89 lines
2.4 KiB
Plaintext
89 lines
2.4 KiB
Plaintext
#VRML_SIM R2025a utf8
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# Universal grant experiment world. The robot, cameras and experiment objects
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# are added at run time: iiwa_bringup spawns the iiwa 7 and
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# iiwa_experement/scene_spawner adds the deterministic scenario. The two local
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# EXTERNPROTO paths are valid from this source tree; runtime_config.py rewrites
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# them to absolute paths from the installed iiwa_description share before
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# Webots opens the temporary copy of this world.
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/RectangleArena.proto"
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EXTERNPROTO "../../../iiwa_description/resource/protos/CollaborativeRobotTable.proto"
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EXTERNPROTO "../../../iiwa_description/resource/protos/WorkspaceLimiter.proto"
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WorldInfo {
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title "KUKA iiwa grant experiments"
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basicTimeStep 32
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optimalThreadCount 4
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contactProperties [
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ContactProperties {
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material1 "TableMaterial"
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coulombFriction [ 0.6 ]
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bounce 0
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bounceVelocity 0
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softERP 1
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softCFM 0.0001
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}
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ContactProperties {
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material1 "tool"
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material2 "TableMaterial"
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bounce 0
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softCFM 0.002
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maxContactJoints 100
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}
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ContactProperties {
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material1 "default"
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material2 "default"
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maxContactJoints 20
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bounce 0
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softCFM 0.001
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}
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]
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}
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Viewpoint {
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orientation 0.19663259328507318 -0.09057124279298501 -0.9762850368805829 3.9867817928674034
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position 1.75 -1.85 1.77
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followType "Mounted Shot"
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ambientOcclusionRadius 3
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}
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TexturedBackground {
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}
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TexturedBackgroundLight {
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texture "noon_sunny_empty"
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luminosity 2
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}
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RectangleArena {
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name "Arena"
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floorSize 12 12
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wallHeight 2
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}
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CollaborativeRobotTable {
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translation 0 0 -0.007
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locked TRUE
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showCabinet TRUE
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}
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DEF limiter Group {
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children [
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WorkspaceLimiter {
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translation -1.56 -0.219999 1.01
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rotation 0 0 1 1.5708
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name "WorkspaceLimiter_back"
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locked TRUE
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scale 2.32 1 2
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}
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WorkspaceLimiter {
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translation -0.04 1.18 1.01
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name "WorkspaceLimiter_right"
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locked TRUE
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scale 2.43 1 2
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}
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]
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}
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DirectionalLight {
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direction -0.1 0.1 0
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intensity 2
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}
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