Добавлены 3д детали для эксперемента - грант

.gitignore

@@ -17,6 +17,7 @@ venv/
 .codex/
 __pycache__/
 .pytest_cache/
+output/
 
 *.egg-info
 **.FCBak

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
+        # - path: pkg://iiwa_description/objects/hammer/hammer3.obj
-          rotation_deg: [90, 0, 0]
+        #   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]

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

src/iiwa_description/objects/grant/cap.mtl

@@ -0,0 +1,12 @@
+# Blender 5.2.1 LTS MTL File: 'None'
+# www.blender.org
+
+newmtl Крышка_|_графитовый_композит.002
+Ns 384.399994
+Ka 0.100000 0.100000 0.100000
+Kd 0.055000 0.062000 0.065000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3

src/iiwa_description/objects/grant/germetic-tool.mtl

@@ -0,0 +1,42 @@
+# 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

src/iiwa_description/objects/grant/lotok.mtl

@@ -0,0 +1,12 @@
+# Blender 5.2.1 LTS MTL File: 'None'
+# www.blender.org
+
+newmtl Лоток_|_матовая_нержавеющая_сталь
+Ns 476.100006
+Ka 0.900000 0.900000 0.900000
+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

src/iiwa_description/objects/grant/magnit-tool.mtl

@@ -0,0 +1,32 @@
+# Blender 5.2.1 LTS MTL File: 'None'
+# 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

src/iiwa_description/objects/grant/stapel.mtl

@@ -0,0 +1,52 @@
+# Blender 5.2.1 LTS MTL File: 'None'
+# www.blender.org
+
+newmtl Винты_|_сталь.001
+Ns 608.399963
+Ka 0.850000 0.850000 0.850000
+Kd 0.420000 0.450000 0.460000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl Опоры_|_чёрный_металл.001
+Ns 504.100067
+Ka 0.550000 0.550000 0.550000
+Kd 0.045000 0.052000 0.055000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl Стапель_|_серый_анодированный_металл.001
+Ns 435.599945
+Ka 0.550000 0.550000 0.550000
+Kd 0.190000 0.205000 0.210000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl Упоры_|_нержавеющая_сталь.001
+Ns 562.500000
+Ka 0.820000 0.820000 0.820000
+Kd 0.550000 0.580000 0.570000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl Шлицы_|_тёмный_металл.001
+Ns 422.499969
+Ka 0.500000 0.500000 0.500000
+Kd 0.025000 0.028000 0.030000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3

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 0.650000 0.720000 0.760000
+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
+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
+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

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

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

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
+d 1.000000
+illum 3