Darkages/SpotMicroESP32-Leika
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

🚀 Initial sveltekit app

Browse Source
This commit is contained in:
Rune Harlyk
2024-03-28 01:04:52 +01:00
committed by Rune Harlyk
parent 23806e366b
commit 0acbb4c83a
85 changed files with 6096 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app2/static/favicon.ico
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 15 KiB

app2/static/favicon.png
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 1.5 KiB

app2/static/logo512.png
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 151 KiB

app2/static/manifest.json
+15
View File
@@ -0,0 +1,15 @@
{
"short_name": "Quadruped Controller",
"name": "Quadruped Controller",
"icons": [
{
"src": "logo512.png",
"type": "image/png",
"sizes": "512x512"
}
],
"start_url": ".",
"display": "standalone",
"theme_color": "#000000",
"background_color": "#ffffff"
}
app2/static/snowy_forest_4k.exr
BIN
View File
Binary file not shown.
app2/static/snowy_park_01_4k.exr
BIN
View File
Binary file not shown.
app2/static/spot_micro.urdf.xacro
+310
View File
@@ -0,0 +1,310 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="spot_micro_rviz">
<material name="shell_color">
<color rgba="1 1 1 1" />
</material>
<material name="body_color">
<color rgba="0.1 0.1 0.1 1" />
</material>
<material name="foot_color">
<color rgba="0 0.75 1 1" />
</material>
<!-- Params -->
<xacro:property name="body_length" value="0.140" />
<xacro:property name="body_width" value="0.110" />
<xacro:property name="body_height" value="0.070" />
<xacro:property name="front_length" value="0.058" />
<xacro:property name="rear_length" value="0.040" />
<xacro:property name="shoulder_length" value="0.044" />
<xacro:property name="shoulder_width" value="0.038" />
<xacro:property name="leg_length" value="0.1075" />
<xacro:property name="foot_length" value="0.130" />
<xacro:property name="toe_radius" value="0.020" />
<!-- <xacro:property name="toe_radius" value="0.014" /> -->
<xacro:property name="toe_width" value="0.020" />
<xacro:property name="shift" value="0.055" />
<xacro:property name="shiftx" value="0.093" />
<xacro:property name="shifty" value="0.039" />
<!-- Macros -->
<xacro:macro name="gen_shoulder" params="name left">
<link name="${name}">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://stl/lshoulder.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.14159" xyz="0.135 0.015 -0.01" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://stl/rshoulder.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.14159" xyz="0.135 0.095 -0.01" />
</xacro:unless>
<material name="body_color" />
</visual>
<collision>
<geometry>
<box size="${shoulder_length} ${shoulder_width} ${body_height}" />
</geometry>
<origin rpy="0 0 0" xyz="0 0 0" />
</collision>
<inertial>
<mass value="0.10" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
</xacro:macro>
<xacro:macro name="gen_shoulder_joint" params="pos shiftx shifty">
<joint name="${pos}_shoulder" type="revolute">
<parent link="base_link" />
<child link="${pos}_shoulder_link" />
<axis xyz="1 0 0" />
<origin rpy="0 0 0" xyz="${shiftx} ${shifty} 0" />
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7" />
<dynamics damping="0.0" friction="0.5" />
</joint>
</xacro:macro>
<xacro:macro name="gen_leg" params="name left">
<link name="${name}_cover">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://stl/larm_cover.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 -0.139 3.14159" xyz="0.130 -0.040 -0.025" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://stl/rarm_cover.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 -0.139 3.14159" xyz="0.130 0.15 -0.025" />
</xacro:unless>
<material name="shell_color" />
</visual>
</link>
<link name="${name}">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://stl/larm.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 -0.139 3.14159" xyz="0.130 -0.040 -0.025" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://stl/rarm.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 -0.139 3.14159" xyz="0.130 0.15 -0.025" />
</xacro:unless>
<material name="body_color" />
<!-- <geometry>
<box size="0.028 0.036 ${leg_length}"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<material name="shell_color"/>-->
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 ${leg_length}"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
</inertial>
</link>
</xacro:macro>
<xacro:macro name="gen_leg_joint" params="pos shift">
<joint name="${pos}_leg" type="revolute">
<parent link="${pos}_shoulder_link"/>
<child link="${pos}_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 ${shift} 0"/>
<limit effort="1000.0" lower="-2.666" upper="1.548" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="${pos}_leg_cover_joint" type="fixed">
<parent link="${pos}_leg_link"/>
<child link="${pos}_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
</xacro:macro>
<xacro:macro name="gen_foot" params="name left">
<link name="${name}">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://stl/lfoot.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.14159" xyz="0.120 -0.04 0.1" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://stl/rfoot.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.14159" xyz="0.120 0.15 0.1" />
</xacro:unless>
<material name="body_color" />
</visual>
<collision>
<geometry>
<box size="0.026 0.020 ${foot_length}"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
</inertial>
</link>
</xacro:macro>
<xacro:macro name="gen_foot_joint" params="pos">
<joint name="${pos}_foot" type="revolute">
<parent link="${pos}_leg_link"/>
<child link="${pos}_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 0 -${leg_length}"/>
<limit effort="1000.0" lower="-2.6" upper="0.1" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
</xacro:macro>
<xacro:macro name="gen_toe" params="name">
<link name="${name}">
<visual>
<geometry>
<mesh filename="package://stl/foot.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 -0.40010 3.14159" xyz="0.00 0.01 0.015" />
<material name="foot_color" />
</visual>
<collision>
<geometry>
<sphere radius="${toe_radius}" />
</geometry>
<origin rpy="0 0 0" xyz="0 0 ${toe_radius}"/>
<contact_coefficients mu="1.1" />
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
</inertial>
</link>
</xacro:macro>
<xacro:macro name="gen_toe_joint" params="pos">
<joint name="${pos}_toe" type="fixed">
<parent link="${pos}_foot_link"/>
<child link="${pos}_toe_link"/>
<origin xyz="0 0 -${foot_length}"/>
</joint>
</xacro:macro>
<xacro:macro name="gen_full_leg_joint" params="pos shiftx shifty shift left">
<xacro:gen_shoulder name="${pos}_shoulder_link" left="${left}"/>
<xacro:gen_leg name="${pos}_leg_link" left="${left}"/>
<xacro:gen_foot name="${pos}_foot_link" left="${left}"/>
<xacro:gen_toe name="${pos}_toe_link"/>
<xacro:gen_shoulder_joint pos="${pos}" shiftx="${shiftx}" shifty="${shifty}"/>
<xacro:gen_leg_joint pos="${pos}" shift="${shift}"/>
<xacro:gen_foot_joint pos="${pos}"/>
<xacro:gen_toe_joint pos="${pos}"/>
</xacro:macro>
<!-- Robot Body -->
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://stl/mainbody.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="body_color" />
<origin rpy="0 0 0" xyz="-0.042 -0.055 -0.010"/>
</visual>
<collision>
<geometry>
<box size="${body_length} ${body_width} ${body_height}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2.80"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<link name="rear_link">
<visual>
<geometry>
<mesh filename="package://stl/backpart.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.14159" xyz="0.04 0.055 -0.010" />
<material name="shell_color" />
</visual>
<collision>
<geometry>
<box size="${rear_length} ${body_width} ${body_height}"/>
</geometry>
<origin rpy="0 0 0" xyz="0.135 0 0"/>
</collision>
<inertial>
<mass value="0.20"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<joint name="base_rear" type="fixed">
<parent link="base_link"/>
<child link="rear_link"/>
</joint>
<link name="front_link">
<visual>
<geometry>
<mesh filename="package://stl/frontpart.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.14159" xyz="0.040 0.055 -0.010" />
<material name="shell_color" />
</visual>
<collision>
<geometry>
<box size="${front_length} ${body_width} ${body_height}"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.145 0 0"/>
</collision>
<inertial>
<mass value="0.20"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<joint name="base_front" type="fixed">
<parent link="base_link"/>
<child link="front_link"/>
</joint>
<!-- create Legs -->
<xacro:gen_full_leg_joint pos="front_left" shiftx="${shiftx}" shifty="${shifty}" shift="${shift}" left="true"/>
<xacro:gen_full_leg_joint pos="front_right" shiftx="${shiftx}" shifty="-${shifty}" shift="-${shift}" left="false"/>
<xacro:gen_full_leg_joint pos="rear_left" shiftx="-${shiftx}" shifty="${shifty}" shift="${shift}" left="true"/>
<xacro:gen_full_leg_joint pos="rear_right" shiftx="-${shiftx}" shifty="-${shifty}" shift="-${shift}" left="false"/>
</robot>
app2/static/stl.zip
BIN
View File
Binary file not shown.
app2/static/stl/backpart.stl
BIN
View File
Binary file not shown.
app2/static/stl/foot.stl
BIN
View File
Binary file not shown.
app2/static/stl/frontpart.stl
BIN
View File
Binary file not shown.
app2/static/stl/larm.stl
BIN
View File
Binary file not shown.
app2/static/stl/larm_cover.stl
BIN
View File
Binary file not shown.
app2/static/stl/lfoot.stl
BIN
View File
Binary file not shown.
app2/static/stl/lshoulder.stl
BIN
View File
Binary file not shown.
app2/static/stl/mainbody.stl
BIN
View File
Binary file not shown.
app2/static/stl/rarm.stl
BIN
View File
Binary file not shown.
app2/static/stl/rarm_cover.stl
BIN
View File
Binary file not shown.
app2/static/stl/rfoot.stl
BIN
View File
Binary file not shown.
app2/static/stl/rshoulder.stl
BIN
View File
Binary file not shown.
app2/static/sw.js
+45
View File
@@ -0,0 +1,45 @@
const CACHE_NAME = 'v1';
const urlsToCache = ['/', '/index.html', '/stl.zip'];
self.addEventListener('install', (event) => {
event.waitUntil(
caches.open(CACHE_NAME).then((cache) => {
return cache.addAll(urlsToCache);
})
);
});
// self.addEventListener('fetch', (event) => {
// event.respondWith(
// caches.match(event.request).then((response) => {
// if (response) {
// return response;
// }
// return fetch(event.request).then((response) => {
// if (!response || response.status !== 200 || response.type !== 'basic') {
// return response;
// }
// var responseToCache = response.clone();
// caches.open(CACHE_NAME).then((cache) => {
// cache.put(event.request, responseToCache);
// });
// return response;
// });
// })
// );
// });
self.addEventListener('activate', (event) => {
var cacheWhitelist = ['v1'];
event.waitUntil(
caches.keys().then((cacheNames) => {
return Promise.all(
cacheNames.map((cacheName) => {
if (cacheWhitelist.indexOf(cacheName) === -1) {
return caches.delete(cacheName);
}
})
);
})
);
});