reorganisation folder
This commit is contained in:
chk
@@ -21,9 +21,9 @@
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"cameraPosition__3": [-200, -900, 200],
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"cameraPosition__4": [1200, 200, 300],
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"cameraPosition_a":[-300, -800,500],
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"cameraPosition":[300, -700,500],
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"cameraPosition":[300, -800,550],
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"cameraPosition_c":[600, -500,600],
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"cameraTarget": [210, -180, 180],
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"cameraTarget": [210, -200, 180],
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"cameraUpVector": [0, 0, 1],
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"lightPosition": [-500, -500, 500],
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"lightTarget": [0, 0, 0],
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334
data/robot/robot_commented.json
Normal file
334
data/robot/robot_commented.json
Normal file
@@ -0,0 +1,334 @@
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{
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"_comment": "Robot definition file for Blender/Robot/URDF-style kinematic rendering",
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"coordinateSystem": {
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"_comment": "Global coordinate system definition",
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"system": "right-handed",
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"axes": {
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"x": "right",
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"y": "backward",
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"z": "up"
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},
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"_important": [
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"This coordinate system is intentionally identical to Blender.",
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"All positions are expressed in millimeters.",
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"All rotations are expressed in degrees.",
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"Positive rotations follow the right-hand rule."
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]
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},
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"units": {
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"length": "mm",
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"rotation": "degree"
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},
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"renderingInfo": {
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"_comment": "Pure rendering settings. Does NOT affect robot kinematics.",
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"cameraPosition": [-400, -700, 300],
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"cameraTarget": [0, 0, 150],
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"_cameraTargetInfo": [
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"cameraTarget defines the world-space point the camera looks at.",
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"Values may also reference state variables like 'x'."
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],
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"cameraUpVector": [0, 0, 1],
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"lightPosition": [-500, -500, 500],
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"lightTarget": [0, 0, 0],
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"lightUpVector": [0, 0, 1],
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"metric": "mm",
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"materials": {
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"wood": {
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"baseColor": [0.72, 0.52, 0.33],
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"roughness": 0.85,
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"metallic": 0.0
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},
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"plaWhite": {
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"baseColor": [0.95, 0.95, 0.95],
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"roughness": 0.45,
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"metallic": 0.0
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},
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"steel": {
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"baseColor": [0.72, 0.72, 0.75],
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"roughness": 0.25,
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"metallic": 1.0
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},
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"powderCoatBlue": {
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"baseColor": [0.15, 0.25, 0.70],
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"roughness": 0.55,
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"metallic": 0.0
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},
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"defaultPlastic": {
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"baseColor": [0.95, 0.95, 0.95],
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"roughness": 0.40,
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"metallic": 0.0
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}
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}
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},
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"defaultPosition": {
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"_comment": "Robot zero/home position",
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"_important": [
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"These values define the robot's neutral pose.",
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"All joints are evaluated relative to this pose."
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],
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"x": 0,
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"y": 0,
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"z": 0,
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"a": 0,
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"b": 0,
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"c": 0,
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"e": 0
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},
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"recognized": {
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"_comment": "Pose reconstructed from machine vision / markers",
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"x": null,
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"y": null,
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"z": null,
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"a": null,
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"b": null,
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"c": null,
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"e": null
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},
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"movements": {
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"_comment": "Current commanded movement state (e.g. from GCode)",
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"x": null,
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"y": null,
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"z": null,
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"a": null,
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"b": null,
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"c": null,
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"e": null
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},
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"_statePriority": [
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"movements overrides recognized",
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"recognized overrides defaultPosition",
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"defaultPosition overrides zero"
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],
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"links": {
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"Board": {
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"_comment": "Static world/base object",
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"parent": null,
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"_mountPositionMeaning": [
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"Position of THIS LINK coordinate system",
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"relative to the PARENT LINK coordinate system"
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],
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"mountPosition": [0, 0, 0],
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"_mountRotationMeaning": [
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"Mechanical installation rotation",
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"Defines how the LINK coordinate system",
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"is rotated relative to its parent link",
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"This is NOT the joint movement."
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],
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"mountRotation": [0, 0, 0],
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"_modelMeaning": [
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"One link may consist of multiple STL surfaces.",
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"Each STL is positioned relative to the LINK coordinate system."
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],
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"model": [
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{
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"_comment": "Visual geometry only",
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"stlFile": "surfaces/Board.stl",
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"_originOfModelMeaning": [
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"Position of STL inside the LINK coordinate system",
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"Purely visual adjustment",
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"Used to compensate CAD export offsets"
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],
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"originOfModel": [0, 0, 0],
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"_rotationOfModelMeaning": [
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"Rotation of STL inside LINK coordinate system",
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"Purely visual adjustment",
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"Used to compensate CAD export orientation"
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],
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"rotationOfModelDegree": [0, 0, 90],
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"material": "wood"
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}
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]
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},
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"Base": {
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"_comment": "Linear axis mounted on Board",
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"parent": "Board",
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||||
"mountPosition": [0, 0, 25],
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||||
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||||
"mountRotation": [0, 0, 0],
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"_jointToParentMeaning": [
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||||
"Defines the kinematic transformation",
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"between parent link and this link"
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],
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"jointToParent": {
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"name": "Slider",
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||||
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||||
"_jointTypeMeaning": [
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"fixed = no movement",
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"linear = translational movement",
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"revolute = rotational movement"
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],
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"type": "linear",
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||||
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"_axisMeaning": [
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||||
"Joint movement axis in LOCAL joint coordinates",
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"[1,0,0] = local X axis",
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||||
"[0,1,0] = local Y axis",
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"[0,0,1] = local Z axis"
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||||
],
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||||
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||||
"axis": [1, 0, 0],
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||||
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||||
"_originMeaning": [
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||||
"Position of joint coordinate system",
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||||
"inside the parent link coordinate system"
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||||
],
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"origin": [0, 0, 0],
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||||
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"_rotationMeaning": [
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||||
"Orientation of joint coordinate system",
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"inside the parent link coordinate system"
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||||
],
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"rotation": [0, 0, 0],
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||||
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"_variableMeaning": [
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||||
"Maps robot state variable",
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"to this joint"
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||||
],
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||||
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||||
"variable": "x"
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},
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||||
"model": [
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||||
{
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||||
"stlFile": "surfaces/Base.stl",
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||||
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||||
"originOfModel": [0, 0, 0],
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||||
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||||
"rotationOfModelDegree": [0, 0, 0],
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||||
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||||
"material": "plaWhite"
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||||
}
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||||
]
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||||
},
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||||
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||||
"Arm1": {
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||||
"_comment": "Rotational arm",
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||||
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||||
"parent": "Base",
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||||
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||||
"mountPosition": [150, 0, 150],
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||||
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||||
"mountRotation": [0, 0, 0],
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||||
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||||
"jointToParent": {
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||||
"name": "Joint1",
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||||
|
||||
"type": "revolute",
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||||
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||||
"_important": [
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||||
"Positive rotation follows right-hand rule."
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||||
],
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||||
|
||||
"axis": [1, 0, 0],
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||||
|
||||
"origin": [0, 0, 0],
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||||
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||||
"rotation": [0, 0, 0],
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||||
|
||||
"variable": "a"
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||||
},
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||||
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||||
"model": [
|
||||
{
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||||
"stlFile": "surfaces/Holm.stl",
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||||
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||||
"originOfModel": [0, 0, 0],
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||||
|
||||
"rotationOfModelDegree": [0, 0, 0],
|
||||
|
||||
"material": "powderCoatBlue"
|
||||
}
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||||
]
|
||||
}
|
||||
},
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||||
|
||||
"_kinematicStructure": {
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||||
"_comment": "Conceptual hierarchy",
|
||||
|
||||
"hierarchy": [
|
||||
"ParentLink",
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||||
"-> JointOrigin",
|
||||
"-> JointMotion",
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||||
"-> ChildLink",
|
||||
"-> VisualMeshes"
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||||
],
|
||||
|
||||
"_important": [
|
||||
"All children automatically inherit parent movement.",
|
||||
"This creates full forward kinematics automatically.",
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||||
"No manual propagation of child transformations is required."
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||||
]
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||||
},
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||||
|
||||
"_futureExtensions": {
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||||
"_comment": "Planned future capabilities",
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||||
|
||||
"possibleFeatures": [
|
||||
"marker definitions",
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||||
"inverse kinematics",
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||||
"collision geometry",
|
||||
"joint limits",
|
||||
"joint damping",
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||||
"mass/inertia",
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||||
"vision calibration",
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||||
"urdf export",
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||||
"gcode import",
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||||
"trajectory playback"
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||||
]
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||||
}
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||||
}
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||||
BIN
data/robot/surfaces/Base.stl
Normal file
BIN
data/robot/surfaces/Base.stl
Normal file
Binary file not shown.
BIN
data/robot/surfaces/Board.stl
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BIN
data/robot/surfaces/Board.stl
Normal file
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BIN
data/robot/surfaces/BoardRail.stl
Normal file
BIN
data/robot/surfaces/BoardRail.stl
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BIN
data/robot/surfaces/Ellebogen.3mf
Normal file
BIN
data/robot/surfaces/Ellebogen.3mf
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BIN
data/robot/surfaces/Ellebogen.stl
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BIN
data/robot/surfaces/Ellebogen.stl
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BIN
data/robot/surfaces/Finger.stl
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BIN
data/robot/surfaces/Finger.stl
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BIN
data/robot/surfaces/Holm.stl
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BIN
data/robot/surfaces/Holm.stl
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Binary file not shown.
BIN
data/robot/surfaces/Unterarm.3mf
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BIN
data/robot/surfaces/Unterarm.3mf
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BIN
data/robot/surfaces/Unterarm.stl
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BIN
data/robot/surfaces/Unterarm.stl
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BIN
data/robot/surfaces/boden.jpg
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BIN
data/robot/surfaces/boden.jpg
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Binary file not shown.
|
After Width: | Height: | Size: 2.9 MiB |
652
data/simulation/debug/markers.json
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652
data/simulation/debug/markers.json
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@@ -0,0 +1,652 @@
|
||||
[
|
||||
{
|
||||
"name": "Board_marker_210",
|
||||
"id": 210,
|
||||
"link": "Board",
|
||||
"position_m": [
|
||||
0.019999999552965164,
|
||||
-0.019999999552965164,
|
||||
0.000800000037997961
|
||||
],
|
||||
"position_mm": [
|
||||
19.999999552965164,
|
||||
-19.999999552965164,
|
||||
0.800000037997961
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
1.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"normal": [
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Board_marker_211",
|
||||
"id": 211,
|
||||
"link": "Board",
|
||||
"position_m": [
|
||||
0.25,
|
||||
-0.009999999776482582,
|
||||
0.000800000037997961
|
||||
],
|
||||
"position_mm": [
|
||||
250.0,
|
||||
-9.999999776482582,
|
||||
0.800000037997961
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
1.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"normal": [
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Board_marker_215",
|
||||
"id": 215,
|
||||
"link": "Board",
|
||||
"position_m": [
|
||||
0.25,
|
||||
-0.09000000357627869,
|
||||
0.000800000037997961
|
||||
],
|
||||
"position_mm": [
|
||||
250.0,
|
||||
-90.00000357627869,
|
||||
0.800000037997961
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
1.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"normal": [
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Board_marker_214",
|
||||
"id": 214,
|
||||
"link": "Board",
|
||||
"position_m": [
|
||||
0.3499999940395355,
|
||||
-0.009999999776482582,
|
||||
0.000800000037997961
|
||||
],
|
||||
"position_mm": [
|
||||
349.9999940395355,
|
||||
-9.999999776482582,
|
||||
0.800000037997961
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
1.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"normal": [
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Board_marker_208",
|
||||
"id": 208,
|
||||
"link": "Board",
|
||||
"position_m": [
|
||||
0.3499999940395355,
|
||||
-0.09000000357627869,
|
||||
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|
||||
],
|
||||
"position_mm": [
|
||||
349.9999940395355,
|
||||
-90.00000357627869,
|
||||
0.800000037997961
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
1.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"normal": [
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Board_marker_206",
|
||||
"id": 206,
|
||||
"link": "Board",
|
||||
"position_m": [
|
||||
0.6499999761581421,
|
||||
-0.009999999776482582,
|
||||
0.000800000037997961
|
||||
],
|
||||
"position_mm": [
|
||||
649.9999761581421,
|
||||
-9.999999776482582,
|
||||
0.800000037997961
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
1.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"normal": [
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Board_marker_205",
|
||||
"id": 205,
|
||||
"link": "Board",
|
||||
"position_m": [
|
||||
0.75,
|
||||
-0.09000000357627869,
|
||||
0.000800000037997961
|
||||
],
|
||||
"position_mm": [
|
||||
750.0,
|
||||
-90.00000357627869,
|
||||
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|
||||
],
|
||||
"rotation_quaternion": [
|
||||
1.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"normal": [
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Board_marker_207",
|
||||
"id": 207,
|
||||
"link": "Board",
|
||||
"position_m": [
|
||||
0.75,
|
||||
-0.009999999776482582,
|
||||
0.000800000037997961
|
||||
],
|
||||
"position_mm": [
|
||||
750.0,
|
||||
-9.999999776482582,
|
||||
0.800000037997961
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
1.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
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After Width: | Height: | Size: 1.2 MiB |
Reference in New Issue
Block a user