the table
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||||
# in front of its base. The tabletop is at world Z = 0.793 m.
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# The workpiece OBJ meshes use Y as their vertical axis. The shared axis-angle
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# rotation first maps Y to world Z, then turns the workpieces 45 degrees
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# around world Z. Coordinates and dimensions are metres.
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#
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# Base scene: the hatch lies separately on the tabletop for pickup and
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# transfer. The robot starts without an attached tool; the magazine holds
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# four static tools. For an already installed
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# hatch, use body_hatch_installed.wbt. For experiment 02, offset
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# BODY_HATCH_BODY by +0.003 m in X. Experiment 03 keeps an empty fixture;
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# experiment 12 omits the hatch.
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||||
WorldInfo {
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||||
title "Body and hatch - grant experiments"
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||||
basicTimeStep 32
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optimalThreadCount 4
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||||
contactProperties [
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||||
ContactProperties {
|
||||
material1 "TableMaterial"
|
||||
coulombFriction [ 0.6 ]
|
||||
bounce 0
|
||||
bounceVelocity 0
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||||
softERP 1
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||||
softCFM 0.0001
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||||
}
|
||||
ContactProperties {
|
||||
material1 "tool"
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||||
material2 "TableMaterial"
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||||
bounce 0
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||||
softCFM 0.002
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||||
maxContactJoints 100
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||||
}
|
||||
ContactProperties {
|
||||
material1 "default"
|
||||
material2 "default"
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||||
maxContactJoints 20
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||||
bounce 0
|
||||
softCFM 0.001
|
||||
}
|
||||
]
|
||||
}
|
||||
Viewpoint {
|
||||
orientation 0.19663259328507318 -0.09057124279298501 -0.9762850368805829 3.9867817928674034
|
||||
position 1.75 -1.85 1.77
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||||
followType "Mounted Shot"
|
||||
ambientOcclusionRadius 3
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||||
}
|
||||
TexturedBackground {
|
||||
}
|
||||
TexturedBackgroundLight {
|
||||
texture "noon_sunny_empty"
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||||
luminosity 2
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||||
}
|
||||
RectangleArena {
|
||||
name "Arena"
|
||||
floorSize 12 12
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||||
wallHeight 2
|
||||
}
|
||||
CollaborativeRobotTable {
|
||||
translation 0 0 -0.007
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||||
locked TRUE
|
||||
showCabinet TRUE
|
||||
}
|
||||
DEF limiter Group {
|
||||
children [
|
||||
WorkspaceLimiter {
|
||||
translation -1.56 -0.219999 1.01
|
||||
rotation 0 0 1 1.5708
|
||||
name "WorkspaceLimiter_back"
|
||||
locked TRUE
|
||||
scale 2.32 1 2
|
||||
}
|
||||
WorkspaceLimiter {
|
||||
translation -0.04 1.18 1.01
|
||||
name "WorkspaceLimiter_right"
|
||||
locked TRUE
|
||||
scale 2.43 1 2
|
||||
}
|
||||
]
|
||||
}
|
||||
DirectionalLight {
|
||||
direction -0.1 0.1 0
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||||
intensity 2
|
||||
}
|
||||
|
||||
# Fixture plate: bottom Y=-0.010 m rests on the tabletop. The two rails
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||||
# support the body at Y=+0.0161 m without intersecting its underside.
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||||
DEF BODY_HATCH_STAPEL Solid {
|
||||
translation 0.30 0.12 0.803
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||||
rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
|
||||
name "body_hatch_stapel"
|
||||
locked TRUE
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.30 0.34 0.39
|
||||
roughness 0.55
|
||||
metalness 0.55
|
||||
}
|
||||
geometry Mesh {
|
||||
url [ "../../objects/grant/stapel.obj" ]
|
||||
}
|
||||
}
|
||||
]
|
||||
boundingObject Group {
|
||||
children [
|
||||
Pose {
|
||||
translation 0 -0.005 0
|
||||
children [ Box { size 0.35 0.01 0.22 } ]
|
||||
}
|
||||
Pose {
|
||||
translation -0.104 0.008 0
|
||||
children [ Box { size 0.014 0.016 0.156 } ]
|
||||
}
|
||||
Pose {
|
||||
translation 0.104 0.008 0
|
||||
children [ Box { size 0.014 0.016 0.156 } ]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
|
||||
# The body shares the fixture centre. Its +0.020 m height puts the
|
||||
# underside on top of the fixture rails.
|
||||
DEF BODY_HATCH_BODY Solid {
|
||||
translation 0.30 0.12 0.823
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||||
rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
|
||||
name "body_hatch_body"
|
||||
locked TRUE
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.64 0.68 0.72
|
||||
roughness 0.45
|
||||
metalness 0.45
|
||||
}
|
||||
geometry Mesh {
|
||||
url [ "../../objects/grant/base-detail.obj" ]
|
||||
}
|
||||
}
|
||||
]
|
||||
boundingObject Pose {
|
||||
translation 0 0.000695 0
|
||||
children [ Box { size 0.30 0.00915 0.17 } ]
|
||||
}
|
||||
}
|
||||
DEF BODY_HATCH_CAP Solid {
|
||||
translation 0.35 -0.25 0.790667
|
||||
rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
|
||||
name "body_hatch_cap"
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.78 0.82 0.86
|
||||
roughness 0.35
|
||||
metalness 0.55
|
||||
}
|
||||
geometry Mesh {
|
||||
url [ "../../objects/grant/cap.obj" ]
|
||||
}
|
||||
}
|
||||
]
|
||||
boundingObject Pose {
|
||||
translation 0 0.004165 0
|
||||
children [ Box { size 0.1384 0.00367 0.0984 } ]
|
||||
}
|
||||
physics Physics {
|
||||
mass 0.1
|
||||
}
|
||||
}
|
||||
|
||||
# The rack is in the front-left work area, clear of the loose hatch.
|
||||
# Its 180-degree yaw faces the tool sockets toward the robot.
|
||||
GrantToolRack {
|
||||
translation 0.12 -0.42 0.793
|
||||
rotation 0 0.70710678118 0.70710678118 3.14159265359
|
||||
}
|
||||
@@ -1,182 +0,0 @@
|
||||
#VRML_SIM R2025a utf8
|
||||
|
||||
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto"
|
||||
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
|
||||
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/RectangleArena.proto"
|
||||
EXTERNPROTO "../../resource/protos/CollaborativeRobotTable.proto"
|
||||
EXTERNPROTO "../../resource/protos/WorkspaceLimiter.proto"
|
||||
EXTERNPROTO "../../resource/protos/GrantToolRack.proto"
|
||||
|
||||
# Based on ../iiwa.wbt. The robot is spawned by iiwa_bringup at
|
||||
# (-0.25, 0, 0.79), facing world +X. All workpieces stay on the table
|
||||
# in front of its base. The tabletop is at world Z = 0.793 m.
|
||||
# The workpiece OBJ meshes use Y as their vertical axis. The shared axis-angle
|
||||
# rotation first maps Y to world Z, then turns the workpieces 45 degrees
|
||||
# around world Z. Coordinates and dimensions are metres.
|
||||
#
|
||||
# Installed scene for experiments 04, 14 and 15: the hatch is fixed on
|
||||
# the body surface. The magazine holds the four static tool models.
|
||||
# For a loose hatch that the robot can pick up, use body_hatch.wbt.
|
||||
|
||||
WorldInfo {
|
||||
title "Body with installed hatch and tool magazine"
|
||||
basicTimeStep 32
|
||||
optimalThreadCount 4
|
||||
contactProperties [
|
||||
ContactProperties {
|
||||
material1 "TableMaterial"
|
||||
coulombFriction [ 0.6 ]
|
||||
bounce 0
|
||||
bounceVelocity 0
|
||||
softERP 1
|
||||
softCFM 0.0001
|
||||
}
|
||||
ContactProperties {
|
||||
material1 "tool"
|
||||
material2 "TableMaterial"
|
||||
bounce 0
|
||||
softCFM 0.002
|
||||
maxContactJoints 100
|
||||
}
|
||||
ContactProperties {
|
||||
material1 "default"
|
||||
material2 "default"
|
||||
maxContactJoints 20
|
||||
bounce 0
|
||||
softCFM 0.001
|
||||
}
|
||||
]
|
||||
}
|
||||
Viewpoint {
|
||||
orientation 0.19663259328507318 -0.09057124279298501 -0.9762850368805829 3.9867817928674034
|
||||
position 1.75 -1.85 1.77
|
||||
followType "Mounted Shot"
|
||||
ambientOcclusionRadius 3
|
||||
}
|
||||
TexturedBackground {
|
||||
}
|
||||
TexturedBackgroundLight {
|
||||
texture "noon_sunny_empty"
|
||||
luminosity 2
|
||||
}
|
||||
RectangleArena {
|
||||
name "Arena"
|
||||
floorSize 12 12
|
||||
wallHeight 2
|
||||
}
|
||||
CollaborativeRobotTable {
|
||||
translation 0 0 -0.007
|
||||
locked TRUE
|
||||
showCabinet TRUE
|
||||
}
|
||||
DEF limiter Group {
|
||||
children [
|
||||
WorkspaceLimiter {
|
||||
translation -1.56 -0.219999 1.01
|
||||
rotation 0 0 1 1.5708
|
||||
name "WorkspaceLimiter_back"
|
||||
locked TRUE
|
||||
scale 2.32 1 2
|
||||
}
|
||||
WorkspaceLimiter {
|
||||
translation -0.04 1.18 1.01
|
||||
name "WorkspaceLimiter_right"
|
||||
locked TRUE
|
||||
scale 2.43 1 2
|
||||
}
|
||||
]
|
||||
}
|
||||
DirectionalLight {
|
||||
direction -0.1 0.1 0
|
||||
intensity 2
|
||||
}
|
||||
|
||||
# Fixture plate: bottom Y=-0.010 m rests on the tabletop. The two rails
|
||||
# support the body at Y=+0.0161 m without intersecting its underside.
|
||||
DEF BODY_HATCH_STAPEL Solid {
|
||||
translation 0.30 0.12 0.803
|
||||
rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
|
||||
name "body_hatch_stapel"
|
||||
locked TRUE
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.30 0.34 0.39
|
||||
roughness 0.55
|
||||
metalness 0.55
|
||||
}
|
||||
geometry Mesh {
|
||||
url [ "../../objects/grant/stapel.obj" ]
|
||||
}
|
||||
}
|
||||
]
|
||||
boundingObject Group {
|
||||
children [
|
||||
Pose {
|
||||
translation 0 -0.005 0
|
||||
children [ Box { size 0.35 0.01 0.22 } ]
|
||||
}
|
||||
Pose {
|
||||
translation -0.104 0.008 0
|
||||
children [ Box { size 0.014 0.016 0.156 } ]
|
||||
}
|
||||
Pose {
|
||||
translation 0.104 0.008 0
|
||||
children [ Box { size 0.014 0.016 0.156 } ]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
|
||||
# The body shares the fixture centre. Its +0.020 m height puts the
|
||||
# underside on top of the fixture rails.
|
||||
DEF BODY_HATCH_BODY Solid {
|
||||
translation 0.30 0.12 0.823
|
||||
rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
|
||||
name "body_hatch_body"
|
||||
locked TRUE
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.64 0.68 0.72
|
||||
roughness 0.45
|
||||
metalness 0.45
|
||||
}
|
||||
geometry Mesh {
|
||||
url [ "../../objects/grant/base-detail.obj" ]
|
||||
}
|
||||
}
|
||||
]
|
||||
boundingObject Pose {
|
||||
translation 0 0.000695 0
|
||||
children [ Box { size 0.30 0.00915 0.17 } ]
|
||||
}
|
||||
}
|
||||
DEF BODY_HATCH_CAP Solid {
|
||||
translation 0.30 0.12 0.82594
|
||||
rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
|
||||
name "body_hatch_cap"
|
||||
locked TRUE
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.78 0.82 0.86
|
||||
roughness 0.35
|
||||
metalness 0.55
|
||||
}
|
||||
geometry Mesh {
|
||||
url [ "../../objects/grant/cap.obj" ]
|
||||
}
|
||||
}
|
||||
]
|
||||
boundingObject Pose {
|
||||
translation 0 0.004165 0
|
||||
children [ Box { size 0.1384 0.00367 0.0984 } ]
|
||||
}
|
||||
}
|
||||
|
||||
# The rack is visible in the front-left work area, facing the robot.
|
||||
GrantToolRack {
|
||||
translation 0.12 -0.42 0.793
|
||||
rotation 0 0.70710678118 0.70710678118 3.14159265359
|
||||
}
|
||||
Reference in New Issue
Block a user