Styling and sheep behaviour
This commit is contained in:
Johnny Fernandes
@@ -0,0 +1,531 @@
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#VRML_SIM R2025a utf8
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# Sheep - wheeled base with sheep character on top
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/TireRubber.proto"
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PROTO Sheep [
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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 "sheep"
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field SFString controller "sheep"
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field MFString controllerArgs []
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field SFString customData ""
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field SFBool supervisor TRUE
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field SFBool synchronization TRUE
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field SFColor woolColor 0.92 0.90 0.85
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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 SHEEP_CHASSIS Transform {
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translation 0 0 0.04
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children [
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Shape {
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appearance DEF SHEEP_CHASSIS_APP PBRAppearance {
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baseColor 0.25 0.25 0.25
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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 0.24 0.14 0.05
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}
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}
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]
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}
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# ========== FLUFFY WOOL BODY ==========
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DEF SHEEP_BODY Transform {
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translation 0 0 0.12
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children [
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Shape {
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appearance DEF WOOL PBRAppearance {
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baseColor IS woolColor
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roughness 0.95
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metalness 0.0
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}
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geometry Box {
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size 0.26 0.16 0.12
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}
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}
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# Fluffy wool bumps — 6 spheres clustered on top of the body box
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Transform {
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translation -0.04 0 0.07
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children [
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Shape {
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appearance USE WOOL
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geometry Sphere {
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radius 0.055
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subdivision 3
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}
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}
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]
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}
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Transform {
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translation 0.04 0.035 0.07
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children [
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Shape {
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appearance USE WOOL
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geometry Sphere {
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radius 0.05
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subdivision 3
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}
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}
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]
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}
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Transform {
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translation 0.04 -0.035 0.07
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children [
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Shape {
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appearance USE WOOL
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geometry Sphere {
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radius 0.05
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subdivision 3
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}
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}
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]
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}
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Transform {
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translation -0.04 0.035 0.07
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children [
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Shape {
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appearance USE WOOL
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geometry Sphere {
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radius 0.05
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subdivision 3
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}
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}
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]
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}
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Transform {
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translation -0.04 -0.035 0.07
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children [
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Shape {
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appearance USE WOOL
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geometry Sphere {
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radius 0.05
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subdivision 3
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}
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}
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]
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}
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Transform {
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translation 0 0 0.07
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children [
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Shape {
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appearance USE WOOL
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geometry Sphere {
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radius 0.06
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subdivision 3
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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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# ========== HEAD ==========
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DEF SHEEP_HEAD Transform {
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translation 0.16 0 0.12
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children [
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Shape {
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appearance DEF SHEEP_DARK PBRAppearance {
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baseColor 0.25 0.22 0.18
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roughness 0.8
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metalness 0.0
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}
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geometry Box {
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size 0.08 0.10 0.08
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}
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}
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# Left eye (white sphere + dark pupil)
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Transform {
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translation 0.04 0.03 0.02
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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 0.013
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subdivision 2
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}
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}
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Transform {
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translation 0.008 0 0.003
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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 0.007
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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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# Right eye
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Transform {
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translation 0.04 -0.03 0.02
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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 0.013
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subdivision 2
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}
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}
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Transform {
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translation 0.008 0 0.003
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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 0.007
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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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# Left ear
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Transform {
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translation 0 0.055 0.03
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rotation 0 0 -1 0.3
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children [
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Shape {
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appearance USE SHEEP_DARK
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geometry Box {
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size 0.05 0.018 0.03
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}
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}
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]
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}
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# Right ear
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Transform {
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translation 0 -0.055 0.03
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rotation 0 0 1 0.3
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children [
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Shape {
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appearance USE SHEEP_DARK
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geometry Box {
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size 0.05 0.018 0.03
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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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# ========== SHORT TAIL ==========
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Transform {
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translation -0.15 0 0.14
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children [
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Shape {
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appearance USE WOOL
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geometry Sphere {
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radius 0.035
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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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# ========== RIGHT AXLE ARM ==========
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DEF SHEEP_RIGHT_AXLE Transform {
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translation 0 -0.085 0.031
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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 0.05 0.02
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}
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}
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]
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}
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# ========== LEFT AXLE ARM ==========
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DEF SHEEP_LEFT_AXLE Transform {
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translation 0 0.085 0.031
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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 0.05 0.02
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}
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}
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]
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}
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# ========== RIGHT WHEEL ==========
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DEF SHEEP_RIGHT_WHEEL HingeJoint {
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jointParameters HingeJointParameters {
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axis 0 1 0
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anchor 0 -0.10 0.031
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}
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device [
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RotationalMotor {
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name "right wheel motor"
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maxVelocity 25.0
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maxTorque 3.0
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}
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PositionSensor {
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name "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 -0.10 0.031
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rotation 0 -1 0 1.570796
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children [
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DEF SHEEP_WHEEL_VIS Pose {
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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 0.15 0.15 0.15
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roughness 0.4
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metalness 0.5
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}
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geometry Cylinder {
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height 0.014
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radius 0.028
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subdivision 24
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}
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}
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Shape {
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appearance TireRubber {
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textureTransform TextureTransform {
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scale 1.2 0.5
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}
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type "bike"
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}
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geometry Cylinder {
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height 0.018
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radius 0.031
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subdivision 24
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}
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}
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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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metalness 0.6
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}
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geometry Cylinder {
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height 0.016
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radius 0.012
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subdivision 12
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}
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}
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]
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}
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]
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name "right wheel"
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boundingObject Pose {
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rotation 1 0 0 -1.5708
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children [
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Cylinder {
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height 0.018
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radius 0.031
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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 0.04
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centerOfMass [
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0 0 0
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]
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}
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}
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}
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# ========== LEFT WHEEL ==========
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DEF SHEEP_LEFT_WHEEL HingeJoint {
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jointParameters HingeJointParameters {
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axis 0 1 0
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anchor 0 0.10 0.031
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}
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device [
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RotationalMotor {
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name "left wheel motor"
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maxVelocity 25.0
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maxTorque 3.0
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}
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PositionSensor {
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name "left 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 0.10 0.031
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rotation 0.707105 0 0.707109 -3.14159
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children [
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USE SHEEP_WHEEL_VIS
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]
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name "left wheel"
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boundingObject Pose {
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rotation 1 0 0 -1.5708
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children [
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Cylinder {
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height 0.018
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radius 0.031
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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 0.04
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centerOfMass [
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0 0 0
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]
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}
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}
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}
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# ========== FRONT CASTER ==========
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BallJoint {
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jointParameters BallJointParameters {
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anchor 0.10 0 0.016
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}
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endPoint Solid {
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translation 0.10 0 0.016
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name "front caster"
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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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}
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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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]
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boundingObject Sphere {
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radius 0.016
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}
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physics Physics {
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density -1
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mass 0.02
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}
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}
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}
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# ========== REAR CASTER ==========
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BallJoint {
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jointParameters BallJointParameters {
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anchor -0.10 0 0.016
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}
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endPoint Solid {
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translation -0.10 0 0.016
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name "rear caster"
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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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}
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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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]
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boundingObject Sphere {
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radius 0.016
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}
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physics Physics {
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density -1
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mass 0.02
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}
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}
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}
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# ========== RECEIVER ==========
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Receiver {
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name "receiver"
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channel 1
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}
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# ========== EMITTER ==========
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Emitter {
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name "emitter"
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channel 1
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range 30.0
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}
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# ========== GPS ==========
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GPS {
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translation 0 0 0.15
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name "gps"
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}
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# ========== COMPASS ==========
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Compass {
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translation 0 0 0.10
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name "compass"
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}
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]
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boundingObject Group {
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children [
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# Chassis box
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Transform {
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translation 0 0 0.04
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children [
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Box {
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size 0.24 0.14 0.05
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}
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]
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}
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# Body box
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Transform {
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translation 0 0 0.12
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children [
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Box {
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size 0.26 0.16 0.12
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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 5.0
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centerOfMass [
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||||
0 0 0.02
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]
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}
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}
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||||
}
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@@ -0,0 +1,689 @@
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||||
#VRML_SIM R2025a utf8
|
||||
# Shepherd Dog Robot - wheeled base with dog character on top, tail-mounted 360 lidar
|
||||
|
||||
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/TireRubber.proto"
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||||
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PROTO ShepherdDog [
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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 {
|
||||
appearance DEF CHASSIS_APP PBRAppearance {
|
||||
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 {
|
||||
size 0.32 0.16 0.06
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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 {
|
||||
appearance USE CHASSIS_APP
|
||||
geometry Box {
|
||||
size 0.06 0.14 0.04
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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 {
|
||||
appearance USE CHASSIS_APP
|
||||
geometry Box {
|
||||
size 0.06 0.14 0.04
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||||
}
|
||||
}
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||||
]
|
||||
}
|
||||
|
||||
# ========== DOG BODY on top of chassis ==========
|
||||
DEF BODY Transform {
|
||||
translation 0 0 0.11
|
||||
children [
|
||||
Shape {
|
||||
appearance DEF FUR_BROWN PBRAppearance {
|
||||
baseColor 0.55 0.35 0.17
|
||||
roughness 0.85
|
||||
metalness 0.0
|
||||
}
|
||||
geometry Box {
|
||||
size 0.30 0.16 0.08
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
# ========== CHEST ==========
|
||||
DEF CHEST Transform {
|
||||
translation 0.12 0 0.11
|
||||
children [
|
||||
Shape {
|
||||
appearance DEF FUR_CREAM PBRAppearance {
|
||||
baseColor 0.85 0.72 0.55
|
||||
roughness 0.85
|
||||
metalness 0.0
|
||||
}
|
||||
geometry Box {
|
||||
size 0.08 0.18 0.08
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
# ========== HEAD ==========
|
||||
DEF HEAD Transform {
|
||||
translation 0.20 0 0.17
|
||||
children [
|
||||
Shape {
|
||||
appearance USE FUR_BROWN
|
||||
geometry Box {
|
||||
size 0.10 0.12 0.09
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
# ========== SNOUT + LIDAR ==========
|
||||
DEF SNOUT Transform {
|
||||
translation 0.28 0 0.155
|
||||
children [
|
||||
Shape {
|
||||
appearance USE FUR_CREAM
|
||||
geometry Box {
|
||||
size 0.08 0.07 0.05
|
||||
}
|
||||
}
|
||||
# Nose
|
||||
Transform {
|
||||
translation 0.04 0 0.01
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.1 0.1 0.1
|
||||
roughness 0.4
|
||||
}
|
||||
geometry Sphere {
|
||||
radius 0.013
|
||||
subdivision 2
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
# Lidar — front-facing 140° FOV, mounted at snout tip
|
||||
Lidar {
|
||||
translation 0.05 0 0.01
|
||||
name "lidar"
|
||||
horizontalResolution 180
|
||||
fieldOfView 2.44
|
||||
numberOfLayers 1
|
||||
minRange 0.10
|
||||
maxRange 12.0
|
||||
noise 0.005
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
# ========== LEFT EAR ==========
|
||||
DEF LEFT_EAR HingeJoint {
|
||||
jointParameters HingeJointParameters {
|
||||
axis 0 0 1
|
||||
anchor 0.19 0.055 0.21
|
||||
}
|
||||
device [
|
||||
RotationalMotor {
|
||||
name "left ear motor"
|
||||
maxVelocity 10.0
|
||||
minPosition -0.5
|
||||
maxPosition 0.5
|
||||
}
|
||||
]
|
||||
endPoint Solid {
|
||||
translation 0.19 0.055 0.21
|
||||
rotation 0 0 1 0.2
|
||||
name "left ear"
|
||||
children [
|
||||
Shape {
|
||||
appearance DEF FUR_DARK PBRAppearance {
|
||||
baseColor 0.35 0.20 0.10
|
||||
roughness 0.85
|
||||
metalness 0.0
|
||||
}
|
||||
geometry Box {
|
||||
size 0.035 0.025 0.06
|
||||
}
|
||||
}
|
||||
]
|
||||
boundingObject Box {
|
||||
size 0.035 0.025 0.06
|
||||
}
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 0.005
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== RIGHT EAR ==========
|
||||
DEF RIGHT_EAR HingeJoint {
|
||||
jointParameters HingeJointParameters {
|
||||
axis 0 0 1
|
||||
anchor 0.19 -0.055 0.21
|
||||
}
|
||||
device [
|
||||
RotationalMotor {
|
||||
name "right ear motor"
|
||||
maxVelocity 10.0
|
||||
minPosition -0.5
|
||||
maxPosition 0.5
|
||||
}
|
||||
]
|
||||
endPoint Solid {
|
||||
translation 0.19 -0.055 0.21
|
||||
rotation 0 0 -1 0.2
|
||||
name "right ear"
|
||||
children [
|
||||
Shape {
|
||||
appearance USE FUR_DARK
|
||||
geometry Box {
|
||||
size 0.035 0.025 0.06
|
||||
}
|
||||
}
|
||||
]
|
||||
boundingObject Box {
|
||||
size 0.035 0.025 0.06
|
||||
}
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 0.005
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== EYES ==========
|
||||
DEF LEFT_EYE Transform {
|
||||
translation 0.25 0.05 0.19
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.95 0.95 0.95
|
||||
roughness 0.3
|
||||
}
|
||||
geometry Sphere {
|
||||
radius 0.016
|
||||
subdivision 2
|
||||
}
|
||||
}
|
||||
# Pupil
|
||||
Transform {
|
||||
translation 0.012 0 0.004
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.1 0.1 0.1
|
||||
roughness 0.2
|
||||
}
|
||||
geometry Sphere {
|
||||
radius 0.009
|
||||
subdivision 2
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
DEF RIGHT_EYE Transform {
|
||||
translation 0.25 -0.05 0.19
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.95 0.95 0.95
|
||||
roughness 0.3
|
||||
}
|
||||
geometry Sphere {
|
||||
radius 0.016
|
||||
subdivision 2
|
||||
}
|
||||
}
|
||||
# Pupil
|
||||
Transform {
|
||||
translation 0.012 0 0.004
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.1 0.1 0.1
|
||||
roughness 0.2
|
||||
}
|
||||
geometry Sphere {
|
||||
radius 0.009
|
||||
subdivision 2
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
# ========== COLLAR ==========
|
||||
DEF COLLAR Transform {
|
||||
translation 0.16 0 0.125
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.8 0.1 0.1
|
||||
roughness 0.5
|
||||
}
|
||||
geometry Cylinder {
|
||||
height 0.02
|
||||
radius 0.095
|
||||
subdivision 16
|
||||
}
|
||||
}
|
||||
# ID tag
|
||||
Transform {
|
||||
translation 0 0.10 0
|
||||
rotation 1 0 0 1.5708
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.75 0.75 0.0
|
||||
metalness 0.8
|
||||
roughness 0.2
|
||||
}
|
||||
geometry Cylinder {
|
||||
height 0.003
|
||||
radius 0.018
|
||||
subdivision 8
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
# ========== TAIL (lidar inside tail tip ball) ==========
|
||||
DEF TAIL HingeJoint {
|
||||
jointParameters HingeJointParameters {
|
||||
axis 0 1 0
|
||||
anchor -0.15 0 0.11
|
||||
}
|
||||
device [
|
||||
RotationalMotor {
|
||||
name "tail motor"
|
||||
maxVelocity 5.0
|
||||
minPosition -1.0
|
||||
maxPosition 1.0
|
||||
}
|
||||
]
|
||||
endPoint Solid {
|
||||
translation -0.17 0 0.13
|
||||
name "tail solid"
|
||||
children [
|
||||
Shape {
|
||||
appearance USE FUR_BROWN
|
||||
geometry Capsule {
|
||||
height 0.12
|
||||
radius 0.013
|
||||
top FALSE
|
||||
}
|
||||
}
|
||||
# Tail tip ball
|
||||
Transform {
|
||||
translation 0 0 0.08
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.2 0.2 0.2
|
||||
roughness 0.3
|
||||
metalness 0.6
|
||||
}
|
||||
geometry Sphere {
|
||||
radius 0.028
|
||||
subdivision 4
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
boundingObject Group {
|
||||
children [
|
||||
Capsule {
|
||||
height 0.12
|
||||
radius 0.013
|
||||
}
|
||||
Transform {
|
||||
translation 0 0 0.08
|
||||
children [
|
||||
Sphere {
|
||||
radius 0.028
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 0.08
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== RIGHT AXLE ARM (horizontal bar from chassis to wheel) ==========
|
||||
DEF RIGHT_AXLE Transform {
|
||||
translation 0 -0.115 0.038
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.5 0.5 0.5
|
||||
roughness 0.3
|
||||
metalness 0.8
|
||||
}
|
||||
geometry Box {
|
||||
size 0.02 0.08 0.02
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
# ========== LEFT AXLE ARM ==========
|
||||
DEF LEFT_AXLE Transform {
|
||||
translation 0 0.115 0.038
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.5 0.5 0.5
|
||||
roughness 0.3
|
||||
metalness 0.8
|
||||
}
|
||||
geometry Box {
|
||||
size 0.02 0.08 0.02
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
# ========== RIGHT WHEEL ==========
|
||||
DEF RIGHT_WHEEL_JOINT HingeJoint {
|
||||
jointParameters HingeJointParameters {
|
||||
axis 0 1 0
|
||||
anchor 0 -0.14 0.038
|
||||
}
|
||||
device [
|
||||
RotationalMotor {
|
||||
name "right wheel motor"
|
||||
maxVelocity 70.0
|
||||
maxTorque 20.0
|
||||
}
|
||||
PositionSensor {
|
||||
name "right wheel sensor"
|
||||
resolution 0.00628
|
||||
}
|
||||
]
|
||||
endPoint Solid {
|
||||
translation 0 -0.14 0.038
|
||||
rotation 0 -1 0 1.570796
|
||||
children [
|
||||
DEF WHEEL_VIS Pose {
|
||||
rotation 1 0 0 -1.5708
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.15 0.15 0.15
|
||||
roughness 0.4
|
||||
metalness 0.5
|
||||
}
|
||||
geometry Cylinder {
|
||||
height 0.016
|
||||
radius 0.035
|
||||
subdivision 24
|
||||
}
|
||||
}
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.6 0.6 0.6
|
||||
roughness 0.3
|
||||
metalness 0.7
|
||||
}
|
||||
geometry Cylinder {
|
||||
height 0.018
|
||||
radius 0.014
|
||||
subdivision 12
|
||||
}
|
||||
}
|
||||
Shape {
|
||||
appearance TireRubber {
|
||||
textureTransform TextureTransform {
|
||||
scale 1.5 0.6
|
||||
}
|
||||
type "bike"
|
||||
}
|
||||
geometry Cylinder {
|
||||
height 0.022
|
||||
radius 0.038
|
||||
subdivision 24
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
name "right wheel"
|
||||
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
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== LEFT WHEEL ==========
|
||||
DEF LEFT_WHEEL_JOINT HingeJoint {
|
||||
jointParameters HingeJointParameters {
|
||||
axis 0 1 0
|
||||
anchor 0 0.14 0.038
|
||||
}
|
||||
device [
|
||||
RotationalMotor {
|
||||
name "left wheel motor"
|
||||
maxVelocity 70.0
|
||||
maxTorque 20.0
|
||||
}
|
||||
PositionSensor {
|
||||
name "left wheel sensor"
|
||||
resolution 0.00628
|
||||
}
|
||||
]
|
||||
endPoint Solid {
|
||||
translation 0 0.14 0.038
|
||||
rotation 0.707105 0 0.707109 -3.14159
|
||||
children [
|
||||
USE WHEEL_VIS
|
||||
]
|
||||
name "left wheel"
|
||||
boundingObject Pose {
|
||||
rotation 1 0 0 -1.5708
|
||||
children [
|
||||
Cylinder {
|
||||
height 0.022
|
||||
radius 0.038
|
||||
}
|
||||
]
|
||||
}
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 0.12
|
||||
centerOfMass [
|
||||
0 0 0
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== FRONT CASTER ==========
|
||||
DEF FRONT_CASTER BallJoint {
|
||||
jointParameters BallJointParameters {
|
||||
anchor 0.14 0 0.02
|
||||
}
|
||||
endPoint Solid {
|
||||
translation 0.14 0 0.02
|
||||
name "front caster"
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.2 0.2 0.2
|
||||
roughness 0.3
|
||||
metalness 0.5
|
||||
}
|
||||
geometry Sphere {
|
||||
radius 0.02
|
||||
subdivision 2
|
||||
}
|
||||
}
|
||||
]
|
||||
boundingObject Sphere {
|
||||
radius 0.02
|
||||
}
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 0.03
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== REAR CASTER ==========
|
||||
DEF REAR_CASTER BallJoint {
|
||||
jointParameters BallJointParameters {
|
||||
anchor -0.14 0 0.02
|
||||
}
|
||||
endPoint Solid {
|
||||
translation -0.14 0 0.02
|
||||
name "rear caster"
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.2 0.2 0.2
|
||||
roughness 0.3
|
||||
metalness 0.5
|
||||
}
|
||||
geometry Sphere {
|
||||
radius 0.02
|
||||
subdivision 2
|
||||
}
|
||||
}
|
||||
]
|
||||
boundingObject Sphere {
|
||||
radius 0.02
|
||||
}
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 0.03
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== 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