feat: add universal grant Webots world

2026-11-08 10:42:04 +10:00
parent d39d4c15d0
commit f9b208e315
3 changed files with 141 additions and 0 deletions
@@ -0,0 +1,88 @@
+#VRML_SIM R2025a utf8
+
+# Universal grant experiment world. The robot, cameras and experiment objects
+# are added at run time: iiwa_bringup spawns the iiwa 7 and
+# iiwa_experement/scene_spawner adds the deterministic scenario. The two local
+# EXTERNPROTO paths are valid from this source tree; runtime_config.py rewrites
+# them to absolute paths from the installed iiwa_description share before
+# Webots opens the temporary copy of this world.
+
+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 "../../../iiwa_description/resource/protos/CollaborativeRobotTable.proto"
+EXTERNPROTO "../../../iiwa_description/resource/protos/WorkspaceLimiter.proto"
+
+
+WorldInfo {
+  title "KUKA iiwa grant experiments"
+  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
+}