diff --git a/.gitignore b/.gitignore index 7f02bea..4e77441 100644 --- a/.gitignore +++ b/.gitignore @@ -17,6 +17,7 @@ venv/ .codex/ __pycache__/ .pytest_cache/ +output/ *.egg-info **.FCBak diff --git a/cobot-setting.yaml b/cobot-setting.yaml index bd1eaf7..3f97e32 100644 --- a/cobot-setting.yaml +++ b/cobot-setting.yaml @@ -24,18 +24,20 @@ digital_twin: objects: enabled: true - count: 1 # точное общее количество; модели могут повторяться + count: 5 # 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/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] + - path: pkg://iiwa_description/objects/grant/vint.obj + rotation_deg: [90, 0, 0] area: # метры в системе основания робота, до падения x: [0.3, 0.7] y: [-0.3, 0.3] diff --git a/src/iiwa_description/objects/grant/base-detail.mtl b/src/iiwa_description/objects/grant/base-detail.mtl new file mode 100644 index 0000000..068ac8b --- /dev/null +++ b/src/iiwa_description/objects/grant/base-detail.mtl @@ -0,0 +1,12 @@ +# Blender 5.2.1 LTS MTL File: 'None' +# www.blender.org + +newmtl Панель_|_графитовый_композит.002 +Ns 435.599945 +Ka 0.120000 0.120000 0.120000 +Kd 0.035000 0.043000 0.047000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 diff --git a/src/iiwa_description/objects/grant/base-detail.obj b/src/iiwa_description/objects/grant/base-detail.obj new file mode 100644 index 0000000..724f4d7 --- /dev/null +++ b/src/iiwa_description/objects/grant/base-detail.obj @@ -0,0 +1,39041 @@ +# Blender 5.2.1 LTS +# www.blender.org +mtllib base-detail.mtl +o Основание_300x170 +v 0.069741 0.004678 0.040603 +v 0.069928 0.004673 0.040593 +v 0.070114 0.004670 0.040566 +v 0.070296 0.004666 0.040520 +v 0.070472 0.004663 0.040457 +v 0.070642 0.004661 0.040377 +v 0.070803 0.004659 0.040281 +v 0.070953 0.004658 0.040169 +v 0.071092 0.004658 0.040043 +v 0.071218 0.004658 0.039904 +v 0.071330 0.004659 0.039754 +v 0.071426 0.004660 0.039593 +v 0.071506 0.004662 0.039423 +v 0.071570 0.004664 0.039247 +v 0.071615 0.004667 0.039065 +v 0.071643 0.004671 0.038879 +v 0.071652 0.004675 0.038692 +v 0.071652 0.004777 0.033855 +v 0.071652 0.004865 0.029019 +v 0.071652 0.004940 0.024182 +v 0.071652 0.005001 0.019346 +v 0.071652 0.005049 0.014509 +v 0.071652 0.005083 0.009673 +v 0.071652 0.005103 0.004836 +v 0.071652 0.005110 -0.000000 +v 0.071652 0.005103 -0.004836 +v 0.071652 0.005083 -0.009673 +v 0.071652 0.005049 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+# Blender 5.2.1 LTS MTL File: 'None' +# www.blender.org + +newmtl Black_anodized_aluminium.001 +Ns 462.399994 +Ka 0.720000 0.720000 0.720000 +Kd 0.035000 0.043000 0.050000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 + +newmtl Dark_tool_steel.003 +Ns 504.100067 +Ka 0.820000 0.820000 0.820000 +Kd 0.160000 0.180000 0.200000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 + +newmtl Satin_stainless_steel.003 +Ns 562.500000 +Ka 0.880000 0.880000 0.880000 +Kd 0.520000 0.560000 0.590000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 + +newmtl Socket_recess.002 +Ns 250.000000 +Ka 0.100000 0.100000 0.100000 +Kd 0.006000 0.007000 0.008000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 diff --git a/src/iiwa_description/objects/grant/germetic-tool.obj 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www.blender.org + +newmtl Dark_tool_steel.002 +Ns 504.100067 +Ka 0.820000 0.820000 0.820000 +Kd 0.160000 0.180000 0.200000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 + +newmtl Magnet_nickel +Ns 592.899963 +Ka 0.900000 0.900000 0.900000 +Kd 0.260000 0.290000 0.320000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 + +newmtl Satin_stainless_steel.002 +Ns 562.500000 +Ka 0.880000 0.880000 0.880000 +Kd 0.520000 0.560000 0.590000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 diff --git a/src/iiwa_description/objects/grant/magnit-tool.obj b/src/iiwa_description/objects/grant/magnit-tool.obj new file mode 100644 index 0000000..9939f59 --- /dev/null +++ b/src/iiwa_description/objects/grant/magnit-tool.obj @@ -0,0 +1,27749 @@ +# Blender 5.2.1 LTS +# www.blender.org +mtllib magnit-tool.mtl +o Docking_collar_dia_1.80_x_0.50_mm +v 0.000000 0.009900 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--git a/src/iiwa_description/objects/grant/tool-magizine.mtl b/src/iiwa_description/objects/grant/tool-magizine.mtl new file mode 100644 index 0000000..ba13044 --- /dev/null +++ b/src/iiwa_description/objects/grant/tool-magizine.mtl @@ -0,0 +1,62 @@ +# Blender 5.2.1 LTS MTL File: 'None' +# www.blender.org + +newmtl Black_anodized_aluminium +Ns 462.399994 +Ka 0.720000 0.720000 0.720000 +Kd 0.035000 0.043000 0.050000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 + +newmtl Dark_tool_steel +Ns 504.100067 +Ka 0.820000 0.820000 0.820000 +Kd 0.160000 0.180000 0.200000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 + +newmtl Dock_identification_blue +Ns 462.399994 +Ka 0.550000 0.550000 0.550000 +Kd 0.025000 0.200000 0.310000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 + +newmtl Laser_marking +Ns 384.399994 +Ka 0.450000 0.450000 0.450000 +Kd 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b/src/iiwa_description/objects/grant/vacum-tool.mtl @@ -0,0 +1,42 @@ +# Blender 5.2.1 LTS MTL File: 'None' +# www.blender.org + +newmtl Black_elastomer +Ns 193.600006 +Ka 1.000000 1.000000 1.000000 +Kd 0.012000 0.016000 0.019000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 2 + +newmtl Dark_tool_steel.001 +Ns 504.100067 +Ka 0.820000 0.820000 0.820000 +Kd 0.160000 0.180000 0.200000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 + +newmtl Satin_stainless_steel.001 +Ns 562.500000 +Ka 0.880000 0.880000 0.880000 +Kd 0.520000 0.560000 0.590000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 + +newmtl Socket_recess.001 +Ns 250.000000 +Ka 0.100000 0.100000 0.100000 +Kd 0.006000 0.007000 0.008000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 diff --git a/src/iiwa_description/objects/grant/vacum-tool.obj 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b/src/iiwa_description/objects/grant/vint.mtl @@ -0,0 +1,12 @@ +# Blender 5.2.1 LTS MTL File: 'None' +# www.blender.org + +newmtl Винт_|_нержавеющая_сталь +Ns 555.025024 +Ka 0.920000 0.920000 0.920000 +Kd 0.520000 0.550000 0.560000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 diff --git a/src/iiwa_description/objects/grant/vint.obj b/src/iiwa_description/objects/grant/vint.obj new file mode 100644 index 0000000..c281ff9 --- /dev/null +++ b/src/iiwa_description/objects/grant/vint.obj @@ -0,0 +1,126696 @@ +# Blender 5.2.1 LTS +# www.blender.org +mtllib vint.mtl +o Винт_M3x6_с_внутренним_шестигранником +v 0.000923 -0.000000 -0.000533 +v 0.000881 -0.000000 -0.000588 +v 0.000835 -0.000000 -0.000641 +v 0.000786 -0.000000 -0.000689 +v 0.000734 -0.000000 -0.000734 +v 0.000680 -0.000000 -0.000775 +v 0.000624 -0.000000 -0.000813 +v 0.000565 -0.000000 -0.000846 +v 0.000505 -0.000000 -0.000875 +v 0.000444 -0.000000 -0.000900 +v 0.000381 -0.000000 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26078/1/11339 41676/1/22570 41673/1/26988 +f 26078/1/11339 26079/1/11341 41679/1/22571 41676/1/22570 diff --git a/src/iiwa_description/objects/grant/wranch-tool.mtl b/src/iiwa_description/objects/grant/wranch-tool.mtl new file mode 100644 index 0000000..2090040 --- /dev/null +++ b/src/iiwa_description/objects/grant/wranch-tool.mtl @@ -0,0 +1,32 @@ +# Blender 5.2.1 LTS MTL File: 'None' +# www.blender.org + +newmtl Dark_tool_steel.004 +Ns 504.100067 +Ka 0.820000 0.820000 0.820000 +Kd 0.160000 0.180000 0.200000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 + +newmtl Satin_stainless_steel.004 +Ns 562.500000 +Ka 0.880000 0.880000 0.880000 +Kd 0.520000 0.560000 0.590000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 3 + +newmtl Socket_recess.003 +Ns 250.000000 +Ka 0.100000 0.100000 0.100000 +Kd 0.006000 0.007000 0.008000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 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