first commit
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chk
360
robot.json
Normal file
360
robot.json
Normal file
@@ -0,0 +1,360 @@
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{
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"coordinateSystem": {
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"handedness": "right",
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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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"units": {
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"length": "mm",
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"rotation": "degree"
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},
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"vision_config": {
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"MarkerType": "DICT_4X4_250",
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"MarkerSize": 0.025
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},
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"renderingInfo": {
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"width": 1280,
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"height": 720,
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"cameraPosition": [-150, -400, 800],
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"cameraTarget": [230, -180, 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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"lightUpVector": [0, 0, 1],
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"metric": "mm",
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"showSkeleton": true,
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"showMarkers": true,
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"backgroundColor": [0.70, 0.85, 1.0],
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"backgroundStrength": 0.20,
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"sunEnergy": 0.35,
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"areaEnergy": 120,
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"exposure": -1.5,
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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, 0.7],
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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": 0.4,
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"metallic": 0.0
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},
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"skeletonRed": {
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"baseColor": [0.85, 0.20, 0.20],
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"roughness": 0.35,
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"metallic": 0.0
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},
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"markerBlack": {
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"baseColor": [0.04, 0.04, 0.04],
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"roughness": 0.80,
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"metallic": 0.0
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}
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},
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"skeletonDefaults": {
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"radius": 4,
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"color": [0.85, 0.20, 0.20]
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},
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"markerDefaults": {
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"size": 25,
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"thickness": 1,
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"color": [0.04, 0.04, 0.04]
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}
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},
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"defaultPosition": {
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"x": 150,
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"y": 30,
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"z": -60,
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"a": 220,
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"b": 30,
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"c": 70,
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"e": 0
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},
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"recognized": {
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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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"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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"links": {
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"Board": {
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"parent": null,
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"size": [1000, 200, 25],
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"mountPosition": [0, 0, 0],
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"mountRotation": [0, 0, 0],
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"skeleton": {
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"from": [0, 0, 16],
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"to": [1000, 0, 16],
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"radius": 4,
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"color": [0.85, 0.20, 0.20]
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},
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"markers": [
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],
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"model": [
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{
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"stlFile": "surfaces/Board.stl",
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"originOfModel": [0, 0, 0],
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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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"stlFile": "surfaces/BoardRail.stl",
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"originOfModel": [0, 0, 0],
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"rotationOfModelDegree": [0, 0, -90],
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"material": "steel"
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}
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]
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},
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"Base": {
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"parent": "Board",
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"size": [150, 200, 150],
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"mountPosition": [0, 0, 0],
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"mountRotation": [0, 0, 0],
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"jointToParent": {
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"name": "Slider",
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"type": "linear",
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"axis": [1, 0, 0],
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"origin": [0, 0, 16],
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"rotation": [0, 0, 0],
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"variable": "x"
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},
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"skeleton": {
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"from": [0, 108, 45],
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"to": [110, 108, 45],
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"radius": 4,
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"color": [0.20, 0.80, 0.20]
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},
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"markers": [
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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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"originOfModel": [-30, 0, -35],
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"rotationOfModelDegree": [0, 0, 0],
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"material": "plaWhite"
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}
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]
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},
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"Arm1": {
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"parent": "Base",
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"size": [70, 250, 70],
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"mountPosition": [0, 0, 0],
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"mountRotation": [0, 0, 0],
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"jointToParent": {
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"name": "Joint1",
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"type": "revolute",
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"axis": [-1, 0, 0],
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"origin": [110, 108, 45],
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"rotation": [0, 0, 0],
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"variable": "y"
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},
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"skeleton": {
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"from": [0, 0, 0],
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"to": [0, -250, 0],
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"radius": 4,
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"color": [0.20, 0.20, 0.90]
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},
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"markers": [
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{
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"id": 198,
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"name": "aruco_198",
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"position": [0, -160, 35],
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"normal": [0, 0, 1],
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"size": 25,
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"spin": 0
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},
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{
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"id": 229,
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"name": "aruco_229",
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"position": [0, -250, 35],
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"normal": [0, 0, 1],
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"size": 25,
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"spin": 0
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},
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{
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"id": 242,
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"name": "aruco_242",
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"position": [0, -250, -35],
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"normal": [0, 0, -1],
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"size": 25,
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"spin": 0
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},
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{
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"id": 243,
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"name": "aruco_243",
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"position": [0, -285, 0],
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"normal": [0, -1, 0],
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"size": 25,
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"spin": 0
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}
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],
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"model": [
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{
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"stlFile": "surfaces/Holm.stl",
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"originOfModel__": [-25,29,-28.5],
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"originOfModel": [-29,25,28.5],
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"rotationOfModelDegree__": [0, 0, 0],
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"rotationOfModelDegree": [180, 0, -90],
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"material": "powderCoatBlue"
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}
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]
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},
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"Ellbow": {
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"parent": "Arm1",
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"mountPosition": [0, 0, 0],
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"mountRotation": [0, 0, 0],
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"jointToParent": {
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"name": "Joint2",
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"type": "revolute",
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"axis": [-1, 0, 0],
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"origin": [0, -250, 0],
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"rotation": [0, 0, 0],
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"variable": "z"
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},
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"skeleton": {
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"from": [0, 0, 0],
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"to": [90, 0, 0],
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"radius": 4,
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"color": [0.90, 0.20, 0.20]
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},
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"model": [
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{
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"stlFile": "surfaces/Ellebogen.stl",
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"originOfModel": [90,0,0],
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"rotationOfModelDegree": [0,-90,-90],
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"material": "defaultPlastic"
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}
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],
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"markers": [
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{
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"id": 244,
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"name": "aruco_244",
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"position": [125, 0, 0],
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"normal": [1, 0, 0],
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"size": 25,
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"spin": 0
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},
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{
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"id": 245,
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"name": "aruco_245",
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"position": [90, 0, -35],
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"normal": [0, 0, -1],
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"size": 25,
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"spin": 0
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},
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{
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"id": 246,
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"name": "aruco_246",
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"position": [90, 0, 35],
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"normal": [0, 0, 1],
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"size": 25
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},
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{
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"id": 247,
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"name": "aruco_247",
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"position": [52.5, 0, 35],
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"normal": [0, 0, 1],
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"size": 25
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}
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]
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},
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"Arm2": {
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"parent": "Ellbow",
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"mountPosition": [0, 0, 0],
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"mountRotation": [0, 0, 0],
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"jointToParent": {
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"name": "Joint3",
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"type": "revolute",
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"axis": [0, -1, 0],
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"origin": [90, 0, 0],
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"rotation": [0, 0, 0],
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"variable": "a"
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},
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"skeleton": {
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"from": [0, 0, 0],
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"to": [0, -250, 0],
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"radius": 4,
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"color": [0.95, 0.85, 0.20]
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}
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},
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"Hand": {
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"parent": "Arm2",
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"mountPosition": [0, 0, 0],
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"mountRotation": [0, 0, 0],
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"jointToParent": {
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"name": "Joint4",
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"type": "revolute",
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"axis": [1, 0, 0],
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"origin": [0, -250, 0],
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"rotation": [0, 0, 0],
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"variable": "b"
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},
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"skeleton": {
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"from": [0, 0, 0],
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"to": [0, -35, 0],
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"radius": 4,
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"color": [0.95, 0.55, 0.15]
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}
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},
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"Palm": {
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"parent": "Hand",
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"mountPosition": [0, 0, 0],
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"mountRotation": [0, 0, 0],
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"jointToParent": {
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"name": "Joint3",
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"type": "revolute",
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"axis": [0, -1, 0],
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"origin": [0, 0, 0],
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"rotation": [0, 0, 0],
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"variable": "c"
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},
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"skeleton": {
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"from": [-50, -35, 0],
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"to": [50, -35, 0],
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"radius": 7,
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"color": [0.95, 0.20, 0.20]
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}
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}
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}
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}
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