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_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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max_angular_speed: 0.4 # скорость вращения TCP [рад/с]
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webots:
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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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# world: pkg://iiwa_description/worlds/simple_world.wbt
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transform: "-0.25 0 0.79"
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transform: "-0.25 0 0.79"
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rotation: "0 0 1 0"
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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
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metalness 0.15
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}
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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
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children [
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Shape {
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appearance PBRAppearance {
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||||||
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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}
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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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}
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}
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}
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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
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sceneTreePerspectives: 000000ff00000001000000030000001c000002b2000000fa0100000002010000000201
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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
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simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000002010000000101
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sceneTreePerspectives: 000000ff00000001000000030000001c000000c0000000fa0100000002010000000201
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maximizedDockId: -1
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centralWidgetVisible: 1
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orthographicViewHeight: 1
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textFiles: -1
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@@ -1,188 +0,0 @@
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#VRML_SIM R2025a utf8
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/RectangleArena.proto"
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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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# 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 {
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||||||
material1 "TableMaterial"
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||||||
coulombFriction [ 0.6 ]
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||||||
bounce 0
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||||||
bounceVelocity 0
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||||||
softERP 1
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||||||
softCFM 0.0001
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||||||
}
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||||||
ContactProperties {
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||||||
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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}
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||||||
ContactProperties {
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||||||
material1 "default"
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||||||
material2 "default"
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||||||
maxContactJoints 20
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||||||
bounce 0
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||||||
softCFM 0.001
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||||||
}
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||||||
]
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||||||
}
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||||||
Viewpoint {
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||||||
orientation 0.19663259328507318 -0.09057124279298501 -0.9762850368805829 3.9867817928674034
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||||||
position 1.75 -1.85 1.77
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||||||
followType "Mounted Shot"
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||||||
ambientOcclusionRadius 3
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||||||
}
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TexturedBackground {
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}
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||||||
TexturedBackgroundLight {
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||||||
texture "noon_sunny_empty"
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||||||
luminosity 2
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||||||
}
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||||||
RectangleArena {
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name "Arena"
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||||||
floorSize 12 12
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||||||
wallHeight 2
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}
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CollaborativeRobotTable {
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translation 0 0 -0.007
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locked TRUE
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showCabinet TRUE
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}
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DEF limiter Group {
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children [
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WorkspaceLimiter {
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||||||
translation -1.56 -0.219999 1.01
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||||||
rotation 0 0 1 1.5708
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name "WorkspaceLimiter_back"
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||||||
locked TRUE
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scale 2.32 1 2
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}
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WorkspaceLimiter {
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translation -0.04 1.18 1.01
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name "WorkspaceLimiter_right"
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locked TRUE
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||||||
scale 2.43 1 2
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}
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||||||
]
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}
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DirectionalLight {
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direction -0.1 0.1 0
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intensity 2
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}
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# 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 {
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translation 0.30 0.12 0.803
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rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
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name "body_hatch_stapel"
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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 0.30 0.34 0.39
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||||||
roughness 0.55
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||||||
metalness 0.55
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||||||
}
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||||||
geometry Mesh {
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||||||
url [ "../../objects/grant/stapel.obj" ]
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||||||
}
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||||||
}
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||||||
]
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||||||
boundingObject Group {
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||||||
children [
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||||||
Pose {
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|
||||||
translation 0 -0.005 0
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||||||
children [ Box { size 0.35 0.01 0.22 } ]
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||||||
}
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||||||
Pose {
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||||||
translation -0.104 0.008 0
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||||||
children [ Box { size 0.014 0.016 0.156 } ]
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||||||
}
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||||||
Pose {
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||||||
translation 0.104 0.008 0
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||||||
children [ Box { size 0.014 0.016 0.156 } ]
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||||||
}
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||||||
]
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||||||
}
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||||||
}
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||||||
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||||||
# The body shares the fixture centre. Its +0.020 m height puts the
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||||||
# underside on top of the fixture rails.
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||||||
DEF BODY_HATCH_BODY Solid {
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|
||||||
translation 0.30 0.12 0.823
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||||||
rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
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|
||||||
name "body_hatch_body"
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|
||||||
locked TRUE
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|
||||||
children [
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|
||||||
Shape {
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|
||||||
appearance PBRAppearance {
|
|
||||||
baseColor 0.64 0.68 0.72
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|
||||||
roughness 0.45
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|
||||||
metalness 0.45
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|
||||||
}
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|
||||||
geometry Mesh {
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|
||||||
url [ "../../objects/grant/base-detail.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 0.000695 0
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|
||||||
children [ Box { size 0.30 0.00915 0.17 } ]
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|
||||||
}
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|
||||||
}
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|
||||||
DEF BODY_HATCH_CAP Solid {
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|
||||||
translation 0.35 -0.25 0.790667
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|
||||||
rotation 0.862856209461 0.357406744337 0.357406744337 1.717771517458
|
|
||||||
name "body_hatch_cap"
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|
||||||
children [
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|
||||||
Shape {
|
|
||||||
appearance PBRAppearance {
|
|
||||||
baseColor 0.78 0.82 0.86
|
|
||||||
roughness 0.35
|
|
||||||
metalness 0.55
|
|
||||||
}
|
|
||||||
geometry Mesh {
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|
||||||
url [ "../../objects/grant/cap.obj" ]
|
|
||||||
}
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|
||||||
}
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|
||||||
]
|
|
||||||
boundingObject Pose {
|
|
||||||
translation 0 0.004165 0
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|
||||||
children [ Box { size 0.1384 0.00367 0.0984 } ]
|
|
||||||
}
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|
||||||
physics Physics {
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|
||||||
mass 0.1
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|
||||||
}
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|
||||||
}
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|
||||||
|
|
||||||
# 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.
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|
||||||
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"
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|
||||||
|
|
||||||
# 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