Updated visuals for glados

This commit is contained in:
Dave Niewinski 2023-12-11 18:55:37 -05:00
parent 54e949049c
commit 5679c14ac4
6 changed files with 567 additions and 204 deletions

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View File

@ -4,7 +4,7 @@
<xacro:include filename="$(find z1_description)/xacro/robot.xacro"/> <xacro:include filename="$(find z1_description)/xacro/robot.xacro"/>
<link name="shop"/> <link name="shop"/>
<joint name="shop_link" type="fixed"> <joint name="shop_joint" type="fixed">
<origin xyz="0 0 0" rpy="3.14159 0 0" /> <origin xyz="0 0 0" rpy="3.14159 0 0" />
<parent link="shop"/> <parent link="shop"/>
<child link="world"/> <child link="world"/>
@ -29,4 +29,43 @@
/> />
</xacro:zed_camera> </xacro:zed_camera>
<link name="head_link">
<visual>
<geometry>
<mesh filename="package://glados_description/meshes/g_head.dae"/>
</geometry>
</visual>
</link>
<joint name="head_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="link06"/>
<child link="head_link"/>
</joint>
<link name="midsection_link">
<visual>
<geometry>
<mesh filename="package://glados_description/meshes/g_mid.dae"/>
</geometry>
</visual>
</link>
<joint name="midsection_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="link03"/>
<child link="midsection_link"/>
</joint>
<link name="upper_link">
<visual>
<geometry>
<mesh filename="package://glados_description/meshes/g_upper.dae"/>
</geometry>
</visual>
</link>
<joint name="upper_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="link02"/>
<child link="upper_link"/>
</joint>
</robot> </robot>

View File

@ -63,6 +63,11 @@ Visualization Manager:
Expand Link Details: false Expand Link Details: false
Expand Tree: false Expand Tree: false
Link Tree Style: Links in Alphabetic Order Link Tree Style: Links in Alphabetic Order
head_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link00: link00:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
@ -98,10 +103,20 @@ Visualization Manager:
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
midsection_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
shop: shop:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
upper_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world: world:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
@ -172,7 +187,7 @@ Visualization Manager:
Value: false Value: false
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 0; 0; 0 Background Color: 255; 192; 192
Default Light: true Default Light: true
Fixed Frame: shop Fixed Frame: shop
Frame Rate: 30 Frame Rate: 30
@ -198,7 +213,7 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 2.3184406757354736 Distance: 2.5236268043518066
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
@ -206,17 +221,17 @@ Visualization Manager:
Value: false Value: false
Field of View: 0.7853981852531433 Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: -0.16048620641231537 X: 0.6907101273536682
Y: -0.11140704154968262 Y: 0.02027750015258789
Z: 0.06413226574659348 Z: -0.5839651823043823
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.3302033841609955 Pitch: 0.04993196949362755
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Yaw: 2.6703832149505615 Yaw: 0.5201765298843384
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:

View File

@ -9,7 +9,7 @@ Panels:
- /RobotModel1/Links1 - /RobotModel1/Links1
- /TF1/Frames1 - /TF1/Frames1
Splitter Ratio: 0.6125907897949219 Splitter Ratio: 0.6125907897949219
Tree Height: 321 Tree Height: 719
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
@ -56,18 +56,117 @@ Visualization Manager:
- Alpha: 1 - Alpha: 1
Class: rviz/RobotModel Class: rviz/RobotModel
Collision Enabled: false Collision Enabled: false
Enabled: false Enabled: true
Links: Links:
All Links Enabled: true All Links Enabled: true
Expand Joint Details: false Expand Joint Details: false
Expand Link Details: false Expand Link Details: false
Expand Tree: false Expand Tree: false
Link Tree Style: Links in Alphabetic Order Link Tree Style: Links in Alphabetic Order
head_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link00:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link01:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link02:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link03:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link04:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link05:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link06:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
midsection_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
shop:
Alpha: 1
Show Axes: false
Show Trail: false
upper_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_baro_link:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_camera_center:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
zed2_left_camera_frame:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_left_camera_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_mag_link:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_right_camera_frame:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_right_camera_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_temp_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_temp_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Name: RobotModel Name: RobotModel
Robot Description: robot_description Robot Description: robot_description
TF Prefix: "" TF Prefix: ""
Update Interval: 0 Update Interval: 0
Value: false Value: true
Visual Enabled: true Visual Enabled: true
- Class: rviz/TF - Class: rviz/TF
Enabled: false Enabled: false
@ -86,191 +185,11 @@ Visualization Manager:
{} {}
Update Interval: 0 Update Interval: 0
Value: false Value: false
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: false
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
gripperMover:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripperStator:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link00:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link01:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link02:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link03:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link04:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link05:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link06:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 3x
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: manipulator
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 0.8999999761581421
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
gripperMover:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripperStator:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link00:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link01:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link02:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link03:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link04:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link05:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link06:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 255; 255; 255 Background Color: 255; 192; 192
Default Light: true Default Light: true
Fixed Frame: world Fixed Frame: shop
Frame Rate: 30 Frame Rate: 30
Name: root Name: root
Tools: Tools:
@ -294,7 +213,7 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 1.0136234760284424 Distance: 2.5236268043518066
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
@ -302,17 +221,17 @@ Visualization Manager:
Value: false Value: false
Field of View: 0.7853981852531433 Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: 0.05167528986930847 X: 0.6907101273536682
Y: -0.028623901307582855 Y: 0.02027750015258789
Z: 0.29138970375061035 Z: -0.5839651823043823
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.5847964882850647 Pitch: 0.04993196949362755
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Yaw: 5.426733493804932 Yaw: 0.5201765298843384
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
@ -320,11 +239,7 @@ Window Geometry:
Height: 1016 Height: 1016
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: true Hide Right Dock: true
MotionPlanning: QMainWindow State: 000000ff00000000fd0000000400000000000001ce0000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005640000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001f30000035afc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001cc000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000020f000001880000017d00fffffffb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000053f0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time: