Checkpoint 8
This commit is contained in:
Johnny Fernandes
@@ -0,0 +1,885 @@
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#VRML_SIM R2025a utf8
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# Shepherd Dog Robot - mecanum-wheeled base with dog character on top
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# 4-wheel omnidirectional drive (front-left, front-right, rear-left, rear-right).
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PROTO ShepherdDogMecanum [
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field SFVec3f translation 0 0 0
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field SFRotation rotation 0 1 0 0
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field SFString name "ShepherdDog"
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field SFString controller "shepherd_dog"
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field MFString controllerArgs []
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field SFString customData ""
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field SFBool supervisor FALSE
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field SFBool synchronization TRUE
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]
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{
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Robot {
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translation IS translation
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rotation IS rotation
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name IS name
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controller IS controller
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controllerArgs IS controllerArgs
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customData IS customData
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supervisor IS supervisor
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synchronization IS synchronization
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children [
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# ========== CHASSIS / BASE ==========
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DEF CHASSIS Transform {
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translation 0 0 0.05
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children [
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Shape {
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appearance DEF CHASSIS_APP PBRAppearance {
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baseColor 0.2 0.2 0.2
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roughness 0.6
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metalness 0.3
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}
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geometry Box {
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size 0.32 0.16 0.06
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}
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}
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]
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}
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# Front slope
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DEF CHASSIS_FRONT Transform {
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translation 0.14 0 0.07
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children [
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Shape {
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appearance USE CHASSIS_APP
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geometry Box {
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size 0.06 0.14 0.04
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}
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}
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]
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}
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# Rear slope
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DEF CHASSIS_REAR Transform {
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translation -0.14 0 0.07
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children [
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Shape {
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appearance USE CHASSIS_APP
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geometry Box {
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size 0.06 0.14 0.04
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}
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}
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]
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}
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# ========== DOG BODY on top of chassis ==========
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DEF BODY Transform {
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translation 0 0 0.11
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children [
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Shape {
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appearance DEF FUR_BROWN PBRAppearance {
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baseColor 0.55 0.35 0.17
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roughness 0.85
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metalness 0.0
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}
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geometry Box {
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size 0.30 0.16 0.08
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}
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}
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]
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}
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# ========== CHEST ==========
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DEF CHEST Transform {
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translation 0.12 0 0.11
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children [
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Shape {
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appearance DEF FUR_CREAM PBRAppearance {
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baseColor 0.85 0.72 0.55
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roughness 0.85
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metalness 0.0
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}
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geometry Box {
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size 0.08 0.18 0.08
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}
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}
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]
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}
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# ========== HEAD ==========
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DEF HEAD Transform {
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translation 0.20 0 0.17
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children [
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Shape {
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appearance USE FUR_BROWN
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geometry Box {
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size 0.10 0.12 0.09
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}
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}
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]
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}
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# ========== SNOUT + LIDAR ==========
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DEF SNOUT Transform {
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translation 0.28 0 0.155
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children [
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Shape {
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appearance USE FUR_CREAM
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geometry Box {
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size 0.08 0.07 0.05
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}
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}
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# Nose
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Transform {
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translation 0.04 0 0.01
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.1 0.1 0.1
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roughness 0.4
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}
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geometry Sphere {
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radius 0.013
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subdivision 2
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}
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}
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]
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}
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# Lidar — front-facing 140° FOV, mounted at snout tip
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Lidar {
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translation 0.05 0 0.01
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name "lidar"
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horizontalResolution 180
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fieldOfView 2.44
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numberOfLayers 1
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minRange 0.10
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maxRange 12.0
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noise 0.005
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}
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]
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}
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# ========== LEFT EAR ==========
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DEF LEFT_EAR HingeJoint {
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jointParameters HingeJointParameters {
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axis 0 0 1
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anchor 0.19 0.055 0.21
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}
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device [
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RotationalMotor {
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name "left ear motor"
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maxVelocity 10.0
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minPosition -0.5
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maxPosition 0.5
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}
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]
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endPoint Solid {
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translation 0.19 0.055 0.21
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rotation 0 0 1 0.2
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name "left ear"
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children [
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Shape {
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appearance DEF FUR_DARK PBRAppearance {
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baseColor 0.35 0.20 0.10
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roughness 0.85
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metalness 0.0
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}
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geometry Box {
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size 0.035 0.025 0.06
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}
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}
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]
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boundingObject Box {
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size 0.035 0.025 0.06
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}
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physics Physics {
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density -1
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mass 0.005
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}
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}
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}
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# ========== RIGHT EAR ==========
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DEF RIGHT_EAR HingeJoint {
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jointParameters HingeJointParameters {
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axis 0 0 1
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anchor 0.19 -0.055 0.21
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}
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device [
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RotationalMotor {
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name "right ear motor"
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maxVelocity 10.0
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minPosition -0.5
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maxPosition 0.5
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}
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]
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endPoint Solid {
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translation 0.19 -0.055 0.21
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rotation 0 0 -1 0.2
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name "right ear"
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children [
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Shape {
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appearance USE FUR_DARK
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geometry Box {
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size 0.035 0.025 0.06
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}
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}
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]
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boundingObject Box {
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size 0.035 0.025 0.06
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}
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physics Physics {
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density -1
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mass 0.005
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}
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}
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}
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# ========== EYES ==========
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DEF LEFT_EYE Transform {
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translation 0.25 0.05 0.19
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.95 0.95 0.95
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roughness 0.3
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}
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geometry Sphere {
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radius 0.016
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subdivision 2
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}
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}
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# Pupil
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Transform {
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translation 0.012 0 0.004
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.1 0.1 0.1
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roughness 0.2
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}
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geometry Sphere {
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radius 0.009
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subdivision 2
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}
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}
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]
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}
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]
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}
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DEF RIGHT_EYE Transform {
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translation 0.25 -0.05 0.19
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.95 0.95 0.95
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roughness 0.3
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}
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geometry Sphere {
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radius 0.016
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subdivision 2
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}
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}
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# Pupil
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Transform {
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translation 0.012 0 0.004
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.1 0.1 0.1
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roughness 0.2
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}
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geometry Sphere {
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radius 0.009
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subdivision 2
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}
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}
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]
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}
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]
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}
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# ========== COLLAR ==========
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DEF COLLAR Transform {
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translation 0.16 0 0.125
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.8 0.1 0.1
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roughness 0.5
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}
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geometry Cylinder {
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height 0.02
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radius 0.095
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subdivision 16
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}
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}
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# ID tag
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Transform {
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translation 0 0.10 0
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rotation 1 0 0 1.5708
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.75 0.75 0.0
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metalness 0.8
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roughness 0.2
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}
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geometry Cylinder {
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height 0.003
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radius 0.018
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subdivision 8
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}
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}
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]
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}
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]
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}
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# ========== TAIL (lidar inside tail tip ball) ==========
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DEF TAIL HingeJoint {
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jointParameters HingeJointParameters {
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axis 0 1 0
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anchor -0.15 0 0.11
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}
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device [
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RotationalMotor {
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name "tail motor"
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maxVelocity 5.0
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minPosition -1.0
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maxPosition 1.0
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}
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]
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endPoint Solid {
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translation -0.17 0 0.13
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name "tail solid"
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children [
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Shape {
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appearance USE FUR_BROWN
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geometry Capsule {
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height 0.12
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radius 0.013
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top FALSE
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}
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}
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# Tail tip ball
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Transform {
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translation 0 0 0.08
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.2 0.2 0.2
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roughness 0.3
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metalness 0.6
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}
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geometry Sphere {
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radius 0.028
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subdivision 4
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}
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}
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]
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}
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]
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boundingObject Group {
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children [
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Capsule {
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height 0.12
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radius 0.013
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}
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Transform {
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translation 0 0 0.08
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children [
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Sphere {
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radius 0.028
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}
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]
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}
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]
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}
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physics Physics {
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density -1
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mass 0.08
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}
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}
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}
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# ========== AXLE ARMS (4 corners) ==========
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DEF FRONT_RIGHT_AXLE Transform {
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translation 0.14 -0.115 0.038
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.5 0.5 0.5
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roughness 0.3
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metalness 0.8
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}
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geometry Box {
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size 0.02 0.08 0.02
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}
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}
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]
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}
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DEF FRONT_LEFT_AXLE Transform {
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translation 0.14 0.115 0.038
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.5 0.5 0.5
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roughness 0.3
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metalness 0.8
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||||
}
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geometry Box {
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size 0.02 0.08 0.02
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}
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}
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]
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}
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DEF REAR_RIGHT_AXLE Transform {
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translation -0.14 -0.115 0.038
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.5 0.5 0.5
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roughness 0.3
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metalness 0.8
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}
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geometry Box {
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||||
size 0.02 0.08 0.02
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}
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}
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]
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}
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DEF REAR_LEFT_AXLE Transform {
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translation -0.14 0.115 0.038
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children [
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Shape {
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||||
appearance PBRAppearance {
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||||
baseColor 0.5 0.5 0.5
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||||
roughness 0.3
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||||
metalness 0.8
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||||
}
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||||
geometry Box {
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||||
size 0.02 0.08 0.02
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||||
}
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}
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]
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}
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# ========== FRONT RIGHT WHEEL ==========
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DEF FRONT_RIGHT_WHEEL_JOINT HingeJoint {
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jointParameters HingeJointParameters {
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axis 0 1 0
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anchor 0.14 -0.14 0.038
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||||
}
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device [
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RotationalMotor {
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||||
name "front right wheel motor"
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||||
maxVelocity 70.0
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maxTorque 20.0
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||||
}
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||||
PositionSensor {
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name "front right wheel sensor"
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resolution 0.00628
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||||
}
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||||
]
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||||
endPoint Solid {
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||||
translation 0.14 -0.14 0.038
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||||
rotation 0 -1 0 1.570796
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||||
children [
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||||
DEF WHEEL_VIS Pose {
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||||
rotation 1 0 0 -1.5708
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||||
children [
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||||
# Hub drum
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||||
Shape {
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||||
appearance PBRAppearance {
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||||
baseColor 0.5 0.5 0.5
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||||
roughness 0.3
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||||
metalness 0.7
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||||
}
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||||
geometry Cylinder {
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||||
height 0.018
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||||
radius 0.022
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||||
subdivision 16
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||||
}
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||||
}
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||||
# Axle boss
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||||
Shape {
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||||
appearance PBRAppearance {
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||||
baseColor 0.6 0.6 0.6
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||||
roughness 0.2
|
||||
metalness 0.8
|
||||
}
|
||||
geometry Cylinder {
|
||||
height 0.022
|
||||
radius 0.008
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||||
subdivision 8
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||||
}
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||||
}
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||||
# Mecanum roller 1 (top, +y)
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||||
DEF ROLLER_1 Pose {
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||||
translation 0 0.031 0
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||||
rotation 0 0 1 0.7854
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||||
children [
|
||||
Shape {
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||||
appearance PBRAppearance {
|
||||
baseColor 0.12 0.12 0.12
|
||||
roughness 0.7
|
||||
metalness 0.1
|
||||
}
|
||||
geometry Capsule {
|
||||
height 0.020
|
||||
radius 0.007
|
||||
subdivision 8
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||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
# Mecanum roller 2 (right, +x)
|
||||
DEF ROLLER_2 Pose {
|
||||
translation 0.031 0 0
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||||
rotation 0 0 1 0.7854
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||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.12 0.12 0.12
|
||||
roughness 0.7
|
||||
metalness 0.1
|
||||
}
|
||||
geometry Capsule {
|
||||
height 0.020
|
||||
radius 0.007
|
||||
subdivision 8
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||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
# Mecanum roller 3 (bottom, -y)
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||||
DEF ROLLER_3 Pose {
|
||||
translation 0 -0.031 0
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||||
rotation 0 0 1 0.7854
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.12 0.12 0.12
|
||||
roughness 0.7
|
||||
metalness 0.1
|
||||
}
|
||||
geometry Capsule {
|
||||
height 0.020
|
||||
radius 0.007
|
||||
subdivision 8
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
# Mecanum roller 4 (left, -x)
|
||||
DEF ROLLER_4 Pose {
|
||||
translation -0.031 0 0
|
||||
rotation 0 0 1 0.7854
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.12 0.12 0.12
|
||||
roughness 0.7
|
||||
metalness 0.1
|
||||
}
|
||||
geometry Capsule {
|
||||
height 0.020
|
||||
radius 0.007
|
||||
subdivision 8
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
# Mecanum roller 5 (diagonal +x+y)
|
||||
DEF ROLLER_5 Pose {
|
||||
translation 0.022 0.022 0
|
||||
rotation 0 0 1 0.7854
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.12 0.12 0.12
|
||||
roughness 0.7
|
||||
metalness 0.1
|
||||
}
|
||||
geometry Capsule {
|
||||
height 0.020
|
||||
radius 0.007
|
||||
subdivision 8
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
# Mecanum roller 6 (diagonal +x-y)
|
||||
DEF ROLLER_6 Pose {
|
||||
translation 0.022 -0.022 0
|
||||
rotation 0 0 1 0.7854
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.12 0.12 0.12
|
||||
roughness 0.7
|
||||
metalness 0.1
|
||||
}
|
||||
geometry Capsule {
|
||||
height 0.020
|
||||
radius 0.007
|
||||
subdivision 8
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
# Mecanum roller 7 (diagonal -x-y)
|
||||
DEF ROLLER_7 Pose {
|
||||
translation -0.022 -0.022 0
|
||||
rotation 0 0 1 0.7854
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.12 0.12 0.12
|
||||
roughness 0.7
|
||||
metalness 0.1
|
||||
}
|
||||
geometry Capsule {
|
||||
height 0.020
|
||||
radius 0.007
|
||||
subdivision 8
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
# Mecanum roller 8 (diagonal -x+y)
|
||||
DEF ROLLER_8 Pose {
|
||||
translation -0.022 0.022 0
|
||||
rotation 0 0 1 0.7854
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.12 0.12 0.12
|
||||
roughness 0.7
|
||||
metalness 0.1
|
||||
}
|
||||
geometry Capsule {
|
||||
height 0.020
|
||||
radius 0.007
|
||||
subdivision 8
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
name "front right wheel"
|
||||
contactMaterial "MecanumWheel"
|
||||
boundingObject Pose {
|
||||
rotation 1 0 0 -1.5708
|
||||
children [
|
||||
Cylinder {
|
||||
height 0.022
|
||||
radius 0.038
|
||||
}
|
||||
]
|
||||
}
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 0.06
|
||||
centerOfMass [
|
||||
0 0 0
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== FRONT LEFT WHEEL ==========
|
||||
DEF FRONT_LEFT_WHEEL_JOINT HingeJoint {
|
||||
jointParameters HingeJointParameters {
|
||||
axis 0 1 0
|
||||
anchor 0.14 0.14 0.038
|
||||
}
|
||||
device [
|
||||
RotationalMotor {
|
||||
name "front left wheel motor"
|
||||
maxVelocity 70.0
|
||||
maxTorque 20.0
|
||||
}
|
||||
PositionSensor {
|
||||
name "front left wheel sensor"
|
||||
resolution 0.00628
|
||||
}
|
||||
]
|
||||
endPoint Solid {
|
||||
translation 0.14 0.14 0.038
|
||||
rotation 0.707105 0 0.707109 -3.14159
|
||||
children [
|
||||
USE WHEEL_VIS
|
||||
]
|
||||
name "front left wheel"
|
||||
contactMaterial "MecanumWheel"
|
||||
boundingObject Pose {
|
||||
rotation 1 0 0 -1.5708
|
||||
children [
|
||||
Cylinder {
|
||||
height 0.022
|
||||
radius 0.038
|
||||
}
|
||||
]
|
||||
}
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 0.06
|
||||
centerOfMass [
|
||||
0 0 0
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== REAR RIGHT WHEEL ==========
|
||||
DEF REAR_RIGHT_WHEEL_JOINT HingeJoint {
|
||||
jointParameters HingeJointParameters {
|
||||
axis 0 1 0
|
||||
anchor -0.14 -0.14 0.038
|
||||
}
|
||||
device [
|
||||
RotationalMotor {
|
||||
name "rear right wheel motor"
|
||||
maxVelocity 70.0
|
||||
maxTorque 20.0
|
||||
}
|
||||
PositionSensor {
|
||||
name "rear right wheel sensor"
|
||||
resolution 0.00628
|
||||
}
|
||||
]
|
||||
endPoint Solid {
|
||||
translation -0.14 -0.14 0.038
|
||||
rotation 0 -1 0 1.570796
|
||||
children [
|
||||
USE WHEEL_VIS
|
||||
]
|
||||
name "rear right wheel"
|
||||
contactMaterial "MecanumWheel"
|
||||
boundingObject Pose {
|
||||
rotation 1 0 0 -1.5708
|
||||
children [
|
||||
Cylinder {
|
||||
height 0.022
|
||||
radius 0.038
|
||||
}
|
||||
]
|
||||
}
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 0.06
|
||||
centerOfMass [
|
||||
0 0 0
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== REAR LEFT WHEEL ==========
|
||||
DEF REAR_LEFT_WHEEL_JOINT HingeJoint {
|
||||
jointParameters HingeJointParameters {
|
||||
axis 0 1 0
|
||||
anchor -0.14 0.14 0.038
|
||||
}
|
||||
device [
|
||||
RotationalMotor {
|
||||
name "rear left wheel motor"
|
||||
maxVelocity 70.0
|
||||
maxTorque 20.0
|
||||
}
|
||||
PositionSensor {
|
||||
name "rear left wheel sensor"
|
||||
resolution 0.00628
|
||||
}
|
||||
]
|
||||
endPoint Solid {
|
||||
translation -0.14 0.14 0.038
|
||||
rotation 0.707105 0 0.707109 -3.14159
|
||||
children [
|
||||
USE WHEEL_VIS
|
||||
]
|
||||
name "rear left wheel"
|
||||
contactMaterial "MecanumWheel"
|
||||
boundingObject Pose {
|
||||
rotation 1 0 0 -1.5708
|
||||
children [
|
||||
Cylinder {
|
||||
height 0.022
|
||||
radius 0.038
|
||||
}
|
||||
]
|
||||
}
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 0.06
|
||||
centerOfMass [
|
||||
0 0 0
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== IMU SENSORS ==========
|
||||
Accelerometer {
|
||||
translation 0 0 0.10
|
||||
name "accelerometer"
|
||||
}
|
||||
Gyro {
|
||||
translation 0 0 0.10
|
||||
name "gyro"
|
||||
}
|
||||
Compass {
|
||||
translation 0 0 0.10
|
||||
name "compass"
|
||||
}
|
||||
|
||||
# ========== GPS ==========
|
||||
GPS {
|
||||
translation 0 0 0.17
|
||||
name "gps"
|
||||
}
|
||||
|
||||
# ========== RECEIVER ==========
|
||||
Receiver {
|
||||
name "receiver"
|
||||
channel 1
|
||||
}
|
||||
|
||||
# ========== EMITTER ==========
|
||||
Emitter {
|
||||
name "emitter"
|
||||
channel 1
|
||||
range 50.0
|
||||
}
|
||||
]
|
||||
|
||||
# ========== BOUNDING OBJECT ==========
|
||||
boundingObject Group {
|
||||
children [
|
||||
# Chassis box
|
||||
Transform {
|
||||
translation 0 0 0.05
|
||||
children [
|
||||
Box {
|
||||
size 0.32 0.16 0.06
|
||||
}
|
||||
]
|
||||
}
|
||||
# Body box
|
||||
Transform {
|
||||
translation 0 0 0.11
|
||||
children [
|
||||
Box {
|
||||
size 0.30 0.16 0.08
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
# ========== PHYSICS ==========
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 5.0
|
||||
centerOfMass [
|
||||
0 0 0.03
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user