feat: add universal grant Webots world

src/iiwa_experement/test/test_package_layout.py

@@ -42,6 +42,7 @@ def test_expected_resources_are_installed():
         'package.xml',
         'doc/experements.md',
         'doc/experiment-scenes.md',
+        'worlds/grant/iiwa-grant.wbt',
     ):
         path = share / relative
         assert path.is_file(), path

src/iiwa_experement/test/test_world.py

@@ -0,0 +1,52 @@
+"""The world template contains only the shared table, fences and lighting."""
+import re
+from pathlib import Path
+
+
+PACKAGE = Path(__file__).resolve().parents[1]
+WORLD = PACKAGE / 'worlds' / 'grant' / 'iiwa-grant.wbt'
+
+
+def test_world_matches_base_layout():
+    text = WORLD.read_text(encoding='utf-8')
+    assert '#VRML_SIM R2025a utf8' in text
+    assert 'basicTimeStep 32' in text
+    assert re.search(r'CollaborativeRobotTable \{\s+translation 0 0 -0\.007', text)
+    assert text.count('WorkspaceLimiter {') == 2
+    assert 'WorkspaceLimiter_back' in text
+    assert 'WorkspaceLimiter_right' in text
+    assert 'coulombFriction [ 0.6 ]' in text
+    assert 'Object.proto' not in text
+
+
+def test_world_has_no_preplaced_experiment_objects_or_robot():
+    text = WORLD.read_text(encoding='utf-8')
+    for asset in (
+        'stapel.obj',
+        'base-detail.obj',
+        'cap.obj',
+        'lotok.obj',
+        'vint.obj',
+        'tool-magizine.obj',
+        'vacum-tool.obj',
+        'magnit-tool.obj',
+        'germetic-tool.obj',
+        'wranch-tool.obj',
+    ):
+        assert asset not in text
+    assert 'Kuka' not in text
+    assert 'Robot {' not in text
+    assert 'GrantToolRack' not in text
+
+
+def test_world_only_references_two_local_protos():
+    text = WORLD.read_text(encoding='utf-8')
+    externprotos = re.findall(r'EXTERNPROTO "([^"]+)"', text)
+    local = [url for url in externprotos if not url.startswith(('http://', 'https://'))]
+    assert local == [
+        '../../../iiwa_description/resource/protos/CollaborativeRobotTable.proto',
+        '../../../iiwa_description/resource/protos/WorkspaceLimiter.proto',
+    ]
+    for url in externprotos:
+        if url.startswith(('http://', 'https://')):
+            assert '/webots/R2025a/' in url

src/iiwa_experement/worlds/grant/iiwa-grant.wbt

@@ -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
+}