|
@@ -1,2538 +0,0 @@
|
|
|
-{
|
|
|
- "ContainerEntity": {
|
|
|
- "Id": "ContainerEntity",
|
|
|
- "Name": "ur10",
|
|
|
- "Components": {
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 12156056185652193582
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 905372043689160002
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 6307164642428807912,
|
|
|
- "Child Entity Order": [
|
|
|
- "Entity_[2844844128358]"
|
|
|
- ]
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 14715276533770992546
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 14038828392355110158
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 1714809384684554036
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 14012904557579948134
|
|
|
- },
|
|
|
- "EditorPrefabComponent": {
|
|
|
- "$type": "EditorPrefabComponent",
|
|
|
- "Id": 4660758440725889434
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 16002585705531712308
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 16872320025065584435,
|
|
|
- "Parent Entity": ""
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entities": {
|
|
|
- "Entity_[2767534717030]": {
|
|
|
- "Id": "Entity_[2767534717030]",
|
|
|
- "Name": "flange",
|
|
|
- "Components": {
|
|
|
- "EditorArticulationLinkComponent": {
|
|
|
- "$type": "EditorArticulationLinkComponent",
|
|
|
- "Id": 11469668518906206361,
|
|
|
- "ArticulationConfiguration": {
|
|
|
- "entityId": "",
|
|
|
- "Gravity Enabled": false,
|
|
|
- "Is Limited": false
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 675200204019318770
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 15341954991004655199
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 2867766600007690931,
|
|
|
- "Child Entity Order": [
|
|
|
- "Entity_[2776124651622]"
|
|
|
- ]
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 1744332418744647298
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 5716309454679602985
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 8544659397270700917
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 16802984846745692437
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 3162201113938073911
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 400995838768749823,
|
|
|
- "Parent Entity": "Entity_[2793304520806]",
|
|
|
- "Transform Data": {
|
|
|
- "Rotate": [
|
|
|
- -89.9999771118164,
|
|
|
- 0.000001707547198748216,
|
|
|
- -90.00000762939453
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ROS2FrameEditorComponent": {
|
|
|
- "$type": "ROS2FrameEditorComponent",
|
|
|
- "Id": 11215053288689314569,
|
|
|
- "ROS2FrameConfiguration": {
|
|
|
- "Frame Name": "flange",
|
|
|
- "Joint Name": "wrist_3-flange",
|
|
|
- "Publish Transform": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2771829684326]": {
|
|
|
- "Id": "Entity_[2771829684326]",
|
|
|
- "Name": "forearm_link_visual",
|
|
|
- "Components": {
|
|
|
- "AZ::Render::EditorMeshComponent_2": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 1357249268546948773,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{452EFBDC-3792-5C7D-A18D-6DF6C49A02FE}",
|
|
|
- "subId": 278681387
|
|
|
- },
|
|
|
- "assetHint": "assets/ur10_pretty/default_ur10_a0698388_efea_5436_ab4c_d60c155684c1_.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 5590969951531947332,
|
|
|
- "DisabledComponents": {
|
|
|
- "AZ::Render::EditorMeshComponent": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 9911298433454361624,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{61798F7A-4504-5FB3-BC48-10BC2D2A0058}",
|
|
|
- "subId": 274532406
|
|
|
- },
|
|
|
- "loadBehavior": "PreLoad",
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/forearm.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 3981058438302278338
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 5795844303893820585
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 2546010718077956546
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 10182775932774177626
|
|
|
- },
|
|
|
- "EditorMaterialComponent": {
|
|
|
- "$type": "EditorMaterialComponent",
|
|
|
- "Id": 8305011143785572930,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "materials": [
|
|
|
- {
|
|
|
- "Key": {
|
|
|
- "materialSlotStableId": 491458131
|
|
|
- },
|
|
|
- "Value": {
|
|
|
- "MaterialAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{47EE5789-50E9-5435-9016-0D61923E2D31}"
|
|
|
- },
|
|
|
- "assetHint": "assets/ur10_pretty/ur10_m_ur10.azmaterial"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 8988454073945871706
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 2780094572149990056
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 10272388898604625856
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 7480282429094248692,
|
|
|
- "Parent Entity": "Entity_[2784714586214]",
|
|
|
- "Transform Data": {
|
|
|
- "Translate": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- 0.049042001366615295
|
|
|
- ],
|
|
|
- "Rotate": [
|
|
|
- 90.0,
|
|
|
- -90.0,
|
|
|
- 180.0
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2776124651622]": {
|
|
|
- "Id": "Entity_[2776124651622]",
|
|
|
- "Name": "tool0",
|
|
|
- "Components": {
|
|
|
- "EditorArticulationLinkComponent": {
|
|
|
- "$type": "EditorArticulationLinkComponent",
|
|
|
- "Id": 13786387773203317397,
|
|
|
- "ArticulationConfiguration": {
|
|
|
- "entityId": "",
|
|
|
- "Gravity Enabled": false,
|
|
|
- "Is Limited": false
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorColliderComponent": {
|
|
|
- "$type": "EditorColliderComponent",
|
|
|
- "Id": 3603664578917025450,
|
|
|
- "ColliderConfiguration": {
|
|
|
- "Rotation": [
|
|
|
- 0.0,
|
|
|
- 0.7071067690849304,
|
|
|
- 0.0,
|
|
|
- 0.7071067094802856
|
|
|
- ],
|
|
|
- "MaterialSlots": {
|
|
|
- "Slots": [
|
|
|
- {
|
|
|
- "Name": "Entire object"
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ShapeConfiguration": {
|
|
|
- "ShapeType": 1,
|
|
|
- "Box": {
|
|
|
- "Configuration": [
|
|
|
- 0.05000000074505806,
|
|
|
- 0.15000000596046448,
|
|
|
- 0.10000000149011612
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 762139007491904695
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 8161118620874009422
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 10097034617411668543,
|
|
|
- "Child Entity Order": [
|
|
|
- "Entity_[2840549161062]"
|
|
|
- ]
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 5986137306265264128
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 14010291618402724118
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 13614330722149774071
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 2388983158181243973
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 14178936275163388283
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 12372534703390537978,
|
|
|
- "Parent Entity": "Entity_[2767534717030]",
|
|
|
- "Transform Data": {
|
|
|
- "Rotate": [
|
|
|
- 90.0,
|
|
|
- 89.99996185302734,
|
|
|
- 0.0
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ROS2FrameEditorComponent": {
|
|
|
- "$type": "ROS2FrameEditorComponent",
|
|
|
- "Id": 6725714804015519141,
|
|
|
- "ROS2FrameConfiguration": {
|
|
|
- "Frame Name": "tool0",
|
|
|
- "Joint Name": "flange-tool0",
|
|
|
- "Publish Transform": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2780419618918]": {
|
|
|
- "Id": "Entity_[2780419618918]",
|
|
|
- "Name": "gripper_link_visual",
|
|
|
- "Components": {
|
|
|
- "AZ::Render::EditorMeshComponent": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 12768818085941299623,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{A49804C0-79AC-594F-AAE6-B478472088D4}",
|
|
|
- "subId": 284840925
|
|
|
- },
|
|
|
- "assetHint": "assets/gripper/gripper.dae.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 11621803888482329779
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 15357923700297954104
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 9583826812042058281
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 9807934945696772135
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 598622261389698587
|
|
|
- },
|
|
|
- "EditorMaterialComponent": {
|
|
|
- "$type": "EditorMaterialComponent",
|
|
|
- "Id": 1896882533495121310,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "materials": [
|
|
|
- {
|
|
|
- "Key": {
|
|
|
- "materialSlotStableId": 3191066745
|
|
|
- },
|
|
|
- "Value": {
|
|
|
- "MaterialAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{A49804C0-79AC-594F-AAE6-B478472088D4}",
|
|
|
- "subId": 3191066745
|
|
|
- },
|
|
|
- "assetHint": "assets/gripper/gripper_gripper_18060731077969039481.dae.azmaterial"
|
|
|
- },
|
|
|
- "PropertyOverrides": {
|
|
|
- "baseColor.textureMap": {
|
|
|
- "$type": "AssetId",
|
|
|
- "Value": {
|
|
|
- "guid": "{F669DB24-75B4-5F51-812F-24DCDA921CB6}",
|
|
|
- "subId": 1000
|
|
|
- }
|
|
|
- },
|
|
|
- "metallic.textureMap": {
|
|
|
- "$type": "AssetId",
|
|
|
- "Value": {
|
|
|
- "guid": "{16B99DA3-BE44-5676-B4D7-C8C06A6BD3A8}",
|
|
|
- "subId": 1000
|
|
|
- }
|
|
|
- },
|
|
|
- "normal.textureMap": {
|
|
|
- "$type": "AssetId",
|
|
|
- "Value": {
|
|
|
- "guid": "{F3C9FD31-D708-56F5-B8F4-64CA7B37924F}",
|
|
|
- "subId": 1000
|
|
|
- }
|
|
|
- },
|
|
|
- "roughness.textureMap": {
|
|
|
- "$type": "AssetId",
|
|
|
- "Value": {
|
|
|
- "guid": "{7CAB9C33-3896-57B0-8FB9-BAA82A4F8ABE}",
|
|
|
- "subId": 1000
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 6525022469001825535
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 10326809400309081599
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 16596282531521528493
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 4654321869465124152,
|
|
|
- "Parent Entity": "Entity_[2840549161062]",
|
|
|
- "Transform Data": {
|
|
|
- "Translate": [
|
|
|
- 0.0,
|
|
|
- 0.0000022649765014648438,
|
|
|
- -0.0025348663330078125
|
|
|
- ],
|
|
|
- "Rotate": [
|
|
|
- 89.99832916259766,
|
|
|
- -89.99994659423828,
|
|
|
- 0.0
|
|
|
- ],
|
|
|
- "UniformScale": 0.6000000238418579
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2784714586214]": {
|
|
|
- "Id": "Entity_[2784714586214]",
|
|
|
- "Name": "forearm_link",
|
|
|
- "Components": {
|
|
|
- "EditorArticulationLinkComponent": {
|
|
|
- "$type": "EditorArticulationLinkComponent",
|
|
|
- "Id": 7411338872234865839,
|
|
|
- "ArticulationConfiguration": {
|
|
|
- "entityId": "",
|
|
|
- "Mass": 3.869999885559082,
|
|
|
- "Centre of mass offset": [
|
|
|
- -0.2861500084400177,
|
|
|
- 0.0,
|
|
|
- 0.049042001366615295
|
|
|
- ],
|
|
|
- "SolverPositionIterations": 40,
|
|
|
- "SolverVelocityIterations": 10,
|
|
|
- "Articulation Joint Type": 1,
|
|
|
- "Local Rotation": [
|
|
|
- 0.0,
|
|
|
- -89.99999237060547,
|
|
|
- 0.0
|
|
|
- ],
|
|
|
- "Angular Limit Negative": -180.0,
|
|
|
- "Angular Limit Positive": 180.0,
|
|
|
- "Motor configuration": {
|
|
|
- "UseMotor": true,
|
|
|
- "ForceLimit": 100000.0,
|
|
|
- "Stiffness": 100000.0,
|
|
|
- "Damping": 10000.0
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 6090350122120434959
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 17413381346403742562
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 6664838264963108941,
|
|
|
- "Child Entity Order": [
|
|
|
- "Entity_[2771829684326]",
|
|
|
- "Entity_[2819074324582]"
|
|
|
- ]
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 15533533280388334363
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 15715281321436128636
|
|
|
- },
|
|
|
- "EditorMeshColliderComponent": {
|
|
|
- "$type": "EditorMeshColliderComponent",
|
|
|
- "Id": 10305585554307941212,
|
|
|
- "ColliderConfiguration": {
|
|
|
- "Position": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- 0.049042001366615295
|
|
|
- ],
|
|
|
- "Rotation": [
|
|
|
- 0.5,
|
|
|
- -0.5,
|
|
|
- -0.5,
|
|
|
- 0.5
|
|
|
- ],
|
|
|
- "MaterialSlots": {
|
|
|
- "Slots": [
|
|
|
- {
|
|
|
- "Name": "DefaultMaterial"
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ShapeConfiguration": {
|
|
|
- "PhysicsAsset": {
|
|
|
- "Asset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{CE3836C5-75FD-55E2-BC48-E489FF1BB286}",
|
|
|
- "subId": 2149158518
|
|
|
- },
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/forearm_collider.stl.pxmesh"
|
|
|
- },
|
|
|
- "Configuration": {
|
|
|
- "PhysicsAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{CE3836C5-75FD-55E2-BC48-E489FF1BB286}",
|
|
|
- "subId": 2149158518
|
|
|
- },
|
|
|
- "loadBehavior": "QueueLoad",
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/forearm_collider.stl.pxmesh"
|
|
|
- },
|
|
|
- "UseMaterialsFromAsset": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 9917341752498294237
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 8349140327479716627
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 2900401725638520869
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 8412104066248939483,
|
|
|
- "Parent Entity": "Entity_[2831959226470]",
|
|
|
- "Transform Data": {
|
|
|
- "Translate": [
|
|
|
- -0.6119999885559082,
|
|
|
- 0.0,
|
|
|
- 0.0
|
|
|
- ],
|
|
|
- "Rotate": [
|
|
|
- 0.000006830188794992864,
|
|
|
- -9.039679602072037e-29,
|
|
|
- -1.5166065725475662e-21
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ROS2FrameEditorComponent": {
|
|
|
- "$type": "ROS2FrameEditorComponent",
|
|
|
- "Id": 1337278135579268774,
|
|
|
- "ROS2FrameConfiguration": {
|
|
|
- "Namespace Configuration": {
|
|
|
- "Namespace Strategy": 1
|
|
|
- },
|
|
|
- "Frame Name": "forearm_link",
|
|
|
- "Joint Name": "elbow_joint",
|
|
|
- "Publish Transform": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2789009553510]": {
|
|
|
- "Id": "Entity_[2789009553510]",
|
|
|
- "Name": "wrist_1_link_visual",
|
|
|
- "Components": {
|
|
|
- "AZ::Render::EditorMeshComponent_2": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 13470670281208156649,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{452EFBDC-3792-5C7D-A18D-6DF6C49A02FE}",
|
|
|
- "subId": 279932837
|
|
|
- },
|
|
|
- "assetHint": "assets/ur10_pretty/default_ur10_427041ae_2fb1_5949_9e67_b17ec0bbcf22_.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 18264870614039265875,
|
|
|
- "DisabledComponents": {
|
|
|
- "AZ::Render::EditorMeshComponent": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 2448449650430994166,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{0AADB8B5-BDAA-5845-985F-172184352826}",
|
|
|
- "subId": 283376957
|
|
|
- },
|
|
|
- "loadBehavior": "PreLoad",
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/wrist1.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 15302341168779559139
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 8654665397874583164
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 52208784403018189
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 9324079458026005975
|
|
|
- },
|
|
|
- "EditorMaterialComponent": {
|
|
|
- "$type": "EditorMaterialComponent",
|
|
|
- "Id": 10606750511958357948,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "materials": [
|
|
|
- {
|
|
|
- "Key": {
|
|
|
- "materialSlotStableId": 491458131
|
|
|
- },
|
|
|
- "Value": {
|
|
|
- "MaterialAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{47EE5789-50E9-5435-9016-0D61923E2D31}"
|
|
|
- },
|
|
|
- "assetHint": "assets/ur10_pretty/ur10_m_ur10.azmaterial"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 5768012695719659339
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 4812786697303328922
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 10095082498060986018
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 13169015503452378821,
|
|
|
- "Parent Entity": "Entity_[2819074324582]",
|
|
|
- "Transform Data": {
|
|
|
- "Translate": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- -0.11490000039339066
|
|
|
- ],
|
|
|
- "Rotate": [
|
|
|
- 90.0,
|
|
|
- -90.0,
|
|
|
- 180.0
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2793304520806]": {
|
|
|
- "Id": "Entity_[2793304520806]",
|
|
|
- "Name": "wrist_3_link",
|
|
|
- "Components": {
|
|
|
- "EditorArticulationLinkComponent": {
|
|
|
- "$type": "EditorArticulationLinkComponent",
|
|
|
- "Id": 18410841859080322323,
|
|
|
- "ArticulationConfiguration": {
|
|
|
- "entityId": "",
|
|
|
- "Mass": 0.20200000703334808,
|
|
|
- "Centre of mass offset": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- -0.015250000171363354
|
|
|
- ],
|
|
|
- "SolverPositionIterations": 40,
|
|
|
- "SolverVelocityIterations": 10,
|
|
|
- "Articulation Joint Type": 1,
|
|
|
- "Local Rotation": [
|
|
|
- 0.0,
|
|
|
- -89.99999237060547,
|
|
|
- 0.0
|
|
|
- ],
|
|
|
- "Angular Limit Negative": -360.0,
|
|
|
- "Angular Limit Positive": 360.0,
|
|
|
- "Motor configuration": {
|
|
|
- "UseMotor": true,
|
|
|
- "ForceLimit": 100000.0,
|
|
|
- "Stiffness": 15000.0,
|
|
|
- "Damping": 1000.0
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 7652114105277914786
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 985929462118025789
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 13729992005786243428,
|
|
|
- "Child Entity Order": [
|
|
|
- "Entity_[2823369291878]",
|
|
|
- "Entity_[2767534717030]",
|
|
|
- "Entity_[2857729030246]"
|
|
|
- ]
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 3752101875080693033
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 7079727634389988075
|
|
|
- },
|
|
|
- "EditorMeshColliderComponent": {
|
|
|
- "$type": "EditorMeshColliderComponent",
|
|
|
- "Id": 17776614126480382460,
|
|
|
- "ColliderConfiguration": {
|
|
|
- "Position": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- -0.09220000356435776
|
|
|
- ],
|
|
|
- "Rotation": [
|
|
|
- 0.7071067690849304,
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- 0.7071067690849304
|
|
|
- ],
|
|
|
- "MaterialSlots": {
|
|
|
- "Slots": [
|
|
|
- {
|
|
|
- "Name": "DefaultMaterial"
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ShapeConfiguration": {
|
|
|
- "PhysicsAsset": {
|
|
|
- "Asset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{8FF7600B-B3DD-5867-8534-C6D51A808EA0}",
|
|
|
- "subId": 2951355419
|
|
|
- },
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/wrist3_collider.stl.pxmesh"
|
|
|
- },
|
|
|
- "Configuration": {
|
|
|
- "PhysicsAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{8FF7600B-B3DD-5867-8534-C6D51A808EA0}",
|
|
|
- "subId": 2951355419
|
|
|
- },
|
|
|
- "loadBehavior": "QueueLoad",
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/wrist3_collider.stl.pxmesh"
|
|
|
- },
|
|
|
- "UseMaterialsFromAsset": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 3580665494063163755
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 6966676001048600373
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 14891883367921573398
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 3868267867187415994,
|
|
|
- "Parent Entity": "Entity_[2806189422694]",
|
|
|
- "Transform Data": {
|
|
|
- "Translate": [
|
|
|
- 0.0,
|
|
|
- 0.09220004081726074,
|
|
|
- 1.30385160446167e-8
|
|
|
- ],
|
|
|
- "Rotate": [
|
|
|
- -90.00001525878906,
|
|
|
- -1.3559519403108056e-28,
|
|
|
- 3.791516178933426e-22
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ROS2FrameEditorComponent": {
|
|
|
- "$type": "ROS2FrameEditorComponent",
|
|
|
- "Id": 15791815753167737967,
|
|
|
- "ROS2FrameConfiguration": {
|
|
|
- "Namespace Configuration": {
|
|
|
- "Namespace Strategy": 1
|
|
|
- },
|
|
|
- "Frame Name": "wrist_3_link",
|
|
|
- "Joint Name": "wrist_3_joint",
|
|
|
- "Publish Transform": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2797599488102]": {
|
|
|
- "Id": "Entity_[2797599488102]",
|
|
|
- "Name": "shoulder_link",
|
|
|
- "Components": {
|
|
|
- "EditorArticulationLinkComponent": {
|
|
|
- "$type": "EditorArticulationLinkComponent",
|
|
|
- "Id": 4131123063427315031,
|
|
|
- "ArticulationConfiguration": {
|
|
|
- "entityId": "",
|
|
|
- "Mass": 7.7779998779296875,
|
|
|
- "SolverPositionIterations": 40,
|
|
|
- "SolverVelocityIterations": 10,
|
|
|
- "Articulation Joint Type": 1,
|
|
|
- "Local Rotation": [
|
|
|
- 0.0,
|
|
|
- -89.99999237060547,
|
|
|
- 0.0
|
|
|
- ],
|
|
|
- "Angular Limit Negative": -360.0,
|
|
|
- "Angular Limit Positive": 360.0,
|
|
|
- "Motor configuration": {
|
|
|
- "UseMotor": true,
|
|
|
- "ForceLimit": 100000.0,
|
|
|
- "Stiffness": 100000.0,
|
|
|
- "Damping": 5000.0
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 2208966529903146266
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 6858665889897814582
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 1489571047931900378,
|
|
|
- "Child Entity Order": [
|
|
|
- "Entity_[2853434062950]",
|
|
|
- "Entity_[2831959226470]"
|
|
|
- ]
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 8035362947168934843
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 4315379872110831813
|
|
|
- },
|
|
|
- "EditorMeshColliderComponent": {
|
|
|
- "$type": "EditorMeshColliderComponent",
|
|
|
- "Id": 5568779133013070717,
|
|
|
- "ColliderConfiguration": {
|
|
|
- "Rotation": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- 1.0,
|
|
|
- 6.123234262925839e-17
|
|
|
- ],
|
|
|
- "MaterialSlots": {
|
|
|
- "Slots": [
|
|
|
- {
|
|
|
- "Name": "DefaultMaterial"
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ShapeConfiguration": {
|
|
|
- "PhysicsAsset": {
|
|
|
- "Asset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{02588C86-8BE2-565F-B621-4B769632879F}",
|
|
|
- "subId": 91202387
|
|
|
- },
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/shoulder_collider.stl.pxmesh"
|
|
|
- },
|
|
|
- "Configuration": {
|
|
|
- "PhysicsAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{02588C86-8BE2-565F-B621-4B769632879F}",
|
|
|
- "subId": 91202387
|
|
|
- },
|
|
|
- "loadBehavior": "QueueLoad",
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/shoulder_collider.stl.pxmesh"
|
|
|
- },
|
|
|
- "UseMaterialsFromAsset": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 5234636715087356368
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 4215676145392467297
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 11110003518163621478
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 14238198336063306324,
|
|
|
- "Parent Entity": "Entity_[2810484389990]",
|
|
|
- "Transform Data": {
|
|
|
- "Translate": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- 0.12729999423027039
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ROS2FrameEditorComponent": {
|
|
|
- "$type": "ROS2FrameEditorComponent",
|
|
|
- "Id": 11750197844762334575,
|
|
|
- "ROS2FrameConfiguration": {
|
|
|
- "Namespace Configuration": {
|
|
|
- "Namespace Strategy": 1
|
|
|
- },
|
|
|
- "Frame Name": "shoulder_link",
|
|
|
- "Joint Name": "shoulder_pan_joint",
|
|
|
- "Publish Transform": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2801894455398]": {
|
|
|
- "Id": "Entity_[2801894455398]",
|
|
|
- "Name": "upper_arm_link_visual",
|
|
|
- "Components": {
|
|
|
- "AZ::Render::EditorMeshComponent_2": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 14802412323445334426,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{452EFBDC-3792-5C7D-A18D-6DF6C49A02FE}",
|
|
|
- "subId": 274815296
|
|
|
- },
|
|
|
- "assetHint": "assets/ur10_pretty/default_ur10_893b5eee_8597_55f2_aa22_5937373fddd3_.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 4462216626240082402,
|
|
|
- "DisabledComponents": {
|
|
|
- "AZ::Render::EditorMeshComponent": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 11310062770855566961,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{7F63A70F-C620-52D5-B601-D7BE161B8273}",
|
|
|
- "subId": 270772955
|
|
|
- },
|
|
|
- "loadBehavior": "PreLoad",
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/upperarm.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 6223874277918494298
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 1061543687727217880
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 4966238451022698802
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 11363861708764592291
|
|
|
- },
|
|
|
- "EditorMaterialComponent": {
|
|
|
- "$type": "EditorMaterialComponent",
|
|
|
- "Id": 7912249544169569309,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "materials": [
|
|
|
- {
|
|
|
- "Key": {
|
|
|
- "materialSlotStableId": 491458131
|
|
|
- },
|
|
|
- "Value": {
|
|
|
- "MaterialAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{47EE5789-50E9-5435-9016-0D61923E2D31}"
|
|
|
- },
|
|
|
- "assetHint": "assets/ur10_pretty/ur10_m_ur10.azmaterial"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 13656388227046008116
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 1470976137577149382
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 2798581073731546583
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 3046502131012947826,
|
|
|
- "Parent Entity": "Entity_[2831959226470]",
|
|
|
- "Transform Data": {
|
|
|
- "Translate": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- 0.22094100713729858
|
|
|
- ],
|
|
|
- "Rotate": [
|
|
|
- 90.0,
|
|
|
- -90.0,
|
|
|
- 180.0
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2806189422694]": {
|
|
|
- "Id": "Entity_[2806189422694]",
|
|
|
- "Name": "wrist_2_link",
|
|
|
- "Components": {
|
|
|
- "EditorArticulationLinkComponent": {
|
|
|
- "$type": "EditorArticulationLinkComponent",
|
|
|
- "Id": 11905110608681731972,
|
|
|
- "ArticulationConfiguration": {
|
|
|
- "entityId": "",
|
|
|
- "Mass": 1.9600000381469727,
|
|
|
- "SolverPositionIterations": 40,
|
|
|
- "SolverVelocityIterations": 10,
|
|
|
- "Articulation Joint Type": 1,
|
|
|
- "Local Rotation": [
|
|
|
- 0.0,
|
|
|
- -89.99999237060547,
|
|
|
- 0.0
|
|
|
- ],
|
|
|
- "Angular Limit Negative": -360.0,
|
|
|
- "Angular Limit Positive": 360.0,
|
|
|
- "Motor configuration": {
|
|
|
- "UseMotor": true,
|
|
|
- "ForceLimit": 100000.0,
|
|
|
- "Stiffness": 10000.0,
|
|
|
- "Damping": 500.0
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 15616551742847695298
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 3662841514734291371
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 13061135890655725277,
|
|
|
- "Child Entity Order": [
|
|
|
- "Entity_[2836254193766]",
|
|
|
- "Entity_[2793304520806]"
|
|
|
- ]
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 538480691884227739
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 7582300001634725313
|
|
|
- },
|
|
|
- "EditorMeshColliderComponent": {
|
|
|
- "$type": "EditorMeshColliderComponent",
|
|
|
- "Id": 7330186113754330414,
|
|
|
- "ColliderConfiguration": {
|
|
|
- "Position": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- -0.11580000072717667
|
|
|
- ],
|
|
|
- "MaterialSlots": {
|
|
|
- "Slots": [
|
|
|
- {
|
|
|
- "Name": "DefaultMaterial"
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ShapeConfiguration": {
|
|
|
- "PhysicsAsset": {
|
|
|
- "Asset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{A10E2F04-5E80-583A-AC18-F6E7060D30FB}",
|
|
|
- "subId": 2561554714
|
|
|
- },
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/wrist2_collider.stl.pxmesh"
|
|
|
- },
|
|
|
- "Configuration": {
|
|
|
- "PhysicsAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{A10E2F04-5E80-583A-AC18-F6E7060D30FB}",
|
|
|
- "subId": 2561554714
|
|
|
- },
|
|
|
- "loadBehavior": "QueueLoad",
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/wrist2_collider.stl.pxmesh"
|
|
|
- },
|
|
|
- "UseMaterialsFromAsset": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 8361188666253224213
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 16533911502993243454
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 4447019963576809044
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 14125838079395442588,
|
|
|
- "Parent Entity": "Entity_[2819074324582]",
|
|
|
- "Transform Data": {
|
|
|
- "Translate": [
|
|
|
- 0.0,
|
|
|
- -0.11569999158382416,
|
|
|
- -2.9802322387695313e-8
|
|
|
- ],
|
|
|
- "Rotate": [
|
|
|
- 90.00000762939453,
|
|
|
- -1.5166065725475662e-21,
|
|
|
- -7.0167078561561656e-15
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ROS2FrameEditorComponent": {
|
|
|
- "$type": "ROS2FrameEditorComponent",
|
|
|
- "Id": 11919293354833549866,
|
|
|
- "ROS2FrameConfiguration": {
|
|
|
- "Namespace Configuration": {
|
|
|
- "Namespace Strategy": 1
|
|
|
- },
|
|
|
- "Frame Name": "wrist_2_link",
|
|
|
- "Joint Name": "wrist_2_joint",
|
|
|
- "Publish Transform": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2810484389990]": {
|
|
|
- "Id": "Entity_[2810484389990]",
|
|
|
- "Name": "base_link_inertia",
|
|
|
- "Components": {
|
|
|
- "EditorArticulationLinkComponent": {
|
|
|
- "$type": "EditorArticulationLinkComponent",
|
|
|
- "Id": 13406905418125714069,
|
|
|
- "ArticulationConfiguration": {
|
|
|
- "entityId": "",
|
|
|
- "Mass": 4.0,
|
|
|
- "SolverPositionIterations": 40,
|
|
|
- "SolverVelocityIterations": 10,
|
|
|
- "Is Limited": false
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 9911046636164633067
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 6383128836307073208
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 3883007528332847754,
|
|
|
- "Child Entity Order": [
|
|
|
- "Entity_[2849139095654]",
|
|
|
- "Entity_[2797599488102]"
|
|
|
- ]
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 4304114104767234819
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 3647793968598513238
|
|
|
- },
|
|
|
- "EditorMeshColliderComponent": {
|
|
|
- "$type": "EditorMeshColliderComponent",
|
|
|
- "Id": 4486097497848778489,
|
|
|
- "ColliderConfiguration": {
|
|
|
- "Rotation": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- 1.0,
|
|
|
- 6.123234262925839e-17
|
|
|
- ],
|
|
|
- "MaterialSlots": {
|
|
|
- "Slots": [
|
|
|
- {
|
|
|
- "Name": "DefaultMaterial"
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ShapeConfiguration": {
|
|
|
- "PhysicsAsset": {
|
|
|
- "Asset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{FB939C90-E2A6-5999-B96A-6CDFA3376607}",
|
|
|
- "subId": 3502380053
|
|
|
- },
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/base_collider.stl.pxmesh"
|
|
|
- },
|
|
|
- "Configuration": {
|
|
|
- "PhysicsAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{FB939C90-E2A6-5999-B96A-6CDFA3376607}",
|
|
|
- "subId": 3502380053
|
|
|
- },
|
|
|
- "loadBehavior": "QueueLoad",
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/base_collider.stl.pxmesh"
|
|
|
- },
|
|
|
- "UseMaterialsFromAsset": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 17892682795960304314
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 12620895498033824050
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 3577927265296436934
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 16706756367717092850,
|
|
|
- "Parent Entity": "Entity_[2827664259174]",
|
|
|
- "Transform Data": {
|
|
|
- "Rotate": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- 180.0
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ROS2FrameEditorComponent": {
|
|
|
- "$type": "ROS2FrameEditorComponent",
|
|
|
- "Id": 3643723356448930267,
|
|
|
- "ROS2FrameConfiguration": {
|
|
|
- "Namespace Configuration": {
|
|
|
- "Namespace Strategy": 1
|
|
|
- },
|
|
|
- "Frame Name": "base_link_inertia",
|
|
|
- "Joint Name": "base_link-base_link_inertia",
|
|
|
- "Publish Transform": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2814779357286]": {
|
|
|
- "Id": "Entity_[2814779357286]",
|
|
|
- "Name": "base",
|
|
|
- "Components": {
|
|
|
- "EditorArticulationLinkComponent": {
|
|
|
- "$type": "EditorArticulationLinkComponent",
|
|
|
- "Id": 8834739342372814627,
|
|
|
- "ArticulationConfiguration": {
|
|
|
- "entityId": "",
|
|
|
- "Fix Joint Location": true,
|
|
|
- "Is Limited": false
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 16200843533530031523
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 8554961299172490755
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 12116801703272666704
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 12653925248292315650
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 12231725655342762184
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 12374576314867801033
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 3607745584920789455
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 4882093382413089942
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 8282631054892688013,
|
|
|
- "Parent Entity": "Entity_[2827664259174]",
|
|
|
- "Transform Data": {
|
|
|
- "Rotate": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- 180.0
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ROS2FrameEditorComponent": {
|
|
|
- "$type": "ROS2FrameEditorComponent",
|
|
|
- "Id": 2647709708475378771,
|
|
|
- "ROS2FrameConfiguration": {
|
|
|
- "Namespace Configuration": {
|
|
|
- "Namespace Strategy": 1
|
|
|
- },
|
|
|
- "Frame Name": "base",
|
|
|
- "Joint Name": "base_link-base_fixed_joint"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2819074324582]": {
|
|
|
- "Id": "Entity_[2819074324582]",
|
|
|
- "Name": "wrist_1_link",
|
|
|
- "Components": {
|
|
|
- "EditorArticulationLinkComponent": {
|
|
|
- "$type": "EditorArticulationLinkComponent",
|
|
|
- "Id": 1799479952250728782,
|
|
|
- "ArticulationConfiguration": {
|
|
|
- "entityId": "",
|
|
|
- "Mass": 1.9600000381469727,
|
|
|
- "SolverPositionIterations": 40,
|
|
|
- "SolverVelocityIterations": 10,
|
|
|
- "Articulation Joint Type": 1,
|
|
|
- "Local Rotation": [
|
|
|
- 0.0,
|
|
|
- -89.99999237060547,
|
|
|
- 0.0
|
|
|
- ],
|
|
|
- "Angular Limit Negative": -360.0,
|
|
|
- "Angular Limit Positive": 360.0,
|
|
|
- "Motor configuration": {
|
|
|
- "UseMotor": true,
|
|
|
- "ForceLimit": 100000.0,
|
|
|
- "Stiffness": 80000.0,
|
|
|
- "Damping": 8000.0
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 11564887540364756045
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 8277304111930643904
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 4957793592222525621,
|
|
|
- "Child Entity Order": [
|
|
|
- "Entity_[2789009553510]",
|
|
|
- "Entity_[2806189422694]"
|
|
|
- ]
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 17981986325448922829
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 17126883365737043707
|
|
|
- },
|
|
|
- "EditorMeshColliderComponent": {
|
|
|
- "$type": "EditorMeshColliderComponent",
|
|
|
- "Id": 9739685663780735902,
|
|
|
- "ColliderConfiguration": {
|
|
|
- "Position": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- -0.11490000039339066
|
|
|
- ],
|
|
|
- "Rotation": [
|
|
|
- 0.7071067690849304,
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- 0.7071067690849304
|
|
|
- ],
|
|
|
- "MaterialSlots": {
|
|
|
- "Slots": [
|
|
|
- {
|
|
|
- "Name": "DefaultMaterial"
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ShapeConfiguration": {
|
|
|
- "PhysicsAsset": {
|
|
|
- "Asset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{9D24EE65-1CF4-5D90-B23F-358DD26B2DA7}",
|
|
|
- "subId": 4031777665
|
|
|
- },
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/wrist1_collider.stl.pxmesh"
|
|
|
- },
|
|
|
- "Configuration": {
|
|
|
- "PhysicsAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{9D24EE65-1CF4-5D90-B23F-358DD26B2DA7}",
|
|
|
- "subId": 4031777665
|
|
|
- },
|
|
|
- "loadBehavior": "QueueLoad",
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/wrist1_collider.stl.pxmesh"
|
|
|
- },
|
|
|
- "UseMaterialsFromAsset": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 10395469122475699274
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 4325845750035414602
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 15346349257908877517
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 8727709477175995643,
|
|
|
- "Parent Entity": "Entity_[2784714586214]",
|
|
|
- "Transform Data": {
|
|
|
- "Translate": [
|
|
|
- -0.5722998380661011,
|
|
|
- -4.470348358154297e-8,
|
|
|
- 0.16394098103046417
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ROS2FrameEditorComponent": {
|
|
|
- "$type": "ROS2FrameEditorComponent",
|
|
|
- "Id": 8821592955977444905,
|
|
|
- "ROS2FrameConfiguration": {
|
|
|
- "Namespace Configuration": {
|
|
|
- "Namespace Strategy": 1
|
|
|
- },
|
|
|
- "Frame Name": "wrist_1_link",
|
|
|
- "Joint Name": "wrist_1_joint",
|
|
|
- "Publish Transform": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2823369291878]": {
|
|
|
- "Id": "Entity_[2823369291878]",
|
|
|
- "Name": "wrist_3_link_visual",
|
|
|
- "Components": {
|
|
|
- "AZ::Render::EditorMeshComponent_2": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 16846681164338361785,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{452EFBDC-3792-5C7D-A18D-6DF6C49A02FE}",
|
|
|
- "subId": 282778242
|
|
|
- },
|
|
|
- "assetHint": "assets/ur10_pretty/default_ur10_685b50fa_749c_5af0_b2c9_94c40f036e50_.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 10759897156699312470,
|
|
|
- "DisabledComponents": {
|
|
|
- "AZ::Render::EditorMeshComponent": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 474419659385091867,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{72B9A64F-89CC-5E4B-A1C7-F4B4BEFD932A}",
|
|
|
- "subId": 284007441
|
|
|
- },
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/wrist3.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 11677334541446234564
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 14233760762154086065
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 15352855579259414237
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 11415535193586363874
|
|
|
- },
|
|
|
- "EditorMaterialComponent": {
|
|
|
- "$type": "EditorMaterialComponent",
|
|
|
- "Id": 13936333441023164225,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "materials": [
|
|
|
- {
|
|
|
- "Key": {
|
|
|
- "materialSlotStableId": 491458131
|
|
|
- },
|
|
|
- "Value": {
|
|
|
- "MaterialAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{452EFBDC-3792-5C7D-A18D-6DF6C49A02FE}",
|
|
|
- "subId": 491458131
|
|
|
- },
|
|
|
- "assetHint": "assets/ur10_pretty/ur10_m_ur10_11871341214962486867.azmaterial"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 7235275397203828625
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 12365492289646973344
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 715402429335282698
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 17594809374785152723,
|
|
|
- "Parent Entity": "Entity_[2793304520806]",
|
|
|
- "Transform Data": {
|
|
|
- "Translate": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- -0.09220000356435776
|
|
|
- ],
|
|
|
- "Rotate": [
|
|
|
- 89.99999237060547,
|
|
|
- 0.0,
|
|
|
- 180.0
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2827664259174]": {
|
|
|
- "Id": "Entity_[2827664259174]",
|
|
|
- "Name": "base_link",
|
|
|
- "Components": {
|
|
|
- "EditorArticulationLinkComponent": {
|
|
|
- "$type": "EditorArticulationLinkComponent",
|
|
|
- "Id": 2107355456453077394,
|
|
|
- "ArticulationConfiguration": {
|
|
|
- "entityId": "",
|
|
|
- "Is Limited": false
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 18063591120778865568
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 3321844507469773721
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 13410600881580626233,
|
|
|
- "Child Entity Order": [
|
|
|
- "Entity_[2810484389990]",
|
|
|
- "Entity_[2814779357286]"
|
|
|
- ]
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 13639792197229742142
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 7069305371553331882
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 3640901341297282919
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 9756131630016509904
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 15052789035965274954
|
|
|
- },
|
|
|
- "JointsArticulationControllerComponent": {
|
|
|
- "$type": "GenericComponentWrapper",
|
|
|
- "Id": 6817195132121504467,
|
|
|
- "m_template": {
|
|
|
- "$type": "JointsArticulationControllerComponent"
|
|
|
- }
|
|
|
- },
|
|
|
- "JointsManipulationEditorComponent": {
|
|
|
- "$type": "JointsManipulationEditorComponent",
|
|
|
- "Id": 157370469700738812,
|
|
|
- "JointStatePublisherConfiguration": {
|
|
|
- "Topic": {
|
|
|
- "QoS": {
|
|
|
- "Reliability": 1
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Initial positions": [
|
|
|
- [
|
|
|
- "base_joint",
|
|
|
- {}
|
|
|
- ],
|
|
|
- [
|
|
|
- "base_link-base_fixed_joint",
|
|
|
- {}
|
|
|
- ],
|
|
|
- [
|
|
|
- "base_link-base_link_inertia",
|
|
|
- {}
|
|
|
- ],
|
|
|
- [
|
|
|
- "shoulder_pan_joint",
|
|
|
- {}
|
|
|
- ],
|
|
|
- [
|
|
|
- "shoulder_lift_joint",
|
|
|
- -1.6200000047683716
|
|
|
- ],
|
|
|
- [
|
|
|
- "elbow_joint",
|
|
|
- 1.399999976158142
|
|
|
- ],
|
|
|
- [
|
|
|
- "wrist_1_joint",
|
|
|
- -1.2000000476837158
|
|
|
- ],
|
|
|
- [
|
|
|
- "wrist_2_joint",
|
|
|
- -1.600000023841858
|
|
|
- ],
|
|
|
- [
|
|
|
- "wrist_3_joint",
|
|
|
- -0.10999999940395355
|
|
|
- ],
|
|
|
- [
|
|
|
- "wrist_3-flange",
|
|
|
- {}
|
|
|
- ],
|
|
|
- [
|
|
|
- "flange-tool0",
|
|
|
- {}
|
|
|
- ],
|
|
|
- [
|
|
|
- "tool0-gripper",
|
|
|
- {}
|
|
|
- ],
|
|
|
- [
|
|
|
- "wrist_3_link-ft_frame",
|
|
|
- {}
|
|
|
- ]
|
|
|
- ]
|
|
|
- },
|
|
|
- "JointsTrajectoryComponent": {
|
|
|
- "$type": "GenericComponentWrapper",
|
|
|
- "Id": 3854896214893937534,
|
|
|
- "m_template": {
|
|
|
- "$type": "JointsTrajectoryComponent",
|
|
|
- "Action name": "joint_trajectory_controller/follow_joint_trajectory"
|
|
|
- }
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 16030547047118712638,
|
|
|
- "Parent Entity": "Entity_[2844844128358]"
|
|
|
- },
|
|
|
- "ROS2FrameEditorComponent": {
|
|
|
- "$type": "ROS2FrameEditorComponent",
|
|
|
- "Id": 4167489356847728006,
|
|
|
- "ROS2FrameConfiguration": {
|
|
|
- "Namespace Configuration": {
|
|
|
- "Namespace Strategy": 1
|
|
|
- },
|
|
|
- "Frame Name": "base_link",
|
|
|
- "Joint Name": "base_joint"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2831959226470]": {
|
|
|
- "Id": "Entity_[2831959226470]",
|
|
|
- "Name": "upper_arm_link",
|
|
|
- "Components": {
|
|
|
- "EditorArticulationLinkComponent": {
|
|
|
- "$type": "EditorArticulationLinkComponent",
|
|
|
- "Id": 7394764653075612150,
|
|
|
- "ArticulationConfiguration": {
|
|
|
- "entityId": "",
|
|
|
- "Mass": 12.930000305175781,
|
|
|
- "Centre of mass offset": [
|
|
|
- -0.3059999942779541,
|
|
|
- 0.0,
|
|
|
- 0.17499999701976776
|
|
|
- ],
|
|
|
- "SolverPositionIterations": 40,
|
|
|
- "SolverVelocityIterations": 10,
|
|
|
- "Articulation Joint Type": 1,
|
|
|
- "Local Rotation": [
|
|
|
- 0.0,
|
|
|
- -89.99999237060547,
|
|
|
- 0.0
|
|
|
- ],
|
|
|
- "Angular Limit Negative": -360.0,
|
|
|
- "Angular Limit Positive": 360.0,
|
|
|
- "Motor configuration": {
|
|
|
- "UseMotor": true,
|
|
|
- "ForceLimit": 1000000.0,
|
|
|
- "Stiffness": 100000.0,
|
|
|
- "Damping": 10000.0
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 1485271558115577824
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 4639518580236598052
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 1233910231369604760,
|
|
|
- "Child Entity Order": [
|
|
|
- "Entity_[2801894455398]",
|
|
|
- "Entity_[2784714586214]"
|
|
|
- ]
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 18308463795714036587
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 6338140470854445813
|
|
|
- },
|
|
|
- "EditorMeshColliderComponent": {
|
|
|
- "$type": "EditorMeshColliderComponent",
|
|
|
- "Id": 3034131646466378965,
|
|
|
- "ColliderConfiguration": {
|
|
|
- "Position": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- 0.22094100713729858
|
|
|
- ],
|
|
|
- "Rotation": [
|
|
|
- 0.5,
|
|
|
- -0.5,
|
|
|
- -0.5,
|
|
|
- 0.5
|
|
|
- ],
|
|
|
- "MaterialSlots": {
|
|
|
- "Slots": [
|
|
|
- {
|
|
|
- "Name": "DefaultMaterial"
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ShapeConfiguration": {
|
|
|
- "PhysicsAsset": {
|
|
|
- "Asset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{7F387B68-6274-5744-8755-25B0F41943A8}",
|
|
|
- "subId": 3237433484
|
|
|
- },
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/upperarm_collider.stl.pxmesh"
|
|
|
- },
|
|
|
- "Configuration": {
|
|
|
- "PhysicsAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{7F387B68-6274-5744-8755-25B0F41943A8}",
|
|
|
- "subId": 3237433484
|
|
|
- },
|
|
|
- "loadBehavior": "QueueLoad",
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/upperarm_collider.stl.pxmesh"
|
|
|
- },
|
|
|
- "UseMaterialsFromAsset": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 14163931438026067228
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 111995075490002350
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 12870955700656991821
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 10121638506472911477,
|
|
|
- "Parent Entity": "Entity_[2797599488102]",
|
|
|
- "Transform Data": {
|
|
|
- "Rotate": [
|
|
|
- 89.99998474121094,
|
|
|
- -7.0167078561561656e-15,
|
|
|
- 3.7915164313689154e-22
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ROS2FrameEditorComponent": {
|
|
|
- "$type": "ROS2FrameEditorComponent",
|
|
|
- "Id": 2428354820031729224,
|
|
|
- "ROS2FrameConfiguration": {
|
|
|
- "Namespace Configuration": {
|
|
|
- "Namespace Strategy": 1
|
|
|
- },
|
|
|
- "Frame Name": "upper_arm_link",
|
|
|
- "Joint Name": "shoulder_lift_joint",
|
|
|
- "Publish Transform": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2836254193766]": {
|
|
|
- "Id": "Entity_[2836254193766]",
|
|
|
- "Name": "wrist_2_link_visual",
|
|
|
- "Components": {
|
|
|
- "AZ::Render::EditorMeshComponent_2": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 10510732115434176298,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{452EFBDC-3792-5C7D-A18D-6DF6C49A02FE}",
|
|
|
- "subId": 279499107
|
|
|
- },
|
|
|
- "assetHint": "assets/ur10_pretty/default_ur10_7d1d54bb_8d7e_5451_9f5b_1ba6fcddbe7d_.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 10820992746363107804,
|
|
|
- "DisabledComponents": {
|
|
|
- "AZ::Render::EditorMeshComponent": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 12055921542785769913,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{034FE6AD-C9B4-5FD0-8BA6-9D7A2BBF5719}",
|
|
|
- "subId": 283815047
|
|
|
- },
|
|
|
- "loadBehavior": "PreLoad",
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/wrist2.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 14144937000484044241
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 16516409790719080460
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 4981491000817828155
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 13253080152707088972
|
|
|
- },
|
|
|
- "EditorMaterialComponent": {
|
|
|
- "$type": "EditorMaterialComponent",
|
|
|
- "Id": 8175660321334464635,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "materials": [
|
|
|
- {
|
|
|
- "Key": {
|
|
|
- "materialSlotStableId": 491458131
|
|
|
- },
|
|
|
- "Value": {
|
|
|
- "MaterialAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{47EE5789-50E9-5435-9016-0D61923E2D31}"
|
|
|
- },
|
|
|
- "assetHint": "assets/ur10_pretty/ur10_m_ur10.azmaterial"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 16436524881456516110
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 5711164462116191429
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 1828307829069177858
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 7104084013587182043,
|
|
|
- "Parent Entity": "Entity_[2806189422694]",
|
|
|
- "Transform Data": {
|
|
|
- "Translate": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- -0.11580000072717667
|
|
|
- ],
|
|
|
- "Rotate": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- 180.0
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2840549161062]": {
|
|
|
- "Id": "Entity_[2840549161062]",
|
|
|
- "Name": "gripper_link",
|
|
|
- "Components": {
|
|
|
- "EditorArticulationLinkComponent": {
|
|
|
- "$type": "EditorArticulationLinkComponent",
|
|
|
- "Id": 748866081485613854,
|
|
|
- "ArticulationConfiguration": {
|
|
|
- "entityId": "",
|
|
|
- "Mass": 0.10000000149011612,
|
|
|
- "Is Limited": false
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorColliderComponent": {
|
|
|
- "$type": "EditorColliderComponent",
|
|
|
- "Id": 18007847651353396981,
|
|
|
- "ColliderConfiguration": {
|
|
|
- "Trigger": true,
|
|
|
- "MaterialSlots": {
|
|
|
- "Slots": [
|
|
|
- {
|
|
|
- "Name": "Entire object"
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ShapeConfiguration": {
|
|
|
- "ShapeType": 1,
|
|
|
- "Box": {
|
|
|
- "Configuration": [
|
|
|
- 0.10000000149011612,
|
|
|
- 0.05000000074505806,
|
|
|
- 0.10000000149011612
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 6288731859553183272
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 16149210585533300203
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 14529836107347666060,
|
|
|
- "Child Entity Order": [
|
|
|
- "Entity_[2780419618918]"
|
|
|
- ]
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 12637252647823226747
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 9533366759367145684
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 16586924044560410426
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 10412200100486045704
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 1405777104179388448
|
|
|
- },
|
|
|
- "GripperActionServerComponent": {
|
|
|
- "$type": "GenericComponentWrapper",
|
|
|
- "Id": 3024019699900949188,
|
|
|
- "m_template": {
|
|
|
- "$type": "GripperActionServerComponent"
|
|
|
- }
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 14197983517855441119,
|
|
|
- "Parent Entity": "Entity_[2776124651622]",
|
|
|
- "Transform Data": {
|
|
|
- "Translate": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- 0.029999999329447746
|
|
|
- ],
|
|
|
- "Rotate": [
|
|
|
- 90.00000762939453,
|
|
|
- 0.000003415094397496432,
|
|
|
- -90.00000762939453
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "VacuumGripperComponent": {
|
|
|
- "$type": "GenericComponentWrapper",
|
|
|
- "Id": 4055889742817864616,
|
|
|
- "m_template": {
|
|
|
- "$type": "VacuumGripperComponent",
|
|
|
- "EffectorCollider": "Entity_[2840549161062]",
|
|
|
- "EffectorArticulation": "Entity_[2840549161062]"
|
|
|
- }
|
|
|
- },
|
|
|
- "ROS2FrameEditorComponent": {
|
|
|
- "$type": "ROS2FrameEditorComponent",
|
|
|
- "Id": 9111996756983695701,
|
|
|
- "ROS2FrameConfiguration": {
|
|
|
- "Frame Name": "gripper_link",
|
|
|
- "Joint Name": "tool0-gripper",
|
|
|
- "Publish Transform": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2844844128358]": {
|
|
|
- "Id": "Entity_[2844844128358]",
|
|
|
- "Name": "world",
|
|
|
- "Components": {
|
|
|
- "EditorArticulationLinkComponent": {
|
|
|
- "$type": "EditorArticulationLinkComponent",
|
|
|
- "Id": 11450532099770796365,
|
|
|
- "ArticulationConfiguration": {
|
|
|
- "entityId": "",
|
|
|
- "Fixed Base": true
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 2437543646409827625
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 10785649237333294744
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 4795963443029451557,
|
|
|
- "Child Entity Order": [
|
|
|
- "Entity_[2827664259174]"
|
|
|
- ]
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 18222325389731650663
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 8767049428886895145
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 5597560521647392164
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 17618838444501087285
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 9697593403581928237
|
|
|
- },
|
|
|
- "ROS2RobotControlComponent": {
|
|
|
- "$type": "GenericComponentWrapper",
|
|
|
- "Id": 11101716935921684594,
|
|
|
- "m_template": {
|
|
|
- "$type": "ROS2RobotControlComponent",
|
|
|
- "SubscriberConfiguration": {
|
|
|
- "Topic": "cmd_vel"
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 15731962174482153453,
|
|
|
- "Parent Entity": "ContainerEntity"
|
|
|
- },
|
|
|
- "ROS2FrameEditorComponent": {
|
|
|
- "$type": "ROS2FrameEditorComponent",
|
|
|
- "Id": 9761504380790994395,
|
|
|
- "ROS2FrameConfiguration": {
|
|
|
- "Namespace Configuration": {
|
|
|
- "Namespace Strategy": 1
|
|
|
- },
|
|
|
- "Frame Name": "world",
|
|
|
- "Publish Transform": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2849139095654]": {
|
|
|
- "Id": "Entity_[2849139095654]",
|
|
|
- "Name": "base_link_inertia_visual",
|
|
|
- "Components": {
|
|
|
- "AZ::Render::EditorMeshComponent_2": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 17651120144353543411,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{452EFBDC-3792-5C7D-A18D-6DF6C49A02FE}",
|
|
|
- "subId": 270356319
|
|
|
- },
|
|
|
- "assetHint": "assets/ur10_pretty/default_ur10_55945219_b09e_502e_afec_59bf5e4705f7_.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 6221609327881410154,
|
|
|
- "DisabledComponents": {
|
|
|
- "AZ::Render::EditorMeshComponent": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 9332560215805470524,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{501BBAEE-663A-5A82-B1FB-2FBF8F3F7110}",
|
|
|
- "subId": 280297057
|
|
|
- },
|
|
|
- "loadBehavior": "PreLoad",
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/base.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 6354608076209335045
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 9920358110668304878
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 10025753077597485776
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 12561913128988816250
|
|
|
- },
|
|
|
- "EditorMaterialComponent": {
|
|
|
- "$type": "EditorMaterialComponent",
|
|
|
- "Id": 6247555752693366324,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "materials": [
|
|
|
- {
|
|
|
- "Key": {
|
|
|
- "materialSlotStableId": 491458131
|
|
|
- },
|
|
|
- "Value": {
|
|
|
- "MaterialAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{47EE5789-50E9-5435-9016-0D61923E2D31}"
|
|
|
- },
|
|
|
- "assetHint": "assets/ur10_pretty/ur10_m_ur10.azmaterial"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 11158492037712816875
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 14369638901182873244
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 10234567482544574166
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 17005855651803170002,
|
|
|
- "Parent Entity": "Entity_[2810484389990]",
|
|
|
- "Transform Data": {
|
|
|
- "Rotate": [
|
|
|
- 0.0,
|
|
|
- 0.0,
|
|
|
- 180.0
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2853434062950]": {
|
|
|
- "Id": "Entity_[2853434062950]",
|
|
|
- "Name": "shoulder_link_visual",
|
|
|
- "Components": {
|
|
|
- "AZ::Render::EditorMeshComponent_2": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 2854413389118680761,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{452EFBDC-3792-5C7D-A18D-6DF6C49A02FE}",
|
|
|
- "subId": 275393235
|
|
|
- },
|
|
|
- "assetHint": "assets/ur10_pretty/default_ur10_fe499ed7_fd74_586c_94f6_babc13492d5d_.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 7348425279808915112,
|
|
|
- "DisabledComponents": {
|
|
|
- "AZ::Render::EditorMeshComponent": {
|
|
|
- "$type": "AZ::Render::EditorMeshComponent",
|
|
|
- "Id": 13985155662562537039,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "ModelAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{30D64B4A-A307-5DE9-B53C-BFB80F1CD37C}",
|
|
|
- "subId": 278609181
|
|
|
- },
|
|
|
- "loadBehavior": "PreLoad",
|
|
|
- "assetHint": "assets/urdfimporter/783534404_ur.urdf/shoulder.azmodel"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 14239430869548461223
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 13192234308059724363
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 15300718848720294060
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 6196290733160565344
|
|
|
- },
|
|
|
- "EditorMaterialComponent": {
|
|
|
- "$type": "EditorMaterialComponent",
|
|
|
- "Id": 2235950858828626167,
|
|
|
- "Controller": {
|
|
|
- "Configuration": {
|
|
|
- "materials": [
|
|
|
- {
|
|
|
- "Key": {
|
|
|
- "materialSlotStableId": 491458131
|
|
|
- },
|
|
|
- "Value": {
|
|
|
- "MaterialAsset": {
|
|
|
- "assetId": {
|
|
|
- "guid": "{47EE5789-50E9-5435-9016-0D61923E2D31}"
|
|
|
- },
|
|
|
- "assetHint": "assets/ur10_pretty/ur10_m_ur10.azmaterial"
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- ]
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 3595475563434626575
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 4181822512340463788
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 10297783223807601856
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 14544814147556676233,
|
|
|
- "Parent Entity": "Entity_[2797599488102]"
|
|
|
- }
|
|
|
- }
|
|
|
- },
|
|
|
- "Entity_[2857729030246]": {
|
|
|
- "Id": "Entity_[2857729030246]",
|
|
|
- "Name": "ft_frame",
|
|
|
- "Components": {
|
|
|
- "EditorArticulationLinkComponent": {
|
|
|
- "$type": "EditorArticulationLinkComponent",
|
|
|
- "Id": 5488527349524171324,
|
|
|
- "ArticulationConfiguration": {
|
|
|
- "entityId": "",
|
|
|
- "Is Limited": false
|
|
|
- }
|
|
|
- },
|
|
|
- "EditorDisabledCompositionComponent": {
|
|
|
- "$type": "EditorDisabledCompositionComponent",
|
|
|
- "Id": 11126129908626469941
|
|
|
- },
|
|
|
- "EditorEntityIconComponent": {
|
|
|
- "$type": "EditorEntityIconComponent",
|
|
|
- "Id": 3618247936598305267
|
|
|
- },
|
|
|
- "EditorEntitySortComponent": {
|
|
|
- "$type": "EditorEntitySortComponent",
|
|
|
- "Id": 6605950238414544721
|
|
|
- },
|
|
|
- "EditorInspectorComponent": {
|
|
|
- "$type": "EditorInspectorComponent",
|
|
|
- "Id": 17814317813694231378
|
|
|
- },
|
|
|
- "EditorLockComponent": {
|
|
|
- "$type": "EditorLockComponent",
|
|
|
- "Id": 15763928017218918616
|
|
|
- },
|
|
|
- "EditorOnlyEntityComponent": {
|
|
|
- "$type": "EditorOnlyEntityComponent",
|
|
|
- "Id": 622487451555824675
|
|
|
- },
|
|
|
- "EditorPendingCompositionComponent": {
|
|
|
- "$type": "EditorPendingCompositionComponent",
|
|
|
- "Id": 952553233638955986
|
|
|
- },
|
|
|
- "EditorVisibilityComponent": {
|
|
|
- "$type": "EditorVisibilityComponent",
|
|
|
- "Id": 534106856007224175
|
|
|
- },
|
|
|
- "TransformComponent": {
|
|
|
- "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
|
|
|
- "Id": 2109512160091696786,
|
|
|
- "Parent Entity": "Entity_[2793304520806]",
|
|
|
- "Transform Data": {
|
|
|
- "Rotate": [
|
|
|
- -179.99996948242188,
|
|
|
- -6.392019448087837e-29,
|
|
|
- -3.1960067147783805e-29
|
|
|
- ]
|
|
|
- }
|
|
|
- },
|
|
|
- "ROS2FrameEditorComponent": {
|
|
|
- "$type": "ROS2FrameEditorComponent",
|
|
|
- "Id": 16309935774288793114,
|
|
|
- "ROS2FrameConfiguration": {
|
|
|
- "Frame Name": "ft_frame",
|
|
|
- "Joint Name": "wrist_3_link-ft_frame",
|
|
|
- "Publish Transform": false
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
-}
|