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Добавлены 3д детали для эксперемента - грант

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Даниил Грабарь
2026-11-06 13:37:49 +10:00
parent 54f8f14ed7
commit e94f9ac47e
22 changed files with 491160 additions and 3 deletions
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cobot-setting.yaml
+5 -3
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@@ -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]