mirror of
https://github.com/davesarmoury/GLaDOS.git
synced 2025-09-26 22:31:26 +08:00
Updated visuals for glados
This commit is contained in:
parent
54e949049c
commit
5679c14ac4
134
glados_description/meshes/g_head.dae
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134
glados_description/meshes/g_head.dae
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130
glados_description/meshes/g_mid.dae
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130
glados_description/meshes/g_mid.dae
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130
glados_description/meshes/g_upper.dae
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130
glados_description/meshes/g_upper.dae
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@ -4,7 +4,7 @@
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<xacro:include filename="$(find z1_description)/xacro/robot.xacro"/>
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<link name="shop"/>
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<joint name="shop_link" type="fixed">
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<joint name="shop_joint" type="fixed">
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<origin xyz="0 0 0" rpy="3.14159 0 0" />
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<parent link="shop"/>
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<child link="world"/>
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@ -29,4 +29,43 @@
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/>
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</xacro:zed_camera>
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<link name="head_link">
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<visual>
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<geometry>
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<mesh filename="package://glados_description/meshes/g_head.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="head_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="link06"/>
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<child link="head_link"/>
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</joint>
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<link name="midsection_link">
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<visual>
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<geometry>
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<mesh filename="package://glados_description/meshes/g_mid.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="midsection_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="link03"/>
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<child link="midsection_link"/>
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</joint>
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<link name="upper_link">
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<visual>
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<geometry>
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<mesh filename="package://glados_description/meshes/g_upper.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="upper_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="link02"/>
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<child link="upper_link"/>
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</joint>
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</robot>
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@ -63,6 +63,11 @@ Visualization Manager:
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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head_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link00:
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Alpha: 1
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Show Axes: false
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@ -98,10 +103,20 @@ Visualization Manager:
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Show Axes: false
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Show Trail: false
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Value: true
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midsection_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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shop:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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upper_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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world:
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Alpha: 1
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Show Axes: false
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@ -172,7 +187,7 @@ Visualization Manager:
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Value: false
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Enabled: true
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Global Options:
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Background Color: 0; 0; 0
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Background Color: 255; 192; 192
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Default Light: true
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Fixed Frame: shop
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Frame Rate: 30
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@ -198,7 +213,7 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 2.3184406757354736
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Distance: 2.5236268043518066
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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@ -206,17 +221,17 @@ Visualization Manager:
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Value: false
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Field of View: 0.7853981852531433
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Focal Point:
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X: -0.16048620641231537
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Y: -0.11140704154968262
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Z: 0.06413226574659348
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X: 0.6907101273536682
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Y: 0.02027750015258789
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Z: -0.5839651823043823
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.3302033841609955
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Pitch: 0.04993196949362755
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Target Frame: <Fixed Frame>
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Yaw: 2.6703832149505615
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Yaw: 0.5201765298843384
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Saved: ~
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Window Geometry:
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Displays:
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@ -9,7 +9,7 @@ Panels:
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- /RobotModel1/Links1
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- /TF1/Frames1
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Splitter Ratio: 0.6125907897949219
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Tree Height: 321
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Tree Height: 719
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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@ -56,18 +56,117 @@ Visualization Manager:
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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head_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link00:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link01:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link02:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link03:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link04:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link05:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link06:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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midsection_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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shop:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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upper_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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world:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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zed2_baro_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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zed2_base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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zed2_camera_center:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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zed2_left_camera_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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zed2_left_camera_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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zed2_mag_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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zed2_right_camera_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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zed2_right_camera_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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zed2_temp_left_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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zed2_temp_right_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: false
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Value: true
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Visual Enabled: true
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- Class: rviz/TF
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Enabled: false
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@ -86,191 +185,11 @@ Visualization Manager:
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{}
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Update Interval: 0
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Value: false
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- Acceleration_Scaling_Factor: 0.1
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Class: moveit_rviz_plugin/MotionPlanning
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Enabled: true
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Move Group Namespace: ""
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MoveIt_Allow_Approximate_IK: false
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MoveIt_Allow_External_Program: false
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MoveIt_Allow_Replanning: false
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MoveIt_Allow_Sensor_Positioning: false
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MoveIt_Planning_Attempts: 10
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MoveIt_Planning_Time: 5
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MoveIt_Use_Cartesian_Path: false
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MoveIt_Use_Constraint_Aware_IK: false
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MoveIt_Workspace:
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Center:
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X: 0
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Y: 0
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Z: 0
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Size:
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X: 2
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Y: 2
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Z: 2
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Name: MotionPlanning
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Planned Path:
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Color Enabled: false
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Interrupt Display: false
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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gripperMover:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripperStator:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link00:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link01:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link02:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link03:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link04:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link05:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link06:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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world:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Loop Animation: false
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Robot Alpha: 0.5
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Robot Color: 150; 50; 150
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Show Robot Collision: false
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Show Robot Visual: true
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Show Trail: false
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State Display Time: 3x
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Trail Step Size: 1
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Trajectory Topic: move_group/display_planned_path
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Use Sim Time: false
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Planning Metrics:
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Payload: 1
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Show Joint Torques: false
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Show Manipulability: false
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Show Manipulability Index: false
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Show Weight Limit: false
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TextHeight: 0.07999999821186066
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Planning Request:
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Colliding Link Color: 255; 0; 0
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Goal State Alpha: 1
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Goal State Color: 250; 128; 0
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Interactive Marker Size: 0
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Joint Violation Color: 255; 0; 255
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Planning Group: manipulator
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Query Goal State: true
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Query Start State: false
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Show Workspace: false
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Start State Alpha: 1
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Start State Color: 0; 255; 0
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Planning Scene Topic: move_group/monitored_planning_scene
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Robot Description: robot_description
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Scene Geometry:
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Scene Alpha: 0.8999999761581421
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Scene Color: 50; 230; 50
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Scene Display Time: 0.009999999776482582
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Show Scene Geometry: true
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Voxel Coloring: Z-Axis
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Voxel Rendering: Occupied Voxels
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Scene Robot:
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Attached Body Color: 150; 50; 150
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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gripperMover:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripperStator:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link00:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link01:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link02:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link03:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link04:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link05:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link06:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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world:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Robot Alpha: 1
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Show Robot Collision: false
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Show Robot Visual: true
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Value: true
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Velocity_Scaling_Factor: 0.1
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Enabled: true
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Global Options:
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Background Color: 255; 255; 255
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Background Color: 255; 192; 192
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Default Light: true
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Fixed Frame: world
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Fixed Frame: shop
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Frame Rate: 30
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Name: root
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Tools:
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@ -294,7 +213,7 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 1.0136234760284424
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Distance: 2.5236268043518066
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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@ -302,17 +221,17 @@ Visualization Manager:
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Value: false
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||||
Field of View: 0.7853981852531433
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Focal Point:
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X: 0.05167528986930847
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||||
Y: -0.028623901307582855
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||||
Z: 0.29138970375061035
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||||
X: 0.6907101273536682
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||||
Y: 0.02027750015258789
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||||
Z: -0.5839651823043823
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Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
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||||
Invert Z Axis: false
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Name: Current View
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||||
Near Clip Distance: 0.009999999776482582
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||||
Pitch: 0.5847964882850647
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||||
Pitch: 0.04993196949362755
|
||||
Target Frame: <Fixed Frame>
|
||||
Yaw: 5.426733493804932
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||||
Yaw: 0.5201765298843384
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||||
Saved: ~
|
||||
Window Geometry:
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||||
Displays:
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||||
@ -320,11 +239,7 @@ Window Geometry:
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||||
Height: 1016
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||||
Hide Left Dock: false
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Hide Right Dock: true
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MotionPlanning:
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collapsed: false
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MotionPlanning - Trajectory Slider:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001f30000035afc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001cc000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000020f000001880000017d00fffffffb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000053f0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
QMainWindow State: 000000ff00000000fd0000000400000000000001ce0000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005640000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
|
Loading…
Reference in New Issue
Block a user