reorganisation folder
This commit is contained in:
chk
@@ -21,9 +21,9 @@
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BIN
data/robot/surfaces/boden.jpg
Normal file
BIN
data/robot/surfaces/boden.jpg
Normal file
Binary file not shown.
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After Width: | Height: | Size: 2.9 MiB |
652
data/simulation/debug/markers.json
Normal file
652
data/simulation/debug/markers.json
Normal file
@@ -0,0 +1,652 @@
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||||
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|
||||
"mountRotation": [0, 0, 0],
|
||||
|
||||
"jointToParent": {
|
||||
"name": "Joint3",
|
||||
"type": "revolute",
|
||||
"axis": [0, -1, 0],
|
||||
"origin": [90, 0, 0],
|
||||
"rotation": [0, 0, 0],
|
||||
"variable": "a"
|
||||
},
|
||||
|
||||
"skeleton": {
|
||||
"from": [0, 0, 0],
|
||||
"to": [0, -250, 0],
|
||||
"radius": 4,
|
||||
"color": [0.95, 0.85, 0.20]
|
||||
},
|
||||
"model": [
|
||||
{
|
||||
"stlFile": "surfaces/Unterarm.stl",
|
||||
"originOfModel": [0,-250,0],
|
||||
"rotationOfModelDegree": [180, 0, -90],
|
||||
"material": "defaultPlastic"
|
||||
}
|
||||
],
|
||||
"markers":[
|
||||
|
||||
{"id":120, "position":[24.75, -112, -24.75],"normal":[1,0,-1]},
|
||||
{"id":122, "name": "aruco_122", "position":[-35,-112,0], "normal":[-1,0,0]},
|
||||
{"id":218, "name": "aruco_218", "position":[35,-112,0], "normal":[1,0,0]},
|
||||
{"id":113, "name": "aruco_113", "position":[0, -182, 30],"normal":[0,0,1]},
|
||||
{"id":101, "name": "aruco_101", "position":[ 24.75, -182, -24.75],"normal":[ 1,0,-1]},
|
||||
{"id":102, "name": "aruco_102", "position":[-24.75, -182, -24.75],"normal":[-1,0,-1]},
|
||||
{"id":124, "name": "aruco_124", "position":[-35,-219,0], "normal":[-1,0,0]},
|
||||
{"id":219, "name": "aruco_219", "position":[35,-219,0], "normal":[1,0,0]}
|
||||
|
||||
]
|
||||
},
|
||||
"Hand": {
|
||||
"parent": "Arm2",
|
||||
|
||||
"mountPosition": [0, 0, 0],
|
||||
"mountRotation": [0, 0, 0],
|
||||
|
||||
"jointToParent": {
|
||||
"name": "Joint4",
|
||||
"type": "revolute",
|
||||
"axis": [1, 0, 0],
|
||||
"origin": [0, -250, 0],
|
||||
"rotation": [0, 0, 0],
|
||||
"variable": "b"
|
||||
},
|
||||
|
||||
"skeleton": {
|
||||
"from": [0, 0, 0],
|
||||
"to": [0, -35, 0],
|
||||
"radius": 4,
|
||||
"color": [0.95, 0.55, 0.15]
|
||||
}
|
||||
},
|
||||
"Palm": {
|
||||
"parent": "Hand",
|
||||
|
||||
"mountPosition": [0, 0, 0],
|
||||
"mountRotation": [0, 0, 0],
|
||||
|
||||
"jointToParent": {
|
||||
"name": "Joint3",
|
||||
"type": "revolute",
|
||||
"axis": [0, -1, 0],
|
||||
"origin": [0, 0, 0],
|
||||
"rotation": [0, 0, 0],
|
||||
"variable": "c"
|
||||
},
|
||||
|
||||
"skeleton": {
|
||||
"from": [-50, -35, 0],
|
||||
"to": [50, -35, 0],
|
||||
"radius": 7,
|
||||
"color": [0.95, 0.20, 0.20]
|
||||
}
|
||||
},
|
||||
"FingerA": {
|
||||
"parent": "Palm",
|
||||
"size": [80, 60, 20],
|
||||
"mountPosition": [0, 0, 0],
|
||||
"mountRotation": [0, 0, 0],
|
||||
"jointToParent": {
|
||||
"name": "Slider",
|
||||
"type": "linear",
|
||||
"axis": [1, 0, 0],
|
||||
"origin": [4, -35,0],
|
||||
"rotation": [0, 0, 0],
|
||||
"variable": "e"
|
||||
},
|
||||
"skeleton": {
|
||||
"from": [0, 0,0],
|
||||
"to": [0, -60, 0],
|
||||
"radius": 4,
|
||||
"color": [0.20, 0.80, 0.20]
|
||||
},
|
||||
"model": [
|
||||
{
|
||||
"stlFile": "surfaces/Finger.stl",
|
||||
"originOfModel": [24,0,-9.1],
|
||||
"rotationOfModelDegree": [90, -90,0],
|
||||
"material": "defaultPlastic"
|
||||
}
|
||||
]
|
||||
},
|
||||
"FingerB": {
|
||||
"parent": "Palm",
|
||||
"size": [80, 60, 20],
|
||||
"mountPosition": [0, 0, 0],
|
||||
"mountRotation": [0, 0, 0],
|
||||
"jointToParent": {
|
||||
"name": "Slider",
|
||||
"type": "linear",
|
||||
"axis": [-1, 0, 0],
|
||||
"origin": [-4, -35,0],
|
||||
"rotation": [0, 0, 0],
|
||||
"variable": "e"
|
||||
},
|
||||
"skeleton": {
|
||||
"from": [0, 0,0],
|
||||
"to": [0, -60, 0],
|
||||
"radius": 4,
|
||||
"color": [0.20, 0.80, 0.20]
|
||||
},
|
||||
"model": [
|
||||
{
|
||||
"stlFile": "surfaces/Finger.stl",
|
||||
"originOfModel": [-24,0,9.1],
|
||||
"rotationOfModelDegree": [90, 90,0],
|
||||
"material": "defaultPlastic"
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,95 +0,0 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="robot">
|
||||
<link name="Board">
|
||||
<visual>
|
||||
<origin xyz="0.000000 0.000000 0.000000" rpy="0.000000 0.000000 -1.570796"/>
|
||||
<geometry>
|
||||
<mesh filename="surfaces/Board.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin xyz="0.000000 0.000000 0.000000" rpy="0.000000 0.000000 -1.570796"/>
|
||||
<geometry>
|
||||
<mesh filename="surfaces/BoardRail.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.500000 0.000000 0.016000" rpy="0.000000 1.570796 0.000000"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.004000" length="1.000000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="Base">
|
||||
<visual>
|
||||
<origin xyz="-0.030000 0.000000 -0.035000" rpy="0.000000 0.000000 0.000000"/>
|
||||
<geometry>
|
||||
<mesh filename="surfaces/Base.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.055000 0.108000 0.045000" rpy="0.000000 1.570796 0.000000"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.004000" length="0.110000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="Arm1">
|
||||
<visual>
|
||||
<origin xyz="-0.029000 0.025000 0.028500" rpy="3.141593 0.000000 -1.570796"/>
|
||||
<geometry>
|
||||
<mesh filename="surfaces/Holm.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.000000 -0.125000 0.000000" rpy="0.000000 1.570796 1.570796"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.004000" length="0.250000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="Ellbow">
|
||||
<collision>
|
||||
<origin xyz="0.035000 0.000000 0.000000" rpy="0.000000 1.570796 0.000000"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.004000" length="0.070000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="Arm2">
|
||||
<collision>
|
||||
<origin xyz="0.000000 -0.125000 0.000000" rpy="0.000000 1.570796 1.570796"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.004000" length="0.250000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="Slider" type="prismatic">
|
||||
<parent link="Board"/>
|
||||
<child link="Base"/>
|
||||
<origin xyz="0.000000 0.000000 0.016000" rpy="0.000000 0.000000 0.000000"/>
|
||||
<axis xyz="1.000000 0.000000 0.000000"/>
|
||||
<limit lower="-1.0" upper="1.0" effort="100" velocity="10"/>
|
||||
</joint>
|
||||
<joint name="Joint1" type="revolute">
|
||||
<parent link="Base"/>
|
||||
<child link="Arm1"/>
|
||||
<origin xyz="0.110000 0.108000 0.045000" rpy="0.000000 0.000000 0.000000"/>
|
||||
<axis xyz="-1.000000 0.000000 0.000000"/>
|
||||
<limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
|
||||
</joint>
|
||||
<joint name="Joint2" type="revolute">
|
||||
<parent link="Arm1"/>
|
||||
<child link="Ellbow"/>
|
||||
<origin xyz="0.000000 -0.250000 0.000000" rpy="0.000000 0.000000 0.000000"/>
|
||||
<axis xyz="-1.000000 0.000000 0.000000"/>
|
||||
<limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
|
||||
</joint>
|
||||
<joint name="Joint3" type="revolute">
|
||||
<parent link="Ellbow"/>
|
||||
<child link="Arm2"/>
|
||||
<origin xyz="0.070000 0.000000 0.000000" rpy="0.000000 0.000000 0.000000"/>
|
||||
<axis xyz="0.000000 -1.000000 0.000000"/>
|
||||
<limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -1 +0,0 @@
|
||||
"C:\Program Files\Blender Foundation\Blender 4.5\blender.exe" -b --python render_robot.py --log-level 2
|
||||
1
run/run_GenerateOnePicture.bat
Normal file
1
run/run_GenerateOnePicture.bat
Normal file
@@ -0,0 +1 @@
|
||||
"C:\Program Files\Blender Foundation\Blender 4.5\blender.exe" -b --python "C:/Users/kech/SynologyDrive/2026-AppServer-AppRobot/appRobotRendering/setup/generateSets/render_robot.py" --log-level 2
|
||||
@@ -10,8 +10,8 @@ from mathutils import Matrix
|
||||
# PATHS
|
||||
# ============================================================
|
||||
|
||||
ROBOT_JSON_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\robot.json"
|
||||
OUTPUT_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\render.png"
|
||||
ROBOT_JSON_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\robot\robot.json"
|
||||
OUTPUT_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\simulation\debug\render.png"
|
||||
|
||||
# ============================================================
|
||||
# DEFAULT MATERIALS
|
||||
Reference in New Issue
Block a user