feat:完善结构与仿真环境
This commit is contained in:
li-shihao-code
@@ -0,0 +1,301 @@
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<?xml version='1.0' encoding='utf-8'?>
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<robot name="qykj_ackm">
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<link name="base_link">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.0174221592416108 0 0.0010674027636553" />
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<mass value="2.0946205" />
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<inertia ixx="0.00725227532564324" ixy="1.826574180869E-05" ixz="1.74522061015835E-05" iyy="0.0112392911749803" iyz="-1.16120716894918E-06" izz="0.0572118967643173" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/base_link.stl" />
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</geometry>
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<material name="base_material">
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<color rgba="1 0 0 1" />
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/base_link.stl" />
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</geometry>
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</collision>
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</link>
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<link name="base_footprint">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="0.01" />
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<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
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</inertial>
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<visual>
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<geometry>
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<sphere radius="0.001" />
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</geometry>
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</visual>
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</link>
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<joint name="base_link2base_footprint" type="fixed">
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<parent link="base_footprint" />
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<child link="base_link" />
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<origin rpy="0 0 0" xyz="0 0 0.055" />
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</joint>
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<link name="left_steering_hinge">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<mass value="0.085506993927856" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_steer_link.stl" />
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</geometry>
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<material name="steering_hinge_material">
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<color rgba="0 0 0 1" />
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_steer_link.stl" />
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</geometry>
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</collision>
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</link>
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<joint name="left_steering_hinge_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0.17831 0.10435 0.0070129" />
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<parent link="base_link" />
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<child link="left_steering_hinge" />
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<axis xyz="0 0 1" />
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<limit effort="8" lower="-0.5" upper="0.5" velocity="800" />
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<dynamics damping="0.5" />
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</joint>
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<link name="right_steering_hinge">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<mass value="0.085506993927856" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_steer_link.stl" />
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</geometry>
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<material name="steering_hinge_material">
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<color rgba="0 0 0 1" />
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_steer_link.stl" />
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</geometry>
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</collision>
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</link>
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<joint name="right_steering_hinge_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0.17831 -0.10435 0.0070129" />
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<parent link="base_link" />
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<child link="right_steering_hinge" />
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<axis xyz="0 0 1" />
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<limit effort="8" lower="-0.5" upper="0.5" velocity="800" />
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<dynamics damping="0.5" />
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</joint>
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<link name="left_wheel">
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.01 0" />
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<mass value="0.083615304385799" />
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<inertia ixx="0.00010451913048224875" ixy="-1.02836030755788E-5" ixz="1.03858733509779E-10" iyy="0.000261297820954496875" iyz="-3.52038618447715E-09" izz="0.00010451913048224875" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_wheel_link.stl" />
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</geometry>
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<material name="wheel_material">
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<color rgba="0 0 0 1" />
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_wheel_link.stl" />
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</geometry>
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</collision>
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</link>
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<joint name="left_wheel_joint" type="continuous">
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<origin rpy="0 0 0" xyz="0 0.074 0" />
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<parent link="left_steering_hinge" />
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<child link="left_wheel" />
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<axis xyz="0 1 0" />
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<limit effort="6" velocity="800" />
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</joint>
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<link name="right_wheel">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0.01 0" />
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<mass value="0.083615304385799" />
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<inertia ixx="0.00010451913048224875" ixy="-1.02836030755788E-5" ixz="1.03858733509779E-10" iyy="0.000261297820954496875" iyz="-3.52038618447715E-09" izz="0.00010451913048224875" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_wheel_link.stl" />
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</geometry>
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<material name="wheel_material">
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<color rgba="0 0 0 1" />
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_wheel_link.stl" />
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</geometry>
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</collision>
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</link>
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<joint name="right_wheel_joint" type="continuous">
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<origin rpy="0 0 0" xyz="0 -0.074 0" />
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<parent link="right_steering_hinge" />
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<child link="right_wheel" />
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<axis xyz="0 1 0" />
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<limit effort="6" velocity="800" />
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</joint>
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<link name="left_rear_wheel">
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.01 0" />
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<mass value="0.083615304385799" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_back_wheel_link.stl" />
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</geometry>
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<material name="wheel_material">
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<color rgba="0 0 0 1" />
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_back_wheel_link.stl" />
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</geometry>
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</collision>
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</link>
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<joint name="left_rear_wheel_joint" type="continuous">
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<origin rpy="0 0 0" xyz="-0.11072 0.18046 0.0099082" />
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<parent link="base_link" />
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<child link="left_rear_wheel" />
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<axis xyz="0 1 0" />
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<limit effort="10" lower="-3.14159" upper="3.14159" velocity="800" />
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</joint>
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<link name="right_rear_wheel">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0.01 0" />
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<mass value="0.083615304385799" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_back_wheel_link.stl" />
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</geometry>
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<material name="wheel_material">
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<color rgba="0 0 0 1" />
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</material>
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||||
</visual>
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<collision>
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||||
<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_back_wheel_link.stl" />
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</geometry>
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</collision>
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||||
</link>
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<joint name="right_rear_wheel_joint" type="continuous">
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<origin rpy="0 0 0" xyz="-0.11072 -0.18046 0.0099082" />
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||||
<parent link="base_link" />
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||||
<child link="right_rear_wheel" />
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<axis xyz="0 1 0" />
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<limit effort="10" lower="-3.14159" upper="3.14159" velocity="800" />
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</joint>
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<link name="camera">
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<inertial>
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||||
<origin rpy="0 0 0" xyz="0 0 0" />
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||||
<mass value="0.128875262431144" />
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<inertia ixx="0.000226098241375409" ixy="-7.63151331329159E-09" ixz="-6.02732800767945E-07" iyy="1.50549325275966E-05" iyz="-7.62743002721805E-10" izz="0.000225285047549157" />
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</inertial>
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<visual>
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||||
<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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||||
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/camera.stl" />
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</geometry>
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<material name="camera_material">
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<color rgba="0 0 1 1" />
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</material>
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</visual>
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<collision>
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||||
<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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||||
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/camera.stl" />
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</geometry>
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</collision>
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</link>
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<joint name="camera_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.21669 -0.00063349 0.142" />
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<parent link="base_link" />
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<child link="camera" />
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<axis xyz="0 0 0" />
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</joint>
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<link name="laser">
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<inertial>
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||||
<origin rpy="0 0 0" xyz="0 0 0" />
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<mass value="0.136175408631878" />
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<inertia ixx="5.05126026373552E-05" ixy="1.31150574294136E-08" ixz="1.65013289478E-06" iyy="7.08926003407945E-05" iyz="2.49898507713873E-09" izz="0.00010333009695655" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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||||
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/laser_link.stl" />
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</geometry>
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<material name="sensor_material">
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<color rgba="0 0 1 1" />
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||||
</material>
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</visual>
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<collision>
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||||
<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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||||
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/laser_link.stl" />
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||||
</geometry>
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||||
</collision>
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||||
</link>
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<joint name="laser_joint" type="fixed">
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||||
<origin rpy="0 0 0" xyz="0.092303 5.3876E-05 0.2031" />
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||||
<parent link="base_link" />
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||||
<child link="laser" />
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||||
<axis xyz="0 0 0" />
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</joint>
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|
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<link name="imu">
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||||
<inertial>
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||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
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<mass value="0.005" />
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<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
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||||
</inertial>
|
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<visual>
|
||||
<geometry>
|
||||
<box size="0.005 0.005 0.007" />
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="imu_joints" type="fixed">
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0035" />
|
||||
<parent link="base_link" />
|
||||
<child link="imu" />
|
||||
</joint>
|
||||
</robot>
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||||
@@ -0,0 +1,3 @@
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||||
version https://git-lfs.github.com/spec/v1
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||||
oid sha256:ac7fb8e48883155d1feffe880c55a972c5562b34bc340f0002ff80965d20cfac
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size 75606548
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Binary file not shown.
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After Width: | Height: | Size: 73 KiB |
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After Width: | Height: | Size: 14 KiB |
@@ -0,0 +1,840 @@
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{
|
||||
"vehicle": {
|
||||
"vehicle_id": "demo_agv_001",
|
||||
"vehicle_source": "urdf_direct",
|
||||
"source_urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
|
||||
"urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
|
||||
"usd_path": null,
|
||||
"stage_prim_path": "/ackermann_front_steer_rear_drive",
|
||||
"drive_wheels": [
|
||||
"rear_left_wheel_link",
|
||||
"rear_right_wheel_link"
|
||||
],
|
||||
"steer_wheels": [
|
||||
"front_left_wheel_link",
|
||||
"front_right_wheel_link"
|
||||
],
|
||||
"initial_pose": {
|
||||
"x_m": 0.0,
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||||
"y_m": 0.0,
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"z_m": 0.0,
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||||
"yaw_rad": 0.0
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}
|
||||
},
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||||
"workshop": {
|
||||
"workcell_zone_id": "isaac_workcell_zone_a",
|
||||
"room_length_m": 10.0,
|
||||
"room_width_m": 6.0,
|
||||
"room_height_m": 3.5,
|
||||
"checkerboard": {
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||||
"rows": 6,
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"cols": 9,
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||||
"square_size_m": 0.12,
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||||
"texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/checkerboard.png",
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||||
"reserved_wall_zones": {
|
||||
"front": [
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{
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"axis_min": -2.82,
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"axis_max": -0.9199999999999999,
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"z_min": 0.0,
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"z_max": 3.5,
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"reason": "2d_lidar_extrinsic_corner_bay"
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}
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],
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"right": [
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{
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||||
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"axis_max": 4.82,
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"z_min": 0.0,
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||||
"z_max": 3.5,
|
||||
"reason": "2d_lidar_extrinsic_corner_bay"
|
||||
}
|
||||
]
|
||||
},
|
||||
"layout": [
|
||||
{
|
||||
"id": "front_wall_r00_c01",
|
||||
"wall": "front",
|
||||
"mount": "flush",
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||||
"purpose": "wall_checkerboard_array",
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"position": [
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],
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"rotation_deg": [
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90,
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0,
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90
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||||
]
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||||
},
|
||||
{
|
||||
"id": "front_wall_r00_c02",
|
||||
"wall": "front",
|
||||
"mount": "flush",
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||||
"purpose": "wall_checkerboard_array",
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"position": [
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"rotation_deg": [
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]
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},
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{
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"target_type": "down_camera_intrinsic",
|
||||
"pattern": "charuco",
|
||||
"purpose": "intrinsic_calibration_with_depth_and_pose_gradient",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
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|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
"ros_topics": {
|
||||
"cmd_vel": "/vehicle/demo_agv_001/actuator/cmd_vel",
|
||||
"camera_image": "/AutoCalib_Workshop/camera/image_raw",
|
||||
"lidar_prefix": "/AutoCalib_Workshop/lidar",
|
||||
"front_camera_image": "/sensor/front_camera/image_raw",
|
||||
"down_camera_image": "/sensor/down_camera/image_raw",
|
||||
"lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
|
||||
"lidar_2d_scan": "/sensor/lidar_2d/scan",
|
||||
"imu": "/sensor/imu/data",
|
||||
"external_telemetry": "/isaac/external_localization/telemetry",
|
||||
"chassis_telemetry": "/chassis/telemetry",
|
||||
"control_telemetry": "/control/telemetry",
|
||||
"sensor_telemetry": "/sensor_calibration/telemetry"
|
||||
},
|
||||
"chassis_calibration": {
|
||||
"chassis_type": "ackermann",
|
||||
"straight_track_length_m": 5.0,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"wheel_base_m": 0.8
|
||||
},
|
||||
"control_calibration": {
|
||||
"reference_path": [
|
||||
{
|
||||
"x_m": -2.5,
|
||||
"y_m": 0.0,
|
||||
"yaw_rad": 0.0,
|
||||
"target_speed_ms": 0.3
|
||||
},
|
||||
{
|
||||
"x_m": 2.5,
|
||||
"y_m": 0.0,
|
||||
"yaw_rad": 0.0,
|
||||
"target_speed_ms": 0.3
|
||||
}
|
||||
],
|
||||
"parameter_version": "isaac_control_baseline_v1"
|
||||
},
|
||||
"external_truth": {
|
||||
"localization_source_id": "isaac_sim_truth_source",
|
||||
"reference_source_name": "isaac_sim_truth_source",
|
||||
"workcell_zone_id": "isaac_workcell_zone_a",
|
||||
"expected_position_stddev_m": 0.01,
|
||||
"expected_yaw_stddev_rad": 0.01,
|
||||
"expected_time_sync_offset_ms": 2.0
|
||||
},
|
||||
"sensors": [
|
||||
{
|
||||
"sensor_id": "demo_front_camera",
|
||||
"sensor_type": "front_camera",
|
||||
"frame_id": "front_camera_link",
|
||||
"image_topic": "/sensor/front_camera/image_raw",
|
||||
"telemetry_topic": "/sensor_calibration/telemetry",
|
||||
"mount_pose": {
|
||||
"x_m": 0.82,
|
||||
"y_m": 0.0,
|
||||
"z_m": 0.32,
|
||||
"roll_rad": 0.0,
|
||||
"pitch_rad": -1.5707963267948966,
|
||||
"yaw_rad": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"sensor_id": "demo_down_camera",
|
||||
"sensor_type": "down_camera",
|
||||
"frame_id": "down_camera_link",
|
||||
"image_topic": "/sensor/down_camera/image_raw",
|
||||
"mount_pose": {
|
||||
"x_m": 0.4,
|
||||
"y_m": 0.0,
|
||||
"z_m": 0.3,
|
||||
"roll_rad": 0.0,
|
||||
"pitch_rad": 0.0,
|
||||
"yaw_rad": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"sensor_id": "demo_lidar_3d",
|
||||
"sensor_type": "lidar_3d",
|
||||
"frame_id": "lidar_3d_link",
|
||||
"pointcloud_topic": "/sensor/lidar_3d/pointcloud",
|
||||
"mount_pose": {
|
||||
"x_m": 0.55,
|
||||
"y_m": 0.0,
|
||||
"z_m": 0.46,
|
||||
"roll_rad": 0.0,
|
||||
"pitch_rad": 0.0,
|
||||
"yaw_rad": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"sensor_id": "demo_lidar_2d",
|
||||
"sensor_type": "lidar_2d",
|
||||
"frame_id": "lidar_2d_link",
|
||||
"scan_topic": "/sensor/lidar_2d/scan",
|
||||
"mount_pose": {
|
||||
"x_m": 0.7,
|
||||
"y_m": 0.0,
|
||||
"z_m": 0.24,
|
||||
"roll_rad": 0.0,
|
||||
"pitch_rad": 0.0,
|
||||
"yaw_rad": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"sensor_id": "demo_imu",
|
||||
"sensor_type": "imu",
|
||||
"frame_id": "imu_link",
|
||||
"imu_topic": "/sensor/imu/data",
|
||||
"mount_pose": {
|
||||
"x_m": 0.4,
|
||||
"y_m": 0.0,
|
||||
"z_m": 0.26,
|
||||
"roll_rad": 0.0,
|
||||
"pitch_rad": 0.0,
|
||||
"yaw_rad": 0.0
|
||||
}
|
||||
}
|
||||
],
|
||||
"lidar_2d_calibration_targets": {
|
||||
"enabled": true,
|
||||
"target_width_m": 0.82,
|
||||
"target_height_m": 1.6,
|
||||
"target_thickness_m": 0.04,
|
||||
"target_bottom_z_m": 0.08,
|
||||
"slope_angle_deg": 45.0,
|
||||
"targets": [
|
||||
{
|
||||
"id": "front_vertical_reference_panel",
|
||||
"wall": "front",
|
||||
"type": "vertical_reference",
|
||||
"position": [
|
||||
4.920000000000001,
|
||||
-2.34,
|
||||
0.88
|
||||
],
|
||||
"scale": [
|
||||
0.04,
|
||||
0.82,
|
||||
1.6
|
||||
],
|
||||
"rotation_deg": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"nominal_plane": "x = room_length/2 - standoff - thickness"
|
||||
},
|
||||
{
|
||||
"id": "front_45deg_height_encoding_panel",
|
||||
"wall": "front",
|
||||
"type": "height_encoding_slope",
|
||||
"position": [
|
||||
4.1000000000000005,
|
||||
-1.4,
|
||||
0.88
|
||||
],
|
||||
"scale": [
|
||||
0.04,
|
||||
0.82,
|
||||
2.262741699796952
|
||||
],
|
||||
"rotation_deg": [
|
||||
0.0,
|
||||
-45.0,
|
||||
0.0
|
||||
],
|
||||
"slope_angle_deg": 45.0,
|
||||
"height_to_range_sign": "higher_scan_plane_farther_from_front_wall"
|
||||
},
|
||||
{
|
||||
"id": "right_vertical_reference_panel",
|
||||
"wall": "right",
|
||||
"type": "vertical_reference",
|
||||
"position": [
|
||||
3.87,
|
||||
-2.92,
|
||||
0.88
|
||||
],
|
||||
"scale": [
|
||||
0.82,
|
||||
0.04,
|
||||
1.6
|
||||
],
|
||||
"rotation_deg": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"nominal_plane": "y = -room_width/2 + standoff + thickness"
|
||||
}
|
||||
]
|
||||
},
|
||||
"orchestrator_session_config_hint": {
|
||||
"vehicle_id": "demo_agv_001",
|
||||
"localization_source_id": "isaac_sim_truth_source",
|
||||
"workcell_zone_id": "isaac_workcell_zone_a",
|
||||
"reference_target_id": "isaac_external_truth"
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user