From ad0d3544755711f85bc64782082b91a4db89614d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=B8=D0=BB=20=D0=93=D1=80=D0=B0?= =?UTF-8?q?=D0=B1=D0=B0=D1=80=D1=8C?= Date: Sun, 8 Nov 2026 12:06:08 +1000 Subject: [PATCH] =?UTF-8?q?=D0=92=D0=BE=D1=81=D1=82=D0=B0=D0=BD=D0=BE?= =?UTF-8?q?=D0=B2=D0=BB=D0=B5=D0=BD=D1=8B=20=D0=B2=D1=81=D0=B5=20=D1=84?= =?UTF-8?q?=D0=B0=D0=B9=D0=BB=D1=8B=20=D0=BA=D0=BE=D0=BD=D1=84=D0=B8=D0=B3?= =?UTF-8?q?=D1=83=D1=80=D0=B0=D1=86=D0=B8=D0=B8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- cobot-setting.yaml | 2 +- .../resource/protos/GrantToolRack.proto | 122 ------------ .../worlds/grant/.body_hatch.wbproj | 9 - .../worlds/grant/.body_hatch_installed.wbproj | 8 - .../worlds/grant/body_hatch.wbt | 188 ------------------ .../worlds/grant/body_hatch_installed.wbt | 182 ----------------- 6 files changed, 1 insertion(+), 510 deletions(-) delete mode 100644 src/iiwa_description/resource/protos/GrantToolRack.proto delete mode 100644 src/iiwa_description/worlds/grant/.body_hatch.wbproj delete mode 100644 src/iiwa_description/worlds/grant/.body_hatch_installed.wbproj delete mode 100644 src/iiwa_description/worlds/grant/body_hatch.wbt delete mode 100644 src/iiwa_description/worlds/grant/body_hatch_installed.wbt diff --git a/cobot-setting.yaml b/cobot-setting.yaml index 81a14f1..fff134b 100644 --- a/cobot-setting.yaml +++ b/cobot-setting.yaml @@ -16,7 +16,7 @@ digital_twin: max_linear_speed: 0.50 # верхний предел скорости TCP [м/с] max_angular_speed: 0.4 # скорость вращения TCP [рад/с] webots: - world: pkg://iiwa_description/worlds/grant/body_hatch_installed.wbt + world: pkg://iiwa_description/worlds/iiwa.wbt # world: pkg://iiwa_description/worlds/simple_world.wbt transform: "-0.25 0 0.79" rotation: "0 0 1 0" diff --git a/src/iiwa_description/resource/protos/GrantToolRack.proto b/src/iiwa_description/resource/protos/GrantToolRack.proto deleted file mode 100644 index 3bdcc3a..0000000 --- a/src/iiwa_description/resource/protos/GrantToolRack.proto +++ /dev/null @@ -1,122 +0,0 @@ -#VRML_SIM R2025a utf8 - -# Original-size grant magazine. The sealant OBJ export is 10 times smaller -# than the other tool meshes, so scale only that tool visual. -# The OBJ meshes use Y as vertical; the default rotation maps Y to world Z. -PROTO GrantToolRack [ - field SFVec3f translation 0 0 0 - field SFRotation rotation 1 0 0 1.57079632679 -] -{ - Solid { - translation IS translation - rotation IS rotation - name "grant_tool_magazine" - locked TRUE - children [ - Shape { - appearance PBRAppearance { - baseColor 0.72 0.47 0.14 - roughness 0.56 - metalness 0.35 - } - geometry Mesh { - url [ "../../objects/grant/tool-magizine.obj" ] - } - } - Solid { - translation -0.135 0.01 0 - name "grant_vacuum_tool_docked" - locked TRUE - children [ - Shape { - appearance PBRAppearance { - baseColor 0.16 0.47 0.72 - roughness 0.5 - metalness 0.25 - } - geometry Mesh { - url [ "../../objects/grant/vacum-tool.obj" ] - } - } - ] - boundingObject Pose { - translation 0.00054 0.07 0 - children [ Box { size 0.0821 0.14 0.081 } ] - } - } - Solid { - translation -0.045 0.01 0 - name "grant_magnetic_tool_docked" - locked TRUE - children [ - Shape { - appearance PBRAppearance { - baseColor 0.43 0.30 0.65 - roughness 0.4 - metalness 0.45 - } - geometry Mesh { - url [ "../../objects/grant/magnit-tool.obj" ] - } - } - ] - boundingObject Pose { - translation 0 0.07 0 - children [ Box { size 0.036 0.14 0.036 } ] - } - } - Solid { - translation 0.045 0.01 0 - name "grant_sealant_tool_docked" - locked TRUE - children [ - Transform { - scale 10 10 10 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.23 0.57 0.31 - roughness 0.6 - metalness 0.15 - } - geometry Mesh { - url [ "../../objects/grant/germetic-tool.obj" ] - } - } - ] - } - ] - boundingObject Pose { - translation 0 0.07 0 - children [ Box { size 0.05608 0.14 0.05608 } ] - } - } - Solid { - translation 0.135 0.01 0 - name "grant_wrench_tool_docked" - locked TRUE - children [ - Shape { - appearance PBRAppearance { - baseColor 0.80 0.32 0.18 - roughness 0.4 - metalness 0.45 - } - geometry Mesh { - url [ "../../objects/grant/wranch-tool.obj" ] - } - } - ] - boundingObject Pose { - translation 0 0.07 0 - children [ Box { size 0.049 0.14 0.049 } ] - } - } - ] - boundingObject Pose { - translation 0 0.005 0 - children [ Box { size 0.42 0.01 0.14 } ] - } - } -} diff --git a/src/iiwa_description/worlds/grant/.body_hatch.wbproj b/src/iiwa_description/worlds/grant/.body_hatch.wbproj deleted file mode 100644 index 2b49c06..0000000 --- a/src/iiwa_description/worlds/grant/.body_hatch.wbproj +++ /dev/null @@ -1,9 +0,0 @@ -Webots Project File version R2025a -perspectives: 000000ff00000000fd0000000300000000000001ca0000039ffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000000000010000023a00000390fc0200000001fb0000001400540065007800740045006400690074006f00720100000014000003900000003f00ffffff000000030000078000000039fc0100000002fb0000000e0043006f006e0073006f006c006501000001d0000005b00000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff000005440000039000000004000000040000000100000008fc00000000 -simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000002010000000101 -sceneTreePerspectives: 000000ff00000001000000030000001c000002b2000000fa0100000002010000000201 -maximizedDockId: -1 -centralWidgetVisible: 1 -orthographicViewHeight: 1 -textFiles: -1 -consoles: Console:All:All diff --git a/src/iiwa_description/worlds/grant/.body_hatch_installed.wbproj b/src/iiwa_description/worlds/grant/.body_hatch_installed.wbproj deleted file mode 100644 index ead2cc2..0000000 --- a/src/iiwa_description/worlds/grant/.body_hatch_installed.wbproj +++ /dev/null @@ -1,8 +0,0 @@ -Webots Project File version R2025a -perspectives: 000000ff00000000fd0000000300000000000001ca0000039ffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000000000010000023a00000390fc0200000001fb0000001400540065007800740045006400690074006f00720000000014000003900000003f00ffffff0000000300000780000000a0fc0100000002fb0000000e0043006f006e0073006f006c006501000001d0000005b00000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000780000000000000000000000780000003cb00000004000000040000000100000008fc00000000 -simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000002010000000101 -sceneTreePerspectives: 000000ff00000001000000030000001c000000c0000000fa0100000002010000000201 -maximizedDockId: -1 -centralWidgetVisible: 1 -orthographicViewHeight: 1 -textFiles: -1 diff --git a/src/iiwa_description/worlds/grant/body_hatch.wbt b/src/iiwa_description/worlds/grant/body_hatch.wbt deleted file mode 100644 index aadf1a8..0000000 --- a/src/iiwa_description/worlds/grant/body_hatch.wbt +++ /dev/null @@ -1,188 +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. -# -# Base scene: the hatch lies separately on the tabletop for pickup and -# transfer. The robot starts without an attached tool; the magazine holds -# four static tools. For an already installed -# hatch, use body_hatch_installed.wbt. For experiment 02, offset -# BODY_HATCH_BODY by +0.003 m in X. Experiment 03 keeps an empty fixture; -# experiment 12 omits the hatch. - -WorldInfo { - title "Body and hatch - grant experiments" - basicTimeStep 32 - optimalThreadCount 4 - contactProperties [ - ContactProperties { - material1 "TableMaterial" - coulombFriction [ 0.6 ] - bounce 0 - bounceVelocity 0 - softERP 1 - softCFM 0.0001 - } - ContactProperties { - material1 "tool" - material2 "TableMaterial" - bounce 0 - softCFM 0.002 - maxContactJoints 100 - } - ContactProperties { - material1 "default" - material2 "default" - maxContactJoints 20 - bounce 0 - softCFM 0.001 - } - ] -} -Viewpoint { - orientation 0.19663259328507318 -0.09057124279298501 -0.9762850368805829 3.9867817928674034 - position 1.75 -1.85 1.77 - followType "Mounted Shot" - ambientOcclusionRadius 3 -} -TexturedBackground { -} -TexturedBackgroundLight { - texture "noon_sunny_empty" - luminosity 2 -} -RectangleArena { - name "Arena" - floorSize 12 12 - wallHeight 2 -} -CollaborativeRobotTable { - translation 0 0 -0.007 - locked TRUE - showCabinet TRUE -} -DEF limiter Group { - children [ - WorkspaceLimiter { - translation -1.56 -0.219999 1.01 - rotation 0 0 1 1.5708 - name "WorkspaceLimiter_back" - locked TRUE - scale 2.32 1 2 - } - WorkspaceLimiter { - translation -0.04 1.18 1.01 - name "WorkspaceLimiter_right" - locked TRUE - scale 2.43 1 2 - } - ] -} -DirectionalLight { - direction -0.1 0.1 0 - intensity 2 -} - -# Fixture plate: bottom Y=-0.010 m rests on the tabletop. The two rails -# support the body at Y=+0.0161 m without intersecting its underside. -DEF BODY_HATCH_STAPEL Solid { - translation 0.30 0.12 0.803 - rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458 - name "body_hatch_stapel" - locked TRUE - children [ - Shape { - appearance PBRAppearance { - baseColor 0.30 0.34 0.39 - roughness 0.55 - metalness 0.55 - } - geometry Mesh { - url [ "../../objects/grant/stapel.obj" ] - } - } - ] - boundingObject Group { - children [ - Pose { - translation 0 -0.005 0 - children [ Box { size 0.35 0.01 0.22 } ] - } - Pose { - translation -0.104 0.008 0 - children [ Box { size 0.014 0.016 0.156 } ] - } - Pose { - translation 0.104 0.008 0 - children [ Box { size 0.014 0.016 0.156 } ] - } - ] - } -} - -# The body shares the fixture centre. Its +0.020 m height puts the -# underside on top of the fixture rails. -DEF BODY_HATCH_BODY Solid { - translation 0.30 0.12 0.823 - rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458 - name "body_hatch_body" - locked TRUE - children [ - Shape { - appearance PBRAppearance { - baseColor 0.64 0.68 0.72 - roughness 0.45 - metalness 0.45 - } - geometry Mesh { - url [ "../../objects/grant/base-detail.obj" ] - } - } - ] - boundingObject Pose { - translation 0 0.000695 0 - children [ Box { size 0.30 0.00915 0.17 } ] - } -} -DEF BODY_HATCH_CAP Solid { - translation 0.35 -0.25 0.790667 - rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458 - name "body_hatch_cap" - children [ - Shape { - appearance PBRAppearance { - baseColor 0.78 0.82 0.86 - roughness 0.35 - metalness 0.55 - } - geometry Mesh { - url [ "../../objects/grant/cap.obj" ] - } - } - ] - boundingObject Pose { - translation 0 0.004165 0 - children [ Box { size 0.1384 0.00367 0.0984 } ] - } - physics Physics { - mass 0.1 - } -} - -# The rack is in the front-left work area, clear of the loose hatch. -# Its 180-degree yaw faces the tool sockets toward the robot. -GrantToolRack { - translation 0.12 -0.42 0.793 - rotation 0 0.70710678118 0.70710678118 3.14159265359 -} diff --git a/src/iiwa_description/worlds/grant/body_hatch_installed.wbt b/src/iiwa_description/worlds/grant/body_hatch_installed.wbt deleted file mode 100644 index 31bc4aa..0000000 --- a/src/iiwa_description/worlds/grant/body_hatch_installed.wbt +++ /dev/null @@ -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 -}