append spawn objects

cobot-setting.yaml

@@ -22,6 +22,26 @@ digital_twin:
     rotation: "0 0 1 0"
     controller_timer: "50"
 
+    objects:
+      enabled: true
+      count: 1                    # точное общее количество; модели могут повторяться
+      models:
+        # - path: pkg://iiwa_description/objects/hammer/hammer1.obj
+        #   rotation_deg: [0, 90, 0]  # X, Y, Z в градусах, относительно робота
+        # - path: pkg://iiwa_description/objects/hammer/hammer2.obj
+        #   rotation_deg: [90, 0, 0]
+        - path: pkg://iiwa_description/objects/hammer/hammer3.obj
+          rotation_deg: [90, 0, 0]
+        # - path: pkg://iiwa_description/objects/hammer/hammer4.obj
+        #   rotation_deg: [1.57, 0, 0]
+        # - path: pkg://iiwa_description/objects/hammer/hammer5.obj
+        #   rotation_deg: [1.57, 0, 0]
+      area:                       # метры в системе основания робота, до падения
+        x: [0.3, 0.7]
+        y: [-0.3, 0.3]
+        z: [0.1, 0.1]             # высота нижней точки модели
+
+
     cameras:
     - pkg://iiwa_config/config/cameras/d455_top.yaml
 

doc/lwc-doc/docs/getting-started/concepts/simulation.en.md

@@ -39,3 +39,96 @@ Set `digital_twin.tcp_gizmo.enabled: false` and restart to disable this mode. Th
 - Motion still obeys configured joint and TCP limits; simulation does not reproduce all physical robot protections.
 - Physics is approximate, including inertia, friction, and elasticity.
 - FRI is not used; communication goes through the Webots ROS 2 driver.
+
+## Spawning textured objects
+
+Set `digital_twin.webots.objects` in `cobot-setting.yaml`:
+
+```yaml
+objects:
+  enabled: true
+  count: 5
+  models:
+    - path: pkg://iiwa_description/objects/hammer/hammer1.obj
+      rotation_deg: [0, 0, 0]
+    - path: pkg://iiwa_description/objects/hammer/hammer2.obj
+      rotation_deg: [0, 0, 0]
+  area:
+    x: [0.3, 0.7]
+    y: [-0.3, 0.3]
+    z: [0.1, 0.1]
+```
+
+Webots spawns exactly `count` instances once at startup, independently choosing
+from `models` with replacement. This list specifies allowed models, not individual
+quantities. An absent section, `enabled: false`, or `count: 0` disables spawning.
+Paths support `pkg://`, absolute paths and paths relative to the settings file.
+Currently only Wavefront OBJ is supported.
+
+Bounds are in metres in the robot base frame. The spawner uses the same
+`webots.transform` and `webots.rotation` (axis and angle in radians) as the robot:
+`p_world = t_robot + R_robot * p_local`. They constrain initial spawn positions;
+physics may move the objects afterwards. Moving the robot with the mouse after
+startup does not relocate existing objects.
+
+The spawn anchor is the bounding-box XY centre and bottom Z. Exported vertex
+offsets are compensated without modifying the original files, UVs, scale
+(1 unit = 1 metre); orientation is configured per model. Bounds constrain the anchor, not the entire
+object. Random placements may overlap; choose a sufficiently large area.
+
+`CadShape` loads OBJ materials through `mtllib` and textures through MTL. Preserve
+relative asset paths: for example, `hammer1.mtl` references
+`hammer1_basecolor.png`. The complete `objects` directory is installed with
+`iiwa_description`. Missing models, materials or textures fail before the first
+spawn request. Physics uses an approximate bounding Box and a mass of 0.5 kg,
+not calibrated hammer inertia or grasp geometry. Objects are not automatically
+added to the MoveIt Planning Scene.
+
+The `object_spawner` node calls `/Ros2Supervisor/spawn_node_from_string`
+(`webots_ros2_msgs/srv/SpawnNodeFromString`) once per object. A rejected request
+aborts remaining work. Timeouts are not retried to avoid duplicates. The node
+exits after success and only runs in simulation.
+
+### Simulation smoke test
+
+1. Build with `colcon build --base-paths src --packages-select iiwa_description iiwa_utils iiwa_bringup iiwa_config --symlink-install`.
+2. Run `source install/setup.bash`, then `cobot run local`, selecting Webots.
+3. Inspect the five nodes `spawned_object_0000` through `spawned_object_0004`, their
+   textures and the `All 5 objects spawned` log.
+4. Change `transform` and `rotation`, restart and confirm the spawn area translates
+   and rotates with the robot base. Pause before objects fall to inspect initial positions.
+5. Check `count: 0`, operation without cameras and rejection of missing models.
+
+Reference: [Webots CadShape](https://cyberbotics.com/doc/reference/cadshape).
+
+### Per-model rotation
+
+Each `models` entry accepts `path` and `rotation_deg: [X, Y, Z]`.
+Angles are fixed degrees: apply X, then Y, then Z about the robot base axes,
+`R_model = Rz * Ry * Rx` and `R_world = R_robot * R_model`. For example:
+
+```yaml
+models:
+  - path: pkg://iiwa_description/objects/hammer/hammer1.obj
+    rotation_deg: [0, 0, 0]
+  - path: pkg://iiwa_description/objects/hammer/hammer2.obj
+    rotation_deg: [90, 0, 0]
+  - path: pkg://iiwa_description/objects/hammer/hammer3.obj
+    rotation_deg: [0, 0, 45]
+```
+
+The supplied OBJ hammers have their long axis along Z. `[0, 0, 0]` gives an
+initial vertical orientation, `[90, 0, 0]` lays the hammer sideways and
+`[0, 0, 45]` turns it around the vertical axis. Both configuration files now
+explicitly set `[0, 0, 0]` for each model; adjust each independently.
+Legacy path-only entries remain supported and imply zero rotation.
+
+Both the visible model and its collision Box rotate. Height is recalculated:
+`area.z` locates the bottom of the rotated collision bounds in the robot frame;
+X/Y locate their centre. Model rotation does not rotate the spawn area.
+Changes take effect on the next launch.
+
+This sets the initial orientation, not a constraint. Gravity and contact can
+still topple the hammer. Pause simulation at spawn to inspect it. Smoke-test
+two models with different angles, check the Box stays above `area.z`, and check
+that changing `webots.rotation` preserves each model's relative orientation.

doc/lwc-doc/docs/getting-started/concepts/simulation.md

@@ -39,3 +39,101 @@
 - Действуют настроенные ограничения суставов и TCP; симуляция не воспроизводит все защиты физического робота
 - Физика не идеальна — инерция, трение и упругость приближённые
 - FRI-протокол не задействован — связь идёт через Webots-драйвер ROS 2
+
+## Спавн объектов с текстурами
+
+В `cobot-setting.yaml` (секция `digital_twin.webots`) задайте:
+
+```yaml
+objects:
+  enabled: true
+  count: 5
+  models:
+    - path: pkg://iiwa_description/objects/hammer/hammer1.obj
+      rotation_deg: [0, 0, 0]
+    - path: pkg://iiwa_description/objects/hammer/hammer2.obj
+      rotation_deg: [0, 0, 0]
+  area:
+    x: [0.3, 0.7]
+    y: [-0.3, 0.3]
+    z: [0.1, 0.1]
+```
+
+При запуске Webots создаётся ровно `count` объектов: каждая модель независимо
+выбирается из `models`, повторения разрешены. `enabled: false`, `count: 0` или
+отсутствие секции отключает спавн. Список — разрешённые модели, а не количество
+экземпляров каждой модели. Пути могут быть `pkg://`, абсолютными или относительно
+файла настроек. Пока поддерживается Wavefront OBJ.
+
+Область задаётся в метрах в системе основания робота: применяется та же пара
+`webots.transform` / `webots.rotation` (ось и угол в радианах), что и при спавне
+робота. Формула: `p_world = t_robot + R_robot * p_local`. Это начальная область,
+а не ограничитель движения: физика затем может перемещать объекты. Перемещение
+робота мышью после запуска не переносит уже созданные предметы.
+
+Точка спавна — центр габаритов по X/Y и нижняя точка по Z. Смещение вершин
+в экспортированном OBJ компенсируется автоматически; исходные файлы, UV,
+масштаб (1 единица = 1 метр) сохраняется; ориентация задаётся отдельно для каждой модели. Диапазон ограничивает
+эту точку, а не весь габарит. Пересечения объектов при случайном размещении
+не исключаются: выбирайте достаточно просторную область.
+
+`CadShape` загружает материалы из `mtllib` и текстуры из MTL. Сохраняйте OBJ,
+MTL и PNG в исходной структуре каталогов: например, `hammer1.mtl` ссылается на
+`hammer1_basecolor.png`. Весь каталог `objects` устанавливается вместе с
+`iiwa_description`. Отсутствующие модели, MTL и текстуры вызывают ошибку до
+первого запроса спавна. Для физики используется упрощённый габаритный Box и
+масса 0.5 кг; это не точная модель инерции или захвата молотка. В MoveIt Planning
+Scene эти объекты автоматически не добавляются.
+
+Нода `object_spawner` вызывает
+`/Ros2Supervisor/spawn_node_from_string` (`webots_ros2_msgs/srv/SpawnNodeFromString`)
+однократно для каждого предмета. Отказ сервиса прерывает оставшийся спавн;
+тайм-аут не повторяется, чтобы не создавать дубликаты. Нода завершается после
+успеха. На физическом роботе она не запускается.
+
+### Проверка в симуляции
+
+1. Пересоберите пакеты:
+   `colcon build --base-paths src --packages-select iiwa_description iiwa_utils iiwa_bringup iiwa_config --symlink-install`.
+2. Выполните `source install/setup.bash`, затем `cobot run local` и выберите Webots.
+3. Проверьте пять узлов `spawned_object_0000` … `spawned_object_0004` в дереве сцены,
+   текстуры молотков и сообщение `All 5 objects spawned`.
+4. Измените `transform` и `rotation`, перезапустите: область должна переместиться
+   и повернуться вместе с основанием робота. Для проверки начальных координат
+   используйте паузу симулятора до падения объектов.
+5. Проверьте `count: 0`, запуск без камер и ошибку при несуществующей модели.
+
+Справочник: [Webots CadShape](https://cyberbotics.com/doc/reference/cadshape).
+
+### Индивидуальный поворот модели
+
+Каждая запись `models` может содержать `path` и `rotation_deg: [X, Y, Z]`.
+Углы фиксированные, в градусах; сначала применяется поворот вокруг X, затем Y,
+затем Z в системе основания робота: `R_model = Rz * Ry * Rx`,
+`R_world = R_robot * R_model`. Например:
+
+```yaml
+models:
+  - path: pkg://iiwa_description/objects/hammer/hammer1.obj
+    rotation_deg: [0, 0, 0]
+  - path: pkg://iiwa_description/objects/hammer/hammer2.obj
+    rotation_deg: [90, 0, 0]
+  - path: pkg://iiwa_description/objects/hammer/hammer3.obj
+    rotation_deg: [0, 0, 45]
+```
+
+В предоставленных OBJ длинная ось молотка направлена по Z: `[0, 0, 0]`
+задаёт вертикальную начальную ориентацию, `[90, 0, 0]` кладёт молоток набок,
+а `[0, 0, 45]` поворачивает его вокруг вертикальной оси. В обоих конфигурационных
+файлах для всех моделей явно указано `[0, 0, 0]`; изменяйте каждую независимо.
+Записи только с путём остаются совместимыми и означают нулевой поворот.
+
+Поворачиваются и видимая модель, и её коллизионный Box. После поворота
+пересчитывается высота: `area.z` задаёт нижнюю точку повёрнутого коллизионного
+габарита в системе робота, а X/Y — его центр. Поворот модели не поворачивает
+саму область спавна. Изменения применяются при следующем запуске.
+
+Это начальная ориентация, а не фиксация: после появления гравитация и контакты
+могут опрокинуть молоток. Для проверки поставьте симуляцию на паузу при спавне.
+Проверьте разные углы у двух моделей, отсутствие погружения Box ниже `area.z`
+и сохранение локальных углов при изменении `webots.rotation`.

src/iiwa_bringup/launch/supported/simulation_nodes.py

@@ -1,4 +1,5 @@
 import json
+from dataclasses import asdict
 
 from launch_ros.actions import Node
 from webots_ros2_driver.webots_controller import WebotsController
@@ -7,12 +8,23 @@ from iiwa_utils.camera_spawner import load_camera_config, build_ros_urdf  # type
 
 
 def make_simulation_nodes(settings) -> list:
-    """Возвращает ноды камер для симуляции: [camera_spawner, *camera_controllers].
+    """Create the configured object spawner and camera nodes for Webots."""
-
+    nodes = []
-    Если камеры не заданы в настройках — возвращает пустой список.
+    webots = settings.digital_twin.webots
-    """
+    if webots.objects.enabled and webots.objects.count:
+        nodes.append(Node(
+            package="iiwa_utils",
+            executable="object_spawner",
+            name="object_spawner",
+            output="screen",
+            parameters=[{
+                "objects_config": json.dumps(asdict(webots.objects)),
+                "robot_translation": webots.transform,
+                "robot_rotation": webots.rotation,
+            }],
+        ))
     if not settings.digital_twin.webots.cameras:
-        return []
+        return nodes
 
     camera_spawner = Node(
         package="iiwa_utils",
@@ -37,4 +49,4 @@ def make_simulation_nodes(settings) -> list:
             respawn=True,
         ))
 
-    return [camera_spawner, *camera_controllers]
+    return [*nodes, camera_spawner, *camera_controllers]

src/iiwa_config/config/setting.yaml

@@ -22,6 +22,26 @@ digital_twin:
     rotation: "0 0 1 0"
     controller_timer: "50"
 
+    objects:
+      enabled: true
+      count: 5                    # точное общее количество; модели могут повторяться
+      models:
+        - path: pkg://iiwa_description/objects/hammer/hammer1.obj
+          rotation_deg: [0, 0, 0]  # X, Y, Z в градусах, относительно робота
+        - path: pkg://iiwa_description/objects/hammer/hammer2.obj
+          rotation_deg: [0, 0, 0]  # X, Y, Z в градусах, относительно робота
+        - path: pkg://iiwa_description/objects/hammer/hammer3.obj
+          rotation_deg: [0, 0, 0]  # X, Y, Z в градусах, относительно робота
+        - path: pkg://iiwa_description/objects/hammer/hammer4.obj
+          rotation_deg: [0, 0, 0]  # X, Y, Z в градусах, относительно робота
+        - path: pkg://iiwa_description/objects/hammer/hammer5.obj
+          rotation_deg: [0, 0, 0]  # X, Y, Z в градусах, относительно робота
+      area:                       # метры в системе основания робота, до падения
+        x: [0.3, 0.7]
+        y: [-0.3, 0.3]
+        z: [0.1, 0.1]             # высота нижней точки модели
+
+
     cameras:
       - pkg://iiwa_config/config/cameras/d455_top.yaml
 

src/iiwa_description/CMakeLists.txt

@@ -9,7 +9,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 
 install(
-  DIRECTORY resource worlds urdf
+  DIRECTORY resource worlds urdf objects
   DESTINATION share/${PROJECT_NAME}
 )
 

src/iiwa_description/objects/hammer/hammer1.mtl

@@ -0,0 +1,42 @@
+# Blender 5.2.1 LTS MTL File: 'five_hammers.blend'
+# www.blender.org
+
+newmtl 01_|_circular_ground_face
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer1_basecolor.png
+
+newmtl 01_|_exposed_cut_wood
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer1_basecolor.png
+
+newmtl 01_|_honey_hickory_longitudinal_grain
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer1_basecolor.png
+
+newmtl 01_|_satin_forged_steel
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer1_basecolor.png

src/iiwa_description/objects/hammer/hammer2.mtl

@@ -0,0 +1,42 @@
+# Blender 5.2.1 LTS MTL File: 'five_hammers.blend'
+# www.blender.org
+
+newmtl 02_|_black_oxide_forged_steel
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer2_basecolor.png
+
+newmtl 02_|_blue_glass_fibre_resin
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer2_basecolor.png
+
+newmtl 02_|_graphite_moulded_rubber
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer2_basecolor.png
+
+newmtl 02_|_machined_steel_face
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer2_basecolor.png

src/iiwa_description/objects/hammer/hammer3.mtl

@@ -0,0 +1,42 @@
+# Blender 5.2.1 LTS MTL File: 'five_hammers.blend'
+# www.blender.org
+
+newmtl 03_|_ash_end_grain
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer3_basecolor.png
+
+newmtl 03_|_blue_tempered_steel
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer3_basecolor.png
+
+newmtl 03_|_bright_milled_steel
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer3_basecolor.png
+
+newmtl 03_|_pale_ash_straight_grain
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer3_basecolor.png

src/iiwa_description/objects/hammer/hammer4.mtl

@@ -0,0 +1,42 @@
+# Blender 5.2.1 LTS MTL File: 'five_hammers.blend'
+# www.blender.org
+
+newmtl 04_|_dark_walnut_grain
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer4_basecolor.png
+
+newmtl 04_|_polished_ball_and_face
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer4_basecolor.png
+
+newmtl 04_|_walnut_end_grain
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer4_basecolor.png
+
+newmtl 04_|_warm_forged_steel
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer4_basecolor.png

src/iiwa_description/objects/hammer/hammer5.mtl

@@ -0,0 +1,42 @@
+# Blender 5.2.1 LTS MTL File: 'five_hammers.blend'
+# www.blender.org
+
+newmtl 05_|_charcoal_anti_vibration_rubber
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer5_basecolor.png
+
+newmtl 05_|_dark_textured_forged_coating
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer5_basecolor.png
+
+newmtl 05_|_machined_impact_faces
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer5_basecolor.png
+
+newmtl 05_|_orange_glass_fibre_resin
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd hammer5_basecolor.png

src/iiwa_utils/iiwa_utils/object_scene.py

@@ -0,0 +1,196 @@
+"""Validated object configuration and Webots scene generation (metres/radians)."""
+import json
+import math
+import random
+import shlex
+from dataclasses import dataclass, field
+from pathlib import Path
+
+from scipy.spatial.transform import Rotation
+
+
+@dataclass(frozen=True)
+class ObjectModelCfg:
+    path: str
+    rotation_deg: tuple[float, float, float] = (0.0, 0.0, 0.0)
+
+
+@dataclass(frozen=True)
+class ObjectsCfg:
+    enabled: bool = False
+    count: int = 0
+    models: list[ObjectModelCfg] = field(default_factory=list)
+    area: dict[str, list[float]] = field(default_factory=dict)
+
+
+def parse_objects(raw, resolve_path) -> ObjectsCfg:
+    if raw is None:
+        return ObjectsCfg()
+    if not isinstance(raw, dict):
+        raise ValueError('digital_twin.webots.objects must be a mapping')
+    enabled = raw.get('enabled', False)
+    count = raw.get('count', 0)
+    models = raw.get('models', [])
+    area = raw.get('area', {})
+    if type(enabled) is not bool:
+        raise ValueError('objects.enabled must be true or false')
+    if type(count) is not int or count < 0:
+        raise ValueError('objects.count must be an integer >= 0')
+    if not isinstance(models, list):
+        raise ValueError('objects.models must be a list of paths or model mappings')
+    if enabled and count and not models:
+        raise ValueError('objects.models must not be empty when count > 0')
+    if not isinstance(area, dict):
+        raise ValueError('objects.area must be a mapping')
+    parsed_area = {}
+    if area or (enabled and count):
+        for axis in 'xyz':
+            bounds = area.get(axis)
+            if (not isinstance(bounds, (list, tuple)) or len(bounds) != 2
+                    or any(type(v) not in (int, float) or not math.isfinite(v) for v in bounds)
+                    or bounds[0] > bounds[1]):
+                raise ValueError(f'objects.area.{axis} must be [min, max], finite metres, min <= max')
+            parsed_area[axis] = list(map(float, bounds))
+    resolved = []
+    for index, entry in enumerate(models):
+        if isinstance(entry, str):
+            entry = {'path': entry}
+        if not isinstance(entry, dict) or entry.keys() - {'path', 'rotation_deg'}:
+            raise ValueError(f'objects.models[{index}] requires path and optional rotation_deg')
+        path = entry.get('path')
+        angles = entry.get('rotation_deg', (0, 0, 0))
+        if not isinstance(path, str) or not path.strip():
+            raise ValueError(f'objects.models[{index}].path must be a nonempty path')
+        if (not isinstance(angles, (list, tuple)) or len(angles) != 3
+                or any(type(v) not in (int, float) or not math.isfinite(v) for v in angles)):
+            raise ValueError(f'objects.models[{index}].rotation_deg must be finite [X, Y, Z] degrees')
+        resolved.append(ObjectModelCfg(resolve_path(path), tuple(map(float, angles))))
+    if any(Path(model.path).suffix.lower() != '.obj' for model in resolved):
+        raise ValueError('objects.models currently supports Wavefront .obj files')
+    return ObjectsCfg(enabled, count, resolved, parsed_area)
+
+
+def robot_pose(translation, rotation):
+    try:
+        position = tuple(map(float, translation.split()))
+        orient = tuple(map(float, rotation.split()))
+    except (ValueError, AttributeError) as exc:
+        raise ValueError('Robot transform/rotation must be numeric strings') from exc
+    if len(position) != 3 or len(orient) != 4 or not all(map(math.isfinite, position + orient)):
+        raise ValueError('Robot transform needs 3 and rotation 4 finite numbers')
+    length = math.sqrt(sum(v*v for v in orient[:3]))
+    if length == 0:
+        raise ValueError('Robot rotation axis must not be zero')
+    return position, tuple(v / length for v in orient[:3]) + (orient[3],)
+
+
+def world_position(local, translation, rotation):
+    position, orient = robot_pose(translation, rotation)
+    axis, angle = orient[:3], orient[3]
+    c, s = math.cos(angle), math.sin(angle)
+    dot = sum(a*b for a, b in zip(axis, local))
+    cross = (axis[1]*local[2] - axis[2]*local[1],
+             axis[2]*local[0] - axis[0]*local[2],
+             axis[0]*local[1] - axis[1]*local[0])
+    return tuple(position[i] + local[i]*c + cross[i]*s + axis[i]*dot*(1-c) for i in range(3))
+
+
+@dataclass(frozen=True)
+class ObjAsset:
+    path: Path
+    offset: tuple
+    size: tuple
+    textures: tuple
+
+
+def _require_file(path):
+    if not path.is_file():
+        raise ValueError(f'Object asset file does not exist: {path}')
+
+
+def load_obj(path) -> ObjAsset:
+    """Keep original OBJ/MTL/UV data; derive a centred, bottom-aligned origin."""
+    path = Path(path).resolve()
+    _require_file(path)
+    low, high = [math.inf]*3, [-math.inf]*3
+    materials, textures = [], []
+    for line in path.read_text(encoding='utf-8').splitlines():
+        parts = line.split()
+        if not parts:
+            continue
+        if parts[0] == 'v':
+            vertex = tuple(map(float, parts[1:4]))
+            if len(vertex) != 3 or not all(map(math.isfinite, vertex)):
+                raise ValueError(f'Invalid vertex in {path}')
+            low = [min(a, b) for a, b in zip(low, vertex)]
+            high = [max(a, b) for a, b in zip(high, vertex)]
+        elif parts[0] == 'mtllib':
+            materials.extend(path.parent / p for p in shlex.split(line)[1:])
+    size = tuple(b-a for a, b in zip(low, high))
+    if any(not math.isfinite(v) or v <= 0 for v in size):
+        raise ValueError(f'OBJ must have finite, nonzero 3D bounds: {path}')
+    for material in materials:
+        _require_file(material)
+        for line in material.read_text(encoding='utf-8').splitlines():
+            parts = shlex.split(line, comments=True)
+            if parts and (parts[0].lower().startswith('map_') or parts[0].lower() in ('bump', 'disp', 'decal', 'norm')):
+                # Wavefront map options precede the final texture filename.
+                texture = material.parent / parts[-1]
+                _require_file(texture)
+                textures.append(texture)
+    offset = (-(low[0]+high[0])/2, -(low[1]+high[1])/2, -low[2])
+    return ObjAsset(path, offset, size, tuple(textures))
+
+
+def _vector(values):
+    return ' '.join(format(v, '.12g') for v in values)
+
+
+def model_rotation(rotation_deg):
+    """Fixed-axis XYZ degrees: Rz(z) @ Ry(y) @ Rx(x), relative to robot base."""
+    rotvec = Rotation.from_euler('xyz', rotation_deg, degrees=True).as_rotvec()
+    angle = math.sqrt(sum(v*v for v in rotvec))
+    if angle < 1e-12:
+        return (0.0, 0.0, 1.0, 0.0)
+    return tuple(float(v / angle) for v in rotvec) + (angle,)
+
+
+def build_objects(config, translation, rotation, rng=None):
+    if not config.enabled or config.count == 0:
+        return []
+    _, orient = robot_pose(translation, rotation)
+    # Validate every allowed asset before any service request is sent.
+    assets = [(load_obj(model.path), model.rotation_deg) for model in config.models]
+    rng = rng or random.Random()
+    nodes = []
+    for index in range(config.count):
+        asset, angles = rng.choice(assets)
+        model_orient = model_rotation(angles)
+        matrix = Rotation.from_euler('xyz', angles, degrees=True).as_matrix()
+        # Lift the rotated collision box above the spawn anchor. Keep the
+        # original oriented box, rather than inflating it into a world AABB.
+        half_height = sum(abs(matrix[2, i]) * asset.size[i] / 2 for i in range(3))
+        center = (-asset.offset[0], -asset.offset[1],
+                  -asset.offset[2] + asset.size[2] / 2)
+        rotated_center = matrix @ center
+        visual_offset = tuple(-rotated_center[i] + (half_height if i == 2 else 0)
+                              for i in range(3))
+        local = tuple(rng.uniform(*config.area[axis]) for axis in 'xyz')
+        world = world_position(local, translation, rotation)
+        nodes.append(f'''Solid {{
+  name "spawned_object_{index:04d}"
+  translation {_vector(world)}
+  rotation {_vector(orient)}
+  children [ Pose {{
+    translation {_vector(visual_offset)}
+    rotation {_vector(model_orient)}
+    children [ CadShape {{ url [ {json.dumps(str(asset.path))} ] }} ]
+  }} ]
+  boundingObject Pose {{
+    translation 0 0 {half_height:.12g}
+    rotation {_vector(model_orient)}
+    children [ Box {{ size {_vector(asset.size)} }} ]
+  }}
+  physics Physics {{ density -1 mass 0.5 }}
+}}''')
+    return nodes

src/iiwa_utils/iiwa_utils/object_spawner.py

@@ -1,88 +1,50 @@
-# /Ros2Supervisor/spawn_node_from_string / webots_ros2_msgs/srv/SpawnNodeFromString
+"""Spawn the configured batch once through the Webots supervisor service."""
-# /Ros2Supervisor/spawn_urdf_robot
+import json
-
-
-from random import randint
 
 import rclpy
 from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
-from rclpy.task import Future
 from webots_ros2_msgs.srv import SpawnNodeFromString
 
+from iiwa_utils.object_scene import build_objects, parse_objects
 
-class ObjectSpawner(Node):
-    def __init__(self):
-        super().__init__("object_spawner")
 
-        # параметры передаваемые
+def spawn_objects(node):
-        self.declare_parameter('objects_path', '')
+    raw = json.loads(node.declare_parameter('objects_config', '{}').value)
-
+    translation = node.declare_parameter('robot_translation', '0 0 0').value
-        # переменные
+    rotation = node.declare_parameter('robot_rotation', '0 0 1 0').value
-        self._object_count: int = randint(1, 5)
+    config = parse_objects(raw, lambda path: path)
-        self._spawned_count: int = 0
+    objects = build_objects(config, translation, rotation)
-        self._call_in_progress: bool = False
+    if not objects:
-
+        node.get_logger().info('Object spawning disabled or count is zero')
-        # Реализация
-        self.cli = self.create_client(
-            SpawnNodeFromString, "/Ros2Supervisor/spawn_node_from_string"
-        )
-
-        while not self.cli.wait_for_service(timeout_sec=10):
-            self.get_logger().warning(
-                "service /Ros2Supervisor/spawn_node_from_string  not available, waiting again..."
-            )
-
-        self._timer = self.create_timer(0.1, self.timer_callback)
-
-    # TODO: переделать процесс спавна, должен сформировать все proto файлы, после чего заспавнить все объекты
-    def timer_callback(self):
-        # TODO: здесь должен получать объекты
-        if self._spawned_count >= self._object_count:
-            self.get_logger().info(f"All {self._object_count} objects spawned")
-            self._timer.cancel()
         return
-
+    client = node.create_client(SpawnNodeFromString, '/Ros2Supervisor/spawn_node_from_string')
-        if self._call_in_progress:
+    if not client.wait_for_service(timeout_sec=60.0):
-            return
+        raise RuntimeError('Webots supervisor unavailable; no objects spawned')
-
+    for index, data in enumerate(objects):
-        data = 'Solid { name "test_box2" translation 0 1 0.5 children [ Shape { appearance PBRAppearance { baseColor 0.901961 0.380392 0 } geometry Box { size 0.1 0.1 0.1 } } ] boundingObject Box { size 0.1 0.1 0.1 } physics Physics { } }'
+        future = client.call_async(SpawnNodeFromString.Request(data=data))
-        data = self._create_group(children=[data])
+        rclpy.spin_until_future_complete(node, future, timeout_sec=30.0)
-
+        if not future.done():
-        req = SpawnNodeFromString.Request(data=data, check_fields=True)
+            # A timeout does not prove rejection: retrying could create duplicates.
-        self.get_logger().info(
+            raise RuntimeError(f'Object {index + 1}: spawn timed out; result unknown, no retry')
-            f"Calling spawn service #{self._spawned_count + 1}/{self._object_count}"
-        )
-        self._call_in_progress = True
-        future = self.cli.call_async(req)
-        future.add_done_callback(self._response_callback)
-
-    def _response_callback(self, future: Future):
-        try:
         response = future.result()
-            self.get_logger().info(f"Spawn service response: {response}")
+        if response is None or not response.success:
-        except Exception as e:
+            raise RuntimeError(f'Object {index + 1} rejected; {index}/{len(objects)} spawned')
-            self.get_logger().error(f"Service call field: {e}")
+    node.get_logger().info(f'All {len(objects)} objects spawned')
-        finally:
-            self._call_in_progress = False
-            self._spawned_count += 1
-
-    # Вспомогательные методы формирования кода для спавна объектов
-    def _create_group(self, children: list[str]) -> str:
-        return f"DEF OBJECTS Group {{children [{" ".join(children)}]}}"
 
 
 def main(args=None):
-    try:
     rclpy.init(args=args)
-        node = ObjectSpawner()
+    node = Node('object_spawner')
-        rclpy.spin(node=node)
+    try:
+        spawn_objects(node)
     except (KeyboardInterrupt, ExternalShutdownException):
         pass
     finally:
         node.destroy_node()
+        if rclpy.ok():
             rclpy.shutdown()
 
 
-if __name__ == "__main__":
+if __name__ == '__main__':
     main()

src/iiwa_utils/iiwa_utils/setting_loader.py

@@ -1,11 +1,13 @@
 import math
 import os
-from dataclasses import dataclass, fields, is_dataclass
+from dataclasses import dataclass, field, fields, is_dataclass
 from typing import Any, Dict, List, Optional, Type, TypeVar
 
 import yaml
 from ament_index_python.packages import get_package_share_directory
 
+from iiwa_utils.object_scene import ObjectsCfg, load_obj, parse_objects, robot_pose
+
 T = TypeVar("T")
 
 
@@ -26,6 +28,7 @@ class WebotsCfg:
     rotation: str
     controller_timer: str
     cameras: List[str]
+    objects: ObjectsCfg = field(default_factory=ObjectsCfg)
 
 
 @dataclass(frozen=True)
@@ -339,7 +342,14 @@ def build_settings(settings_path: str, check_files: bool = True) -> Settings:
         rotation=str(require(webots_raw, "rotation")),
         controller_timer=str(int(require(webots_raw, "controller_timer"))),
         cameras=cameras,
+        objects=parse_objects(webots_raw.get("objects"),
+                              lambda p: resolve_path(p, settings_dir)),
     )
+    if webots.objects.enabled and webots.objects.count:
+        robot_pose(webots.transform, webots.rotation)
+        if check_files:
+            for model in webots.objects.models:
+                load_obj(model.path)
     rviz = RvizCfg(
         config=resolve_path(str(require(rviz_raw, "config")), settings_dir)
     )

src/iiwa_utils/test/test_object_spawner_service.py

@@ -0,0 +1,30 @@
+"""Exercise our service requests with the installed Jazzy message schema."""
+from types import SimpleNamespace
+from unittest.mock import Mock
+
+import pytest
+
+from iiwa_utils import object_spawner
+
+
+@pytest.mark.parametrize('success,completed', [(True, True), (False, True), (True, False)])
+def test_service_schema_and_failure_stop(monkeypatch, success, completed):
+    node = Mock()
+    node.declare_parameter.side_effect = [SimpleNamespace(value='{}'),
+                                         SimpleNamespace(value='0 0 0'),
+                                         SimpleNamespace(value='0 0 1 0')]
+    monkeypatch.setattr(object_spawner, 'build_objects', lambda *args: ['Solid {}', 'Solid {}'])
+    monkeypatch.setattr(object_spawner.rclpy, 'spin_until_future_complete', lambda *a, **kw: None)
+    client = node.create_client.return_value
+    client.wait_for_service.return_value = True
+    future = client.call_async.return_value
+    future.done.return_value = completed
+    future.result.return_value = SimpleNamespace(success=success)
+    if success and completed:
+        object_spawner.spawn_objects(node)
+        assert client.call_async.call_count == 2
+        assert client.call_async.call_args.args[0].data == 'Solid {}'
+    else:
+        with pytest.raises(RuntimeError):
+            object_spawner.spawn_objects(node)
+        assert client.call_async.call_count == 1

src/iiwa_utils/test/test_object_spawning.py

@@ -0,0 +1,121 @@
+"""Configuration, model placement and textured asset regressions."""
+import math
+import random
+from pathlib import Path
+
+import pytest
+
+from iiwa_utils import object_scene as scene
+
+
+@pytest.fixture
+def model(tmp_path):
+    (tmp_path / 'texture.png').write_bytes(b'texture')
+    (tmp_path / 'hammer.mtl').write_text('newmtl wood\nmap_Kd texture.png\n')
+    path = tmp_path / 'hammer.obj'
+    path.write_text('mtllib hammer.mtl\nv 10 20 30\nv 12 24 36\nf 1 2 1\n')
+    return path
+
+
+def config(model, **updates):
+    raw = dict(enabled=True, count=5, models=[str(model)],
+               area=dict(x=[1, 1], y=[2, 2], z=[3, 3]))
+    raw.update(updates)
+    return scene.parse_objects(raw, lambda p: p)
+
+
+def test_default_disabled():
+    assert not scene.parse_objects(None, lambda p: p).enabled
+
+
+@pytest.mark.parametrize('updates', [
+    {'count': -1}, {'count': True}, {'count': 1.5}, {'enabled': 'true'},
+    {'models': []}, {'models': 'hammer.obj'},
+    {'area': {'x': [2, 1], 'y': [0, 1], 'z': [0, 1]}},
+    {'area': {'x': [0, math.nan], 'y': [0, 1], 'z': [0, 1]}},
+    {'area': {'x': [False, 1], 'y': [0, 1], 'z': [0, 1]}},
+])
+def test_reject_bad_configuration(model, updates):
+    with pytest.raises(ValueError):
+        config(model, **updates)
+
+
+def test_rotation_about_translated_robot():
+    assert scene.world_position((1, 2, 3), '10 20 30', f'0 0 2 {math.pi/2}') == pytest.approx((8, 21, 33))
+    assert scene.world_position((0, 1, 0), '0 0 0', f'1 0 0 {math.pi/2}') == pytest.approx((0, 0, 1))
+
+
+@pytest.mark.parametrize('translation,rotation', [('0 0', '0 0 1 0'), ('0 nan 0', '0 0 1 0'), ('0 0 0', '0 0 0 1')])
+def test_bad_robot_pose(translation, rotation):
+    with pytest.raises(ValueError):
+        scene.world_position((0, 0, 0), translation, rotation)
+
+
+def test_exact_count_repeats_and_centered_geometry(model):
+    nodes = scene.build_objects(config(model), '10 20 30', '0 0 1 0', random.Random(1))
+    assert len(nodes) == 5
+    assert len(set(nodes)) == 5
+    for node in nodes:
+        assert 'translation 11 22 33' in node
+        assert 'CadShape' in node and str(model) in node
+        assert 'translation -11 -22 -30' in node  # XY centered, bottom at local z=0
+        assert 'size 2 4 6' in node
+    assert scene.build_objects(config(model, count=0), '0 0 0', '0 0 1 0') == []
+
+
+def test_missing_texture_fails_before_spawning(model):
+    (model.parent / 'texture.png').unlink()
+    with pytest.raises(ValueError, match='texture'):
+        scene.build_objects(config(model), '0 0 0', '0 0 1 0')
+
+
+def test_repository_models_have_materials_and_textures():
+    root = Path(__file__).resolve().parents[2] / 'iiwa_description/objects/hammer'
+    models = sorted(root.glob('*.obj'))
+    assert len(models) == 5
+    for path in models:
+        asset = scene.load_obj(path)
+        assert all(size > 0 for size in asset.size)
+        assert asset.textures
+
+
+def test_per_model_rotation_and_serialization(model):
+    from dataclasses import asdict
+    cfg = config(model, models=[str(model), {'path': str(model), 'rotation_deg': [90, 0, 180]}])
+    assert cfg.models[0].rotation_deg == (0.0, 0.0, 0.0)
+    assert cfg.models[1].rotation_deg == (90.0, 0.0, 180.0)
+    assert scene.parse_objects(asdict(cfg), lambda p: p) == cfg
+
+
+@pytest.mark.parametrize('entry', [
+    {}, {'path': 12}, {'path': 'a.obj', 'rotation_deg': [0, 0]},
+    {'path': 'a.obj', 'rotation_deg': [True, 0, 0]},
+    {'path': 'a.obj', 'rotation_deg': [0, float('inf'), 0]},
+    {'path': 'a.obj', 'rotation_deg': '90 0 0'},
+    {'path': 'a.obj', 'rotaton_deg': [90, 0, 0]},
+])
+def test_invalid_model_orientation(model, entry):
+    with pytest.raises(ValueError):
+        config(model, models=[entry])
+
+
+def test_quarter_turn_repositions_geometry_and_collision(model):
+    cfg = config(model, count=1, models=[{'path': str(model), 'rotation_deg': [90, 0, 0]}])
+    node = scene.build_objects(cfg, '10 20 30', f'0 0 1 {math.pi/2}')[0]
+    # Anchor (1,2,3) rotates about the ROBOT, not about the model's X axis.
+    assert 'translation 8 21 33' in node
+    # Raw centre (11,22,33) -> (11,-33,22); rotated half-height = 2.
+    assert 'translation -11 33 -20' in node
+    assert 'translation 0 0 2' in node
+    # Rendering AND the original 2x4x6 collision box receive the model rotation.
+    assert node.count('rotation 1 0 0 1.57079632679') == 2
+    assert 'size 2 4 6' in node
+
+
+def test_rotation_order_xyz():
+    # Apply Rx(90), then Ry(0), then Rz(90): x -> y, y -> z, z -> x.
+    orient = scene.model_rotation([90, 0, 90])
+    encoded = ' '.join(map(str, orient))
+    assert scene.world_position((1, 0, 0), '0 0 0', encoded) == pytest.approx((0, 1, 0))
+    assert scene.world_position((0, 1, 0), '0 0 0', encoded) == pytest.approx((0, 0, 1))
+    assert scene.world_position((0, 0, 1), '0 0 0', encoded) == pytest.approx((1, 0, 0))