ChK/appRobotRender
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file struktur

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chk
2026-05-30 08:33:51 +02:00
parent a282fb0da5
commit 6351591a74
5 changed files with 181 additions and 3 deletions
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1
data/simulated/test.txt
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@@ -1 +0,0 @@

0
data/simulation/Set6/test.txt Normal file
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2
check_constraints.py → pipeline/precheck/check_constraints.py
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@@ -2,7 +2,7 @@ import json
import math
# Load robot.json
with open(r'robot.json') as f:
with open(r'../../data/robot/robot.json') as f:
robot = json.load(f)
# Extract markers by link

2
json_to_urdf.py → pipeline/precheck/json_to_urdf.py
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@@ -9,7 +9,7 @@ from xml.dom import minidom
# CONFIG
# ============================================================
ROBOT_JSON = "robot.json"
ROBOT_JSON = "../../data/robot/robot.json"
OUTPUT_URDF = "robot.urdf"
# ============================================================

179
pipeline/precheck/robot.urdf Normal file
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@@ -0,0 +1,179 @@
<?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">
<visual>
<origin xyz="0.090000 0.000000 0.000000" rpy="0.000000 -1.570796 -1.570796"/>
<geometry>
<mesh filename="surfaces/Ellebogen.stl" scale="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<origin xyz="0.045000 0.000000 0.000000" rpy="0.000000 1.570796 0.000000"/>
<geometry>
<cylinder radius="0.004000" length="0.090000"/>
</geometry>
</collision>
</link>
<link name="Arm2">
<visual>
<origin xyz="0.000000 -0.250000 0.000000" rpy="3.141593 0.000000 -1.570796"/>
<geometry>
<mesh filename="surfaces/Unterarm.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="Hand">
<collision>
<origin xyz="0.000000 -0.017500 0.000000" rpy="0.000000 1.570796 1.570796"/>
<geometry>
<cylinder radius="0.004000" length="0.035000"/>
</geometry>
</collision>
</link>
<link name="Palm">
<collision>
<origin xyz="0.000000 -0.035000 0.000000" rpy="0.000000 1.570796 0.000000"/>
<geometry>
<cylinder radius="0.007000" length="0.100000"/>
</geometry>
</collision>
</link>
<link name="FingerA">
<visual>
<origin xyz="0.024000 0.000000 -0.009100" rpy="1.570796 -1.570796 0.000000"/>
<geometry>
<mesh filename="surfaces/Finger.stl" scale="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<origin xyz="0.000000 -0.030000 0.000000" rpy="0.000000 1.570796 1.570796"/>
<geometry>
<cylinder radius="0.004000" length="0.060000"/>
</geometry>
</collision>
</link>
<link name="FingerB">
<visual>
<origin xyz="-0.024000 0.000000 0.009100" rpy="1.570796 1.570796 0.000000"/>
<geometry>
<mesh filename="surfaces/Finger.stl" scale="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<origin xyz="0.000000 -0.030000 0.000000" rpy="0.000000 1.570796 1.570796"/>
<geometry>
<cylinder radius="0.004000" length="0.060000"/>
</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="0.090000 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>
<joint name="Joint4" type="revolute">
<parent link="Arm2"/>
<child link="Hand"/>
<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="Hand"/>
<child link="Palm"/>
<origin xyz="0.000000 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>
<joint name="Slider" type="prismatic">
<parent link="Palm"/>
<child link="FingerA"/>
<origin xyz="0.004000 -0.035000 0.000000" 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="Slider" type="prismatic">
<parent link="Palm"/>
<child link="FingerB"/>
<origin xyz="-0.004000 -0.035000 0.000000" 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>
</robot>