Spaces:
Running
Running
fix: catalog meshes list now enumerates real vis_<link>__<zone> nodes from the GLB per link, not a hard-coded guess. Fixes non-articulating drawers, doors, caster wheels.
c3e0430 verified | { | |
| "class": "logistics_cage", | |
| "label": "Cages", | |
| "items_dir": "assets/logistics_cage", | |
| "items": [ | |
| { | |
| "id": "v01_logistics_cage_6d5182", | |
| "dims_m": [ | |
| 0.8, | |
| 1.7, | |
| 0.72 | |
| ], | |
| "mass_kg": 79.844, | |
| "tris": 18907, | |
| "joints": [ | |
| { | |
| "name": "caster_swivel_deg__caster_fork_0", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_fork_0__casters" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "caster_fork_0", | |
| "pivot": [ | |
| -0.3175, | |
| 0.1705, | |
| 0.2775 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "wheel_roll_deg__caster_wheel_0", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_wheel_0__casters" | |
| ], | |
| "parent_link": "caster_fork_0", | |
| "child_link": "caster_wheel_0", | |
| "pivot": [ | |
| -0.3325, | |
| 0.0625, | |
| 0.265 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "caster_swivel_deg__caster_fork_1", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_fork_1__casters" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "caster_fork_1", | |
| "pivot": [ | |
| 0.3175, | |
| 0.1705, | |
| 0.2775 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "wheel_roll_deg__caster_wheel_1", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_wheel_1__casters" | |
| ], | |
| "parent_link": "caster_fork_1", | |
| "child_link": "caster_wheel_1", | |
| "pivot": [ | |
| 0.3025, | |
| 0.0625, | |
| 0.265 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "caster_swivel_deg__caster_fork_2", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_fork_2__casters" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "caster_fork_2", | |
| "pivot": [ | |
| -0.3175, | |
| 0.1705, | |
| -0.2775 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "wheel_roll_deg__caster_wheel_2", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_wheel_2__casters" | |
| ], | |
| "parent_link": "caster_fork_2", | |
| "child_link": "caster_wheel_2", | |
| "pivot": [ | |
| -0.3325, | |
| 0.0625, | |
| -0.29 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "caster_swivel_deg__caster_fork_3", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_fork_3__casters" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "caster_fork_3", | |
| "pivot": [ | |
| 0.3175, | |
| 0.1705, | |
| -0.2775 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "wheel_roll_deg__caster_wheel_3", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_wheel_3__casters" | |
| ], | |
| "parent_link": "caster_fork_3", | |
| "child_link": "caster_wheel_3", | |
| "pivot": [ | |
| 0.3025, | |
| 0.0625, | |
| -0.29 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| } | |
| ], | |
| "glb": "assets/logistics_cage/v01_logistics_cage_6d5182/v01_logistics_cage_6d5182.glb" | |
| }, | |
| { | |
| "id": "v02_logistics_cage_53cc1a", | |
| "dims_m": [ | |
| 1.2, | |
| 0.9, | |
| 1.0 | |
| ], | |
| "mass_kg": 118.622, | |
| "tris": 26908, | |
| "joints": [ | |
| { | |
| "name": "caster_swivel_deg__caster_fork_0", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_fork_0__casters" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "caster_fork_0", | |
| "pivot": [ | |
| -0.5175, | |
| 0.1455, | |
| 0.4175 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "wheel_roll_deg__caster_wheel_0", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_wheel_0__casters" | |
| ], | |
| "parent_link": "caster_fork_0", | |
| "child_link": "caster_wheel_0", | |
| "pivot": [ | |
| -0.5325, | |
| 0.0625, | |
| 0.405 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "caster_swivel_deg__caster_fork_1", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_fork_1__casters" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "caster_fork_1", | |
| "pivot": [ | |
| 0.5175, | |
| 0.1455, | |
| 0.4175 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "wheel_roll_deg__caster_wheel_1", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_wheel_1__casters" | |
| ], | |
| "parent_link": "caster_fork_1", | |
| "child_link": "caster_wheel_1", | |
| "pivot": [ | |
| 0.5025, | |
| 0.0625, | |
| 0.405 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "caster_swivel_deg__caster_fork_2", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_fork_2__casters" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "caster_fork_2", | |
| "pivot": [ | |
| -0.5175, | |
| 0.1455, | |
| -0.4175 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "wheel_roll_deg__caster_wheel_2", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_wheel_2__casters" | |
| ], | |
| "parent_link": "caster_fork_2", | |
| "child_link": "caster_wheel_2", | |
| "pivot": [ | |
| -0.5325, | |
| 0.0625, | |
| -0.43 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "caster_swivel_deg__caster_fork_3", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_fork_3__casters" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "caster_fork_3", | |
| "pivot": [ | |
| 0.5175, | |
| 0.1455, | |
| -0.4175 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "wheel_roll_deg__caster_wheel_3", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_wheel_3__casters" | |
| ], | |
| "parent_link": "caster_fork_3", | |
| "child_link": "caster_wheel_3", | |
| "pivot": [ | |
| 0.5025, | |
| 0.0625, | |
| -0.43 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "gate_open_deg__gate", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_gate__cage" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "gate", | |
| "pivot": [ | |
| -0.585, | |
| 0.19, | |
| 0.485 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| -1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 110.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| } | |
| ], | |
| "glb": "assets/logistics_cage/v02_logistics_cage_53cc1a/v02_logistics_cage_53cc1a.glb" | |
| }, | |
| { | |
| "id": "v03_logistics_cage_83ccfe", | |
| "dims_m": [ | |
| 0.85, | |
| 1.5, | |
| 0.7 | |
| ], | |
| "mass_kg": 96.104, | |
| "tris": 37096, | |
| "joints": [ | |
| { | |
| "name": "caster_swivel_deg__caster_fork_0", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_fork_0__casters" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "caster_fork_0", | |
| "pivot": [ | |
| -0.3425, | |
| 0.1705, | |
| 0.2675 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "wheel_roll_deg__caster_wheel_0", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_wheel_0__casters" | |
| ], | |
| "parent_link": "caster_fork_0", | |
| "child_link": "caster_wheel_0", | |
| "pivot": [ | |
| -0.3575, | |
| 0.0625, | |
| 0.255 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "caster_swivel_deg__caster_fork_1", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_fork_1__casters" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "caster_fork_1", | |
| "pivot": [ | |
| 0.3425, | |
| 0.1705, | |
| 0.2675 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "wheel_roll_deg__caster_wheel_1", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_wheel_1__casters" | |
| ], | |
| "parent_link": "caster_fork_1", | |
| "child_link": "caster_wheel_1", | |
| "pivot": [ | |
| 0.3275, | |
| 0.0625, | |
| 0.255 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "caster_swivel_deg__caster_fork_2", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_fork_2__casters" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "caster_fork_2", | |
| "pivot": [ | |
| -0.3425, | |
| 0.1705, | |
| -0.2675 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "wheel_roll_deg__caster_wheel_2", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_wheel_2__casters" | |
| ], | |
| "parent_link": "caster_fork_2", | |
| "child_link": "caster_wheel_2", | |
| "pivot": [ | |
| -0.3575, | |
| 0.0625, | |
| -0.28 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "caster_swivel_deg__caster_fork_3", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_fork_3__casters" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "caster_fork_3", | |
| "pivot": [ | |
| 0.3425, | |
| 0.1705, | |
| -0.2675 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "wheel_roll_deg__caster_wheel_3", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_wheel_3__casters" | |
| ], | |
| "parent_link": "caster_fork_3", | |
| "child_link": "caster_wheel_3", | |
| "pivot": [ | |
| 0.3275, | |
| 0.0625, | |
| -0.28 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "gate_open_deg__gate", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_gate__cage" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "gate", | |
| "pivot": [ | |
| 0.0, | |
| 0.8625, | |
| 0.3375 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 110.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| } | |
| ], | |
| "glb": "assets/logistics_cage/v03_logistics_cage_83ccfe/v03_logistics_cage_83ccfe.glb" | |
| }, | |
| { | |
| "id": "v04_logistics_cage_0ab216", | |
| "dims_m": [ | |
| 0.72, | |
| 1.7, | |
| 0.82 | |
| ], | |
| "mass_kg": 66.781, | |
| "tris": 14857, | |
| "joints": [ | |
| { | |
| "name": "caster_swivel_deg__caster_fork_0", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_fork_0__casters" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "caster_fork_0", | |
| "pivot": [ | |
| -0.2775, | |
| 0.1705, | |
| 0.3275 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "wheel_roll_deg__caster_wheel_0", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_wheel_0__casters" | |
| ], | |
| "parent_link": "caster_fork_0", | |
| "child_link": "caster_wheel_0", | |
| "pivot": [ | |
| -0.2925, | |
| 0.0625, | |
| 0.315 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "caster_swivel_deg__caster_fork_1", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_fork_1__casters" | |
| ], | |
| "parent_link": "cage", | |
| "child_link": "caster_fork_1", | |
| "pivot": [ | |
| 0.2775, | |
| 0.1705, | |
| 0.3275 | |
| ], | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| "limits": [ | |
| 0.0, | |
| 360.0 | |
| ], | |
| "unit": "deg", | |
| "phase": 0 | |
| }, | |
| { | |
| "name": "wheel_roll_deg__caster_wheel_1", | |
| "type": "revolute", | |
| "meshes": [ | |
| "vis_caster_wheel_1__casters" | |
| ], | |
| "parent_link": "caster_fork_1", | |
| "child_link": "caster_wheel_1", | |
| "pivot": [ | |
| 0.2625, | |
| 0.0625, | |
| 0.315 | |
| ], | |
| "axis": [ | |
| 1.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
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