Styling and sheep behaviour
This commit is contained in:
Johnny Fernandes
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# Stuff
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_example/
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"""
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Sheep flocking controller (Webots, Reynolds boids variant).
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Each sheep broadcasts its GPS position every 3 steps on channel 1 and
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listens for the dog and peer sheep positions. Peers are keyed by robot
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name so each neighbour has exactly one current entry in the dict.
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Force stack each step (summed then converted to a heading + speed):
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flee — away from dog, quadratic ramp, dominant when close
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cohesion — toward flock centre, halved while fleeing
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separation — inverse-distance push, prevents physical overlap
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walls — linear repulsion from field boundary
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wander — small persistent drift for natural idle motion
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Pen behaviour: on first entry into the quarantine pen the sheep latches
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permanently — it turns pink (via the exposed woolColor PROTO field) and
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the normal force stack is replaced by pen-confinement forces only.
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"""
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import random
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import math
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from controller import Supervisor
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# ---------------------------------------------------------------------------
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# Tuning constants
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# ---------------------------------------------------------------------------
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MAX_SPEED = 22.0 # rad/s hard clamp on both motors
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FLEE_SPEED = 20.0 # rad/s upper bound while panicking
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WANDER_SPEED = 3.0 # rad/s lower bound during calm wandering
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X_MIN, X_MAX = -14.5, 14.5 # stone wall inner edges (metres)
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Y_MIN, Y_MAX = -14.5, 14.5
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WALL_MARGIN = 3.5 # avoidance starts this far from the wall
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FLEE_DIST = 7.0 # dog within this radius triggers flee (metres)
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SEPARATION_DIST = 2.5 # inverse-distance push active inside this radius
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COHESION_DIST = 8.0 # pull toward flock centre active inside this radius
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PEN_X_MIN, PEN_X_MAX = 10.0, 13.0 # quarantine pen extents (metres)
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PEN_Y_MIN, PEN_Y_MAX = -15.0, -8.0 # open entrance at y=-8, gate at y=-15
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PEN_MARGIN = 0.8 # confinement force starts this far from pen wall
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# ---------------------------------------------------------------------------
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# Device setup
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# ---------------------------------------------------------------------------
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robot = Supervisor()
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timestep = int(robot.getBasicTimeStep())
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name = robot.getName()
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self_node = robot.getSelf()
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left_motor = robot.getDevice("left wheel motor")
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right_motor = robot.getDevice("right wheel motor")
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left_motor.setPosition(float("inf"))
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right_motor.setPosition(float("inf"))
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left_motor.setVelocity(0.0)
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right_motor.setVelocity(0.0)
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gps = robot.getDevice("gps"); gps.enable(timestep)
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compass = robot.getDevice("compass"); compass.enable(timestep)
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receiver = robot.getDevice("receiver"); receiver.enable(timestep)
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emitter = robot.getDevice("emitter")
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# ---------------------------------------------------------------------------
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# Helpers
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# ---------------------------------------------------------------------------
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def norm_angle(a):
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return math.atan2(math.sin(a), math.cos(a))
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def bearing():
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# Compass returns north direction in sensor frame; for this Z-up world
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# with north = +Y, atan2(n[0], n[1]) gives the standard math angle
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# (0 = east, π/2 = north) matching atan2(fy, fx) used for heading.
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n = compass.getValues()
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return math.atan2(n[0], n[1])
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def drive(heading, speed):
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err = norm_angle(heading - bearing())
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# Scale forward component by cos(err): at 90° error fwd→0 so the robot
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# spins in place to realign rather than driving sideways at full speed.
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fwd = speed * max(0.0, math.cos(err))
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k = 4.0
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left_motor.setVelocity( max(-MAX_SPEED, min(MAX_SPEED, fwd - k * err)))
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right_motor.setVelocity(max(-MAX_SPEED, min(MAX_SPEED, fwd + k * err)))
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def paint_pink():
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# woolColor is declared as a PROTO field with IS binding to the DEF WOOL
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# PBRAppearance baseColor. Changing it here propagates to every USE WOOL
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# shape on the body. Direct field access avoids PROTO-internal opacity.
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self_node.getField("woolColor").setSFColor([1.0, 0.55, 0.72])
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# ---------------------------------------------------------------------------
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# State
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# ---------------------------------------------------------------------------
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wander_angle = random.uniform(-math.pi, math.pi)
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step = 0
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dog_x = None
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dog_y = None
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peers = {} # name → (x, y), one entry per neighbour, cleared every 30 steps
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penned = False
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# ---------------------------------------------------------------------------
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# Main loop
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# ---------------------------------------------------------------------------
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while robot.step(timestep) != -1:
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step += 1
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pos = gps.getValues()
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x, y = pos[0], pos[1]
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# Pen entry: one-way latch, never unset
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if not penned and PEN_X_MIN < x < PEN_X_MAX and PEN_Y_MIN < y < PEN_Y_MAX:
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penned = True
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paint_pink()
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# Refresh peer table (clear before receiving so fresh data is never lost)
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if step % 30 == 0:
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peers.clear()
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while receiver.getQueueLength() > 0:
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msg = receiver.getString()
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receiver.nextPacket()
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p = msg.split(":")
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if p[0] == "dog" and len(p) >= 3:
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dog_x, dog_y = float(p[1]), float(p[2])
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elif p[0] == "sheep" and len(p) >= 4 and p[1] != name:
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peers[p[1]] = (float(p[2]), float(p[3]))
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fx, fy = 0.0, 0.0
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if penned:
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# Inside pen: wander freely, strong boundary forces prevent exit,
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# separation still active to avoid collisions with other penned sheep.
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pm = PEN_MARGIN
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if x < PEN_X_MIN + pm: fx += ((PEN_X_MIN + pm - x) / pm) * 15.0
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if x > PEN_X_MAX - pm: fx -= ((x - (PEN_X_MAX - pm)) / pm) * 15.0
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if y < PEN_Y_MIN + pm: fy += ((PEN_Y_MIN + pm - y) / pm) * 15.0
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if y > PEN_Y_MAX - pm: fy -= ((y - (PEN_Y_MAX - pm)) / pm) * 15.0
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for px, py in peers.values():
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dx, dy = px - x, py - y
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d = math.hypot(dx, dy)
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if 0.05 < d < SEPARATION_DIST:
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push = (SEPARATION_DIST - d) / d
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fx -= (dx / d) * push * 2.5
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fy -= (dy / d) * push * 2.5
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if random.random() < 0.02:
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wander_angle += random.uniform(-0.6, 0.6)
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fx += math.cos(wander_angle) * 0.5
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fy += math.sin(wander_angle) * 0.5
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else:
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fleeing = False
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# Flee — quadratic ramp so force grows rapidly as the dog closes in
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if dog_x is not None:
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dx = dog_x - x
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dy = dog_y - y
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dist = math.hypot(dx, dy)
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if 0.01 < dist < FLEE_DIST:
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fleeing = True
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t = 1.0 - dist / FLEE_DIST
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s = t * t * 20.0
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fx -= (dx / dist) * s
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fy -= (dy / dist) * s
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# Cohesion — halved while fleeing to reduce mid-panic collisions
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cx, cy, cn = 0.0, 0.0, 0
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for px, py in peers.values():
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d = math.hypot(px - x, py - y)
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if 0.3 < d < COHESION_DIST:
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cx += px; cy += py; cn += 1
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if cn > 0:
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w = 0.08 if fleeing else 0.15
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fx += (cx / cn - x) * w
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fy += (cy / cn - y) * w
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# Separation — inverse-distance: huge when nearly overlapping, fades quickly
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for px, py in peers.values():
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dx, dy = px - x, py - y
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d = math.hypot(dx, dy)
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if 0.05 < d < SEPARATION_DIST:
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push = (SEPARATION_DIST - d) / d
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fx -= (dx / d) * push * 2.5
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fy -= (dy / d) * push * 2.5
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# Walls
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if x < X_MIN + WALL_MARGIN: fx += ((X_MIN + WALL_MARGIN - x) / WALL_MARGIN) * 6.0
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if x > X_MAX - WALL_MARGIN: fx -= ((x - (X_MAX - WALL_MARGIN)) / WALL_MARGIN) * 6.0
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if y < Y_MIN + WALL_MARGIN: fy += ((Y_MIN + WALL_MARGIN - y) / WALL_MARGIN) * 6.0
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if y > Y_MAX - WALL_MARGIN: fy -= ((y - (Y_MAX - WALL_MARGIN)) / WALL_MARGIN) * 6.0
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# Wander — suppressed while fleeing so drift cannot deflect the flee heading
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if not fleeing:
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if random.random() < 0.02:
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wander_angle += random.uniform(-0.6, 0.6)
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fx += math.cos(wander_angle) * 0.5
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fy += math.sin(wander_angle) * 0.5
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heading = math.atan2(fy, fx)
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mag = math.hypot(fx, fy)
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speed = max(WANDER_SPEED, min(FLEE_SPEED, mag * 3.0))
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drive(heading, speed)
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if step % 3 == 0:
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emitter.send(f"sheep:{name}:{x:.4f}:{y:.4f}")
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"""
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Shepherd Dog controller (Webots, manual keyboard control).
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WASD / arrow keys drive the robot. +/- adjust speed in 10 % increments.
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GPS position is broadcast every step on channel 1 so sheep controllers
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can compute flee forces. Ears wag continuously via sinusoidal position
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targets — purely cosmetic.
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"""
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import math
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from controller import Robot, Keyboard
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robot = Robot()
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timestep = int(robot.getBasicTimeStep())
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left_motor = robot.getDevice("left wheel motor")
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right_motor = robot.getDevice("right wheel motor")
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left_motor.setPosition(float("inf"))
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right_motor.setPosition(float("inf"))
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left_motor.setVelocity(0.0)
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right_motor.setVelocity(0.0)
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lidar = robot.getDevice("lidar")
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lidar.enable(timestep)
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lidar.enablePointCloud()
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gps = robot.getDevice("gps"); gps.enable(timestep)
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compass = robot.getDevice("compass"); compass.enable(timestep)
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emitter = robot.getDevice("emitter")
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receiver = robot.getDevice("receiver"); receiver.enable(timestep)
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left_ear = robot.getDevice("left ear motor")
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right_ear = robot.getDevice("right ear motor")
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left_ear.setPosition(float("inf"))
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right_ear.setPosition(float("inf"))
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left_ear.setVelocity(0.0)
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right_ear.setVelocity(0.0)
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keyboard = robot.getKeyboard()
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keyboard.enable(timestep)
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MOTOR_MAX = left_motor.getMaxVelocity()
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speed_level = 0.5 # fraction of MOTOR_MAX; adjusted by +/-
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EAR_AMPLITUDE = 0.35 # rad, peak ear deflection
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EAR_RATE = 8.0 # rad/s, how fast the ears are driven
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ear_phase = 0.0
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while robot.step(timestep) != -1:
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speed = MOTOR_MAX * speed_level
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turn = speed * 0.6 # differential turn radius
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left_vel = 0.0
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right_vel = 0.0
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key = keyboard.getKey()
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while key > 0:
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if key in (ord('W'), Keyboard.UP):
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left_vel = speed
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right_vel = speed
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elif key in (ord('S'), Keyboard.DOWN):
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left_vel = -speed
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right_vel = -speed
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elif key in (ord('A'), Keyboard.LEFT):
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left_vel = -turn
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right_vel = turn
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elif key in (ord('D'), Keyboard.RIGHT):
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left_vel = turn
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right_vel = -turn
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elif key in (ord('+'), ord('=')):
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speed_level = min(1.0, speed_level + 0.1)
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print(f"Speed: {speed_level:.0%} ({MOTOR_MAX * speed_level:.1f} rad/s)")
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elif key in (ord('-'), ord('_')):
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speed_level = max(0.1, speed_level - 0.1)
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print(f"Speed: {speed_level:.0%} ({MOTOR_MAX * speed_level:.1f} rad/s)")
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key = keyboard.getKey()
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left_motor.setVelocity(left_vel)
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right_motor.setVelocity(right_vel)
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pos = gps.getValues()
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emitter.send(f"dog:{pos[0]}:{pos[1]}")
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ear_phase += 0.12
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ear_pos = EAR_AMPLITUDE * math.sin(ear_phase)
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left_ear.setVelocity(EAR_RATE)
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right_ear.setVelocity(EAR_RATE)
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left_ear.setPosition( ear_pos)
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right_ear.setPosition(-ear_pos)
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# Group G25 - Formal & Title & Goals
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## Team members
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- Diogo Costa <up202502576@up.pt>
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- Johnny Fernandes <up202402612@up.pt>
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- Nelson Neto <up202108117@up.pt>
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## (i) Title and General objectives
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**RL-Based Autonomous Shepherd Robot for Livestock Herding**
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- Implement effective herding behaviors through proximity and movement strategies
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- Build a 3D environment with realistic robot dynamics and LIDAR-based perception
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- Develop a mobile robot capable of autonomously guiding a flock of sheep into a designated target area using Reinforcement Learning
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# Group G25 - (ii) Intermediate Goals
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## Intermediate goals
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- Set up the Webots simulation environment with an open field and target zone
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- Implement lightweight Gymnasium-based 2D herding environment
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- Design a Sheep and Dog robot
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- Implement a sheep flocking model for fast RL iteration
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- Validate LiDAR sensor feedback for sheep detection and distance estimation
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# Group G25 - Course Project (Final) Goals
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## (iii) Main goals
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- State-of-the-art survey on shepherding algorithms and multi-agent RL herding
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- Train the robot using PPO to successfully herd a single sheep into the goal
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- Achieve fully autonomous herding of multiple sheep and a full flock into the target area
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- Optimize robot trajectory to minimize the time required to group the flock
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- Ensure zero collisions between the robot and the sheep during the task
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- Quantitative evaluation: success rate, time-to-pen, flock dispersion metrics
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- Article, demo video, and final presentation
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## (iv) Extra Merit
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- Curriculum Learning (scaling from 1 sheep to a flock)
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- Comparison of performance between Differential Drive and Mecanum wheels
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- Robustness testing under sensor noise or varying sheep speeds, configurations and parameters
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- Multi-shepherd cooperative mode: 2 dogs learn role specialization (collector vs. driver)
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- Obstacles and terrain (walls, narrow gates, corridors) the flock must be funneled through
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# Group G25 - Tools & Limitations
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## (v) Tools
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- Webots for 3D physics simulation with ROS2 integration via `webots_ros2` package
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- Stable-Baselines3 for the PPO algorithm implementation
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- Gymnasium (OpenAI) for the RL environment wrapper (lightweight 2D herding env for fast RL training)
|
||||||
|
- Python as the primary programming language (sheep flocking model, reward shaping, evaluation)
|
||||||
|
|
||||||
|
## (vi) Limitations
|
||||||
|
- Computational Power: Training time might be high for complex flock behaviors
|
||||||
|
- Sim-to-Real Gap: No real-world validation of the herding controller; project is simulation-only (2D + Webots 3D)
|
||||||
|
- Model Complexity: Simplified sheep behavior (scripted) may not account for all biological livestock nuances
|
||||||
@@ -0,0 +1,531 @@
|
|||||||
|
#VRML_SIM R2025a utf8
|
||||||
|
# Sheep - wheeled base with sheep character on top
|
||||||
|
|
||||||
|
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/TireRubber.proto"
|
||||||
|
|
||||||
|
PROTO Sheep [
|
||||||
|
field SFVec3f translation 0 0 0
|
||||||
|
field SFRotation rotation 0 1 0 0
|
||||||
|
field SFString name "sheep"
|
||||||
|
field SFString controller "sheep"
|
||||||
|
field MFString controllerArgs []
|
||||||
|
field SFString customData ""
|
||||||
|
field SFBool supervisor TRUE
|
||||||
|
field SFBool synchronization TRUE
|
||||||
|
field SFColor woolColor 0.92 0.90 0.85
|
||||||
|
]
|
||||||
|
{
|
||||||
|
Robot {
|
||||||
|
translation IS translation
|
||||||
|
rotation IS rotation
|
||||||
|
name IS name
|
||||||
|
controller IS controller
|
||||||
|
controllerArgs IS controllerArgs
|
||||||
|
customData IS customData
|
||||||
|
supervisor IS supervisor
|
||||||
|
synchronization IS synchronization
|
||||||
|
children [
|
||||||
|
# ========== CHASSIS / BASE ==========
|
||||||
|
DEF SHEEP_CHASSIS Transform {
|
||||||
|
translation 0 0 0.04
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance DEF SHEEP_CHASSIS_APP PBRAppearance {
|
||||||
|
baseColor 0.25 0.25 0.25
|
||||||
|
roughness 0.6
|
||||||
|
metalness 0.3
|
||||||
|
}
|
||||||
|
geometry Box {
|
||||||
|
size 0.24 0.14 0.05
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# ========== FLUFFY WOOL BODY ==========
|
||||||
|
DEF SHEEP_BODY Transform {
|
||||||
|
translation 0 0 0.12
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance DEF WOOL PBRAppearance {
|
||||||
|
baseColor IS woolColor
|
||||||
|
roughness 0.95
|
||||||
|
metalness 0.0
|
||||||
|
}
|
||||||
|
geometry Box {
|
||||||
|
size 0.26 0.16 0.12
|
||||||
|
}
|
||||||
|
}
|
||||||
|
# Fluffy wool bumps — 6 spheres clustered on top of the body box
|
||||||
|
Transform {
|
||||||
|
translation -0.04 0 0.07
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance USE WOOL
|
||||||
|
geometry Sphere {
|
||||||
|
radius 0.055
|
||||||
|
subdivision 3
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
Transform {
|
||||||
|
translation 0.04 0.035 0.07
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance USE WOOL
|
||||||
|
geometry Sphere {
|
||||||
|
radius 0.05
|
||||||
|
subdivision 3
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
Transform {
|
||||||
|
translation 0.04 -0.035 0.07
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance USE WOOL
|
||||||
|
geometry Sphere {
|
||||||
|
radius 0.05
|
||||||
|
subdivision 3
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
Transform {
|
||||||
|
translation -0.04 0.035 0.07
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance USE WOOL
|
||||||
|
geometry Sphere {
|
||||||
|
radius 0.05
|
||||||
|
subdivision 3
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
Transform {
|
||||||
|
translation -0.04 -0.035 0.07
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance USE WOOL
|
||||||
|
geometry Sphere {
|
||||||
|
radius 0.05
|
||||||
|
subdivision 3
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
Transform {
|
||||||
|
translation 0 0 0.07
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance USE WOOL
|
||||||
|
geometry Sphere {
|
||||||
|
radius 0.06
|
||||||
|
subdivision 3
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# ========== HEAD ==========
|
||||||
|
DEF SHEEP_HEAD Transform {
|
||||||
|
translation 0.16 0 0.12
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance DEF SHEEP_DARK PBRAppearance {
|
||||||
|
baseColor 0.25 0.22 0.18
|
||||||
|
roughness 0.8
|
||||||
|
metalness 0.0
|
||||||
|
}
|
||||||
|
geometry Box {
|
||||||
|
size 0.08 0.10 0.08
|
||||||
|
}
|
||||||
|
}
|
||||||
|
# Left eye (white sphere + dark pupil)
|
||||||
|
Transform {
|
||||||
|
translation 0.04 0.03 0.02
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance PBRAppearance {
|
||||||
|
baseColor 0.95 0.95 0.95
|
||||||
|
roughness 0.3
|
||||||
|
}
|
||||||
|
geometry Sphere {
|
||||||
|
radius 0.013
|
||||||
|
subdivision 2
|
||||||
|
}
|
||||||
|
}
|
||||||
|
Transform {
|
||||||
|
translation 0.008 0 0.003
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance PBRAppearance {
|
||||||
|
baseColor 0.1 0.1 0.1
|
||||||
|
roughness 0.2
|
||||||
|
}
|
||||||
|
geometry Sphere {
|
||||||
|
radius 0.007
|
||||||
|
subdivision 2
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
# Right eye
|
||||||
|
Transform {
|
||||||
|
translation 0.04 -0.03 0.02
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance PBRAppearance {
|
||||||
|
baseColor 0.95 0.95 0.95
|
||||||
|
roughness 0.3
|
||||||
|
}
|
||||||
|
geometry Sphere {
|
||||||
|
radius 0.013
|
||||||
|
subdivision 2
|
||||||
|
}
|
||||||
|
}
|
||||||
|
Transform {
|
||||||
|
translation 0.008 0 0.003
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance PBRAppearance {
|
||||||
|
baseColor 0.1 0.1 0.1
|
||||||
|
roughness 0.2
|
||||||
|
}
|
||||||
|
geometry Sphere {
|
||||||
|
radius 0.007
|
||||||
|
subdivision 2
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
# Left ear
|
||||||
|
Transform {
|
||||||
|
translation 0 0.055 0.03
|
||||||
|
rotation 0 0 -1 0.3
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance USE SHEEP_DARK
|
||||||
|
geometry Box {
|
||||||
|
size 0.05 0.018 0.03
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
# Right ear
|
||||||
|
Transform {
|
||||||
|
translation 0 -0.055 0.03
|
||||||
|
rotation 0 0 1 0.3
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance USE SHEEP_DARK
|
||||||
|
geometry Box {
|
||||||
|
size 0.05 0.018 0.03
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# ========== SHORT TAIL ==========
|
||||||
|
Transform {
|
||||||
|
translation -0.15 0 0.14
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance USE WOOL
|
||||||
|
geometry Sphere {
|
||||||
|
radius 0.035
|
||||||
|
subdivision 2
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# ========== RIGHT AXLE ARM ==========
|
||||||
|
DEF SHEEP_RIGHT_AXLE Transform {
|
||||||
|
translation 0 -0.085 0.031
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance PBRAppearance {
|
||||||
|
baseColor 0.5 0.5 0.5
|
||||||
|
roughness 0.3
|
||||||
|
metalness 0.8
|
||||||
|
}
|
||||||
|
geometry Box {
|
||||||
|
size 0.02 0.05 0.02
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# ========== LEFT AXLE ARM ==========
|
||||||
|
DEF SHEEP_LEFT_AXLE Transform {
|
||||||
|
translation 0 0.085 0.031
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance PBRAppearance {
|
||||||
|
baseColor 0.5 0.5 0.5
|
||||||
|
roughness 0.3
|
||||||
|
metalness 0.8
|
||||||
|
}
|
||||||
|
geometry Box {
|
||||||
|
size 0.02 0.05 0.02
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# ========== RIGHT WHEEL ==========
|
||||||
|
DEF SHEEP_RIGHT_WHEEL HingeJoint {
|
||||||
|
jointParameters HingeJointParameters {
|
||||||
|
axis 0 1 0
|
||||||
|
anchor 0 -0.10 0.031
|
||||||
|
}
|
||||||
|
device [
|
||||||
|
RotationalMotor {
|
||||||
|
name "right wheel motor"
|
||||||
|
maxVelocity 25.0
|
||||||
|
maxTorque 3.0
|
||||||
|
}
|
||||||
|
PositionSensor {
|
||||||
|
name "right wheel sensor"
|
||||||
|
resolution 0.00628
|
||||||
|
}
|
||||||
|
]
|
||||||
|
endPoint Solid {
|
||||||
|
translation 0 -0.10 0.031
|
||||||
|
rotation 0 -1 0 1.570796
|
||||||
|
children [
|
||||||
|
DEF SHEEP_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 0.014
|
||||||
|
radius 0.028
|
||||||
|
subdivision 24
|
||||||
|
}
|
||||||
|
}
|
||||||
|
Shape {
|
||||||
|
appearance TireRubber {
|
||||||
|
textureTransform TextureTransform {
|
||||||
|
scale 1.2 0.5
|
||||||
|
}
|
||||||
|
type "bike"
|
||||||
|
}
|
||||||
|
geometry Cylinder {
|
||||||
|
height 0.018
|
||||||
|
radius 0.031
|
||||||
|
subdivision 24
|
||||||
|
}
|
||||||
|
}
|
||||||
|
Shape {
|
||||||
|
appearance PBRAppearance {
|
||||||
|
baseColor 0.5 0.5 0.5
|
||||||
|
metalness 0.6
|
||||||
|
}
|
||||||
|
geometry Cylinder {
|
||||||
|
height 0.016
|
||||||
|
radius 0.012
|
||||||
|
subdivision 12
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
name "right wheel"
|
||||||
|
boundingObject Pose {
|
||||||
|
rotation 1 0 0 -1.5708
|
||||||
|
children [
|
||||||
|
Cylinder {
|
||||||
|
height 0.018
|
||||||
|
radius 0.031
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
physics Physics {
|
||||||
|
density -1
|
||||||
|
mass 0.04
|
||||||
|
centerOfMass [
|
||||||
|
0 0 0
|
||||||
|
]
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
# ========== LEFT WHEEL ==========
|
||||||
|
DEF SHEEP_LEFT_WHEEL HingeJoint {
|
||||||
|
jointParameters HingeJointParameters {
|
||||||
|
axis 0 1 0
|
||||||
|
anchor 0 0.10 0.031
|
||||||
|
}
|
||||||
|
device [
|
||||||
|
RotationalMotor {
|
||||||
|
name "left wheel motor"
|
||||||
|
maxVelocity 25.0
|
||||||
|
maxTorque 3.0
|
||||||
|
}
|
||||||
|
PositionSensor {
|
||||||
|
name "left wheel sensor"
|
||||||
|
resolution 0.00628
|
||||||
|
}
|
||||||
|
]
|
||||||
|
endPoint Solid {
|
||||||
|
translation 0 0.10 0.031
|
||||||
|
rotation 0.707105 0 0.707109 -3.14159
|
||||||
|
children [
|
||||||
|
USE SHEEP_WHEEL_VIS
|
||||||
|
]
|
||||||
|
name "left wheel"
|
||||||
|
boundingObject Pose {
|
||||||
|
rotation 1 0 0 -1.5708
|
||||||
|
children [
|
||||||
|
Cylinder {
|
||||||
|
height 0.018
|
||||||
|
radius 0.031
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
physics Physics {
|
||||||
|
density -1
|
||||||
|
mass 0.04
|
||||||
|
centerOfMass [
|
||||||
|
0 0 0
|
||||||
|
]
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
# ========== FRONT CASTER ==========
|
||||||
|
BallJoint {
|
||||||
|
jointParameters BallJointParameters {
|
||||||
|
anchor 0.10 0 0.016
|
||||||
|
}
|
||||||
|
endPoint Solid {
|
||||||
|
translation 0.10 0 0.016
|
||||||
|
name "front caster"
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance PBRAppearance {
|
||||||
|
baseColor 0.2 0.2 0.2
|
||||||
|
roughness 0.3
|
||||||
|
}
|
||||||
|
geometry Sphere {
|
||||||
|
radius 0.016
|
||||||
|
subdivision 2
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
boundingObject Sphere {
|
||||||
|
radius 0.016
|
||||||
|
}
|
||||||
|
physics Physics {
|
||||||
|
density -1
|
||||||
|
mass 0.02
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
# ========== REAR CASTER ==========
|
||||||
|
BallJoint {
|
||||||
|
jointParameters BallJointParameters {
|
||||||
|
anchor -0.10 0 0.016
|
||||||
|
}
|
||||||
|
endPoint Solid {
|
||||||
|
translation -0.10 0 0.016
|
||||||
|
name "rear caster"
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance PBRAppearance {
|
||||||
|
baseColor 0.2 0.2 0.2
|
||||||
|
roughness 0.3
|
||||||
|
}
|
||||||
|
geometry Sphere {
|
||||||
|
radius 0.016
|
||||||
|
subdivision 2
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
boundingObject Sphere {
|
||||||
|
radius 0.016
|
||||||
|
}
|
||||||
|
physics Physics {
|
||||||
|
density -1
|
||||||
|
mass 0.02
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
# ========== RECEIVER ==========
|
||||||
|
Receiver {
|
||||||
|
name "receiver"
|
||||||
|
channel 1
|
||||||
|
}
|
||||||
|
|
||||||
|
# ========== EMITTER ==========
|
||||||
|
Emitter {
|
||||||
|
name "emitter"
|
||||||
|
channel 1
|
||||||
|
range 30.0
|
||||||
|
}
|
||||||
|
|
||||||
|
# ========== GPS ==========
|
||||||
|
GPS {
|
||||||
|
translation 0 0 0.15
|
||||||
|
name "gps"
|
||||||
|
}
|
||||||
|
|
||||||
|
# ========== COMPASS ==========
|
||||||
|
Compass {
|
||||||
|
translation 0 0 0.10
|
||||||
|
name "compass"
|
||||||
|
}
|
||||||
|
]
|
||||||
|
|
||||||
|
boundingObject Group {
|
||||||
|
children [
|
||||||
|
# Chassis box
|
||||||
|
Transform {
|
||||||
|
translation 0 0 0.04
|
||||||
|
children [
|
||||||
|
Box {
|
||||||
|
size 0.24 0.14 0.05
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
# Body box
|
||||||
|
Transform {
|
||||||
|
translation 0 0 0.12
|
||||||
|
children [
|
||||||
|
Box {
|
||||||
|
size 0.26 0.16 0.12
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
physics Physics {
|
||||||
|
density -1
|
||||||
|
mass 5.0
|
||||||
|
centerOfMass [
|
||||||
|
0 0 0.02
|
||||||
|
]
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,689 @@
|
|||||||
|
#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"
|
||||||
|
|
||||||
|
PROTO ShepherdDog [
|
||||||
|
field SFVec3f translation 0 0 0
|
||||||
|
field SFRotation rotation 0 1 0 0
|
||||||
|
field SFString name "ShepherdDog"
|
||||||
|
field SFString controller "shepherd_dog"
|
||||||
|
field MFString controllerArgs []
|
||||||
|
field SFString customData ""
|
||||||
|
field SFBool supervisor FALSE
|
||||||
|
field SFBool synchronization TRUE
|
||||||
|
]
|
||||||
|
{
|
||||||
|
Robot {
|
||||||
|
translation IS translation
|
||||||
|
rotation IS rotation
|
||||||
|
name IS name
|
||||||
|
controller IS controller
|
||||||
|
controllerArgs IS controllerArgs
|
||||||
|
customData IS customData
|
||||||
|
supervisor IS supervisor
|
||||||
|
synchronization IS synchronization
|
||||||
|
children [
|
||||||
|
# ========== CHASSIS / BASE ==========
|
||||||
|
DEF CHASSIS Transform {
|
||||||
|
translation 0 0 0.05
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance DEF CHASSIS_APP PBRAppearance {
|
||||||
|
baseColor 0.2 0.2 0.2
|
||||||
|
roughness 0.6
|
||||||
|
metalness 0.3
|
||||||
|
}
|
||||||
|
geometry Box {
|
||||||
|
size 0.32 0.16 0.06
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
# Front slope
|
||||||
|
DEF CHASSIS_FRONT Transform {
|
||||||
|
translation 0.14 0 0.07
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance USE CHASSIS_APP
|
||||||
|
geometry Box {
|
||||||
|
size 0.06 0.14 0.04
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
# Rear slope
|
||||||
|
DEF CHASSIS_REAR Transform {
|
||||||
|
translation -0.14 0 0.07
|
||||||
|
children [
|
||||||
|
Shape {
|
||||||
|
appearance USE CHASSIS_APP
|
||||||
|
geometry Box {
|
||||||
|
size 0.06 0.14 0.04
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# ========== 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
|
||||||
|
]
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,22 @@
|
|||||||
|
"""
|
||||||
|
Viewpoint inspector — prints position, orientation and FOV to the console
|
||||||
|
once per second. Attach as the controller of a dummy supervisor robot to
|
||||||
|
copy-paste exact camera values into field.wbt.
|
||||||
|
"""
|
||||||
|
|
||||||
|
from controller import Supervisor
|
||||||
|
|
||||||
|
robot = Supervisor()
|
||||||
|
timestep = int(robot.getBasicTimeStep())
|
||||||
|
vp = robot.getFromDef("VIEWPOINT")
|
||||||
|
|
||||||
|
step = 0
|
||||||
|
while robot.step(timestep) != -1:
|
||||||
|
if step % 60 == 0:
|
||||||
|
pos = vp.getField("position").getSFVec3f()
|
||||||
|
ori = vp.getField("orientation").getSFRotation()
|
||||||
|
fov = vp.getField("fieldOfView").getSFFloat()
|
||||||
|
print(f"position: {pos[0]:.3f} {pos[1]:.3f} {pos[2]:.3f}")
|
||||||
|
print(f"orientation: {ori[0]:.3f} {ori[1]:.3f} {ori[2]:.3f} {ori[3]:.3f}")
|
||||||
|
print(f"fieldOfView: {fov:.3f}\n")
|
||||||
|
step += 1
|
||||||
+521
-5
@@ -1,13 +1,529 @@
|
|||||||
#VRML_SIM R2025a utf8
|
#VRML_SIM R2025a utf8
|
||||||
|
|
||||||
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto"
|
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto"
|
||||||
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
|
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
|
||||||
|
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/UnevenTerrain.proto"
|
||||||
|
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/Grass.proto"
|
||||||
|
EXTERNPROTO "../protos/ShepherdDog.proto"
|
||||||
|
EXTERNPROTO "../protos/Sheep.proto"
|
||||||
|
|
||||||
|
# World
|
||||||
WorldInfo {
|
WorldInfo {
|
||||||
|
info [
|
||||||
|
"RL-Based Autonomous Shepherd Robot"
|
||||||
|
"Group G25"
|
||||||
|
]
|
||||||
|
title "Shepherd Herding"
|
||||||
|
ERP 0.62
|
||||||
|
basicTimeStep 16
|
||||||
|
contactProperties [
|
||||||
|
ContactProperties {
|
||||||
|
coulombFriction [
|
||||||
|
12
|
||||||
|
]
|
||||||
|
softCFM 1e-05
|
||||||
|
}
|
||||||
|
]
|
||||||
}
|
}
|
||||||
Viewpoint {
|
|
||||||
orientation -0.5773 0.5773 0.5773 2.0944
|
# Viewpoint
|
||||||
position 0 0 10
|
DEF VIEWPOINT Viewpoint {
|
||||||
|
position 4.34 -100.99 41.73
|
||||||
|
orientation 0.199 -0.190 -0.961 4.624
|
||||||
|
fieldOfView 0.785
|
||||||
}
|
}
|
||||||
TexturedBackground {
|
|
||||||
|
# Background
|
||||||
|
Background {
|
||||||
|
skyColor [0.55 0.75 0.95]
|
||||||
}
|
}
|
||||||
TexturedBackgroundLight {
|
# Single sun (diagonal from SW)
|
||||||
|
DirectionalLight {
|
||||||
|
ambientIntensity 1
|
||||||
|
direction -0.3 0.5 -0.85
|
||||||
|
color 1 0.98 0.92
|
||||||
|
intensity 2.5
|
||||||
|
castShadows TRUE
|
||||||
|
}
|
||||||
|
|
||||||
|
# Grass terrain
|
||||||
|
UnevenTerrain {
|
||||||
|
rotation 0 0 1 -1.5708
|
||||||
|
size 100 100 0.3
|
||||||
|
xDimension 50
|
||||||
|
yDimension 50
|
||||||
|
appearance Grass {
|
||||||
|
colorOverride 0.78 0.88 0.68
|
||||||
|
textureTransform TextureTransform {
|
||||||
|
scale 100 100
|
||||||
|
}
|
||||||
|
}
|
||||||
|
perlinNOctaves 4
|
||||||
|
}
|
||||||
|
|
||||||
|
# ==================== APPEARANCES ====================
|
||||||
|
Transform {
|
||||||
|
children [
|
||||||
|
Shape { appearance DEF STONE_A PBRAppearance { baseColor 0.48 0.45 0.40 roughness 0.95 metalness 0 } }
|
||||||
|
Shape { appearance DEF STONE_B PBRAppearance { baseColor 0.36 0.33 0.29 roughness 0.95 metalness 0 } }
|
||||||
|
Shape { appearance DEF STONE_C PBRAppearance { baseColor 0.58 0.55 0.50 roughness 0.90 metalness 0 } }
|
||||||
|
Shape { appearance DEF CAP PBRAppearance { baseColor 0.54 0.51 0.46 roughness 0.80 metalness 0 } }
|
||||||
|
Shape { appearance DEF BARN_RED PBRAppearance { baseColor 0.62 0.18 0.12 roughness 0.80 metalness 0 } }
|
||||||
|
Shape { appearance DEF BARN_ROOF PBRAppearance { baseColor 0.28 0.20 0.13 roughness 0.72 metalness 0 } }
|
||||||
|
Shape { appearance DEF WOOD PBRAppearance { baseColor 0.48 0.32 0.16 roughness 0.90 metalness 0 } }
|
||||||
|
Shape { appearance DEF TRUNK PBRAppearance { baseColor 0.38 0.24 0.11 roughness 0.90 metalness 0 } }
|
||||||
|
Shape { appearance DEF LEAF_A PBRAppearance { baseColor 0.22 0.52 0.16 roughness 0.85 metalness 0 } }
|
||||||
|
Shape { appearance DEF LEAF_B PBRAppearance { baseColor 0.16 0.42 0.10 roughness 0.85 metalness 0 } }
|
||||||
|
Shape { appearance DEF LEAF_C PBRAppearance { baseColor 0.30 0.60 0.20 roughness 0.80 metalness 0 } }
|
||||||
|
Shape { appearance DEF STRAW PBRAppearance { baseColor 0.85 0.75 0.35 roughness 0.95 metalness 0 } }
|
||||||
|
Shape { appearance DEF HAT PBRAppearance { baseColor 0.50 0.35 0.18 roughness 0.85 metalness 0 } }
|
||||||
|
Shape { appearance DEF SHIRT PBRAppearance { baseColor 0.60 0.30 0.30 roughness 0.80 metalness 0 } }
|
||||||
|
Shape { appearance DEF PANTS PBRAppearance { baseColor 0.25 0.25 0.30 roughness 0.80 metalness 0 } }
|
||||||
|
Shape { appearance DEF DOOR_MAT PBRAppearance { baseColor 0.55 0.38 0.20 roughness 0.72 metalness 0 } }
|
||||||
|
Shape { appearance DEF GLASS PBRAppearance { baseColor 0.60 0.80 0.95 roughness 0.20 metalness 0.05 } }
|
||||||
|
Shape { appearance DEF HAY PBRAppearance { baseColor 0.82 0.72 0.32 roughness 0.95 metalness 0 } }
|
||||||
|
]
|
||||||
|
}
|
||||||
|
DEF TRIM PBRAppearance { baseColor 0.90 0.88 0.82 roughness 0.70 metalness 0 }
|
||||||
|
|
||||||
|
# ==================== STONE WALL ENCLOSURE (±15 m) ====================
|
||||||
|
|
||||||
|
# East wall + cap
|
||||||
|
Solid { translation 15 0 0.40 children [ Shape { appearance USE STONE_A geometry Box { size 0.16 30.5 0.80 } } ] boundingObject Box { size 0.16 30.5 0.80 } }
|
||||||
|
Solid { translation 15 0 0.84 children [ Shape { appearance USE CAP geometry Box { size 0.26 30.6 0.07 } } ] boundingObject Box { size 0.26 30.6 0.07 } }
|
||||||
|
|
||||||
|
# West wall + cap
|
||||||
|
Solid { translation -15 0 0.40 children [ Shape { appearance USE STONE_B geometry Box { size 0.16 30.5 0.80 } } ] boundingObject Box { size 0.16 30.5 0.80 } }
|
||||||
|
Solid { translation -15 0 0.84 children [ Shape { appearance USE CAP geometry Box { size 0.26 30.6 0.07 } } ] boundingObject Box { size 0.26 30.6 0.07 } }
|
||||||
|
|
||||||
|
# North wall + cap
|
||||||
|
Solid { translation 0 15 0.40 children [ Shape { appearance USE STONE_C geometry Box { size 30.0 0.16 0.80 } } ] boundingObject Box { size 30.0 0.16 0.80 } }
|
||||||
|
Solid { translation 0 15 0.84 children [ Shape { appearance USE CAP geometry Box { size 30.1 0.26 0.07 } } ] boundingObject Box { size 30.1 0.26 0.07 } }
|
||||||
|
|
||||||
|
# South wall + cap (split for gate, near SE corner)
|
||||||
|
Solid { translation -2.5 -15 0.40 children [ Shape { appearance USE STONE_A geometry Box { size 25.0 0.16 0.80 } } ] boundingObject Box { size 25.0 0.16 0.80 } }
|
||||||
|
Solid { translation -2.5 -15 0.84 children [ Shape { appearance USE CAP geometry Box { size 25.1 0.26 0.07 } } ] boundingObject Box { size 25.1 0.26 0.07 } }
|
||||||
|
Solid { translation 14 -15 0.40 children [ Shape { appearance USE STONE_A geometry Box { size 2.0 0.16 0.80 } } ] boundingObject Box { size 2.0 0.16 0.80 } }
|
||||||
|
Solid { translation 14 -15 0.84 children [ Shape { appearance USE CAP geometry Box { size 2.1 0.26 0.07 } } ] boundingObject Box { size 2.1 0.26 0.07 } }
|
||||||
|
# Gate posts
|
||||||
|
Solid { translation 10 -15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] boundingObject Box { size 0.44 0.44 1.12 } }
|
||||||
|
Solid { translation 13 -15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] boundingObject Box { size 0.44 0.44 1.12 } }
|
||||||
|
# Outer gate (wooden, slightly ajar, Z-brace)
|
||||||
|
Solid { translation 11.5 -15.08 0.55 rotation 0 0 1 0.25 children [
|
||||||
|
Shape { appearance USE WOOD geometry Box { size 2.80 0.05 1.00 } }
|
||||||
|
Transform { translation 0 0.02 0 rotation 0 1 0 0.34 children [ Shape { appearance DEF FPOST PBRAppearance { baseColor 0.35 0.22 0.10 roughness 0.90 } geometry Box { size 2.97 0.04 0.06 } } ] }
|
||||||
|
] boundingObject Box { size 2.80 0.08 1.00 } }
|
||||||
|
|
||||||
|
# ==================== QUARANTINE PEN (wooden post-and-rail fence, inside field) ====================
|
||||||
|
# Flow: main field → inner gate → quarantine area → outer gate → outside
|
||||||
|
|
||||||
|
# West wall (x=10, ~7m along Y)
|
||||||
|
Solid { translation 10 -11.46 0.55 children [
|
||||||
|
Transform { translation 0 -3.46 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
|
||||||
|
Transform { translation 0 -1.73 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
|
||||||
|
Transform { translation 0 0 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
|
||||||
|
Transform { translation 0 1.73 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
|
||||||
|
Transform { translation 0 3.46 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
|
||||||
|
Transform { translation 0 0 -0.38 children [ Shape { appearance USE WOOD geometry Box { size 0.06 6.92 0.08 } } ] }
|
||||||
|
Transform { translation 0 0 -0.05 children [ Shape { appearance USE WOOD geometry Box { size 0.06 6.92 0.08 } } ] }
|
||||||
|
Transform { translation 0 0 0.30 children [ Shape { appearance USE WOOD geometry Box { size 0.06 6.92 0.08 } } ] }
|
||||||
|
Transform { translation 0 0 0.53 children [ Shape { appearance USE FPOST geometry Box { size 0.14 6.92 0.04 } } ] }
|
||||||
|
] boundingObject Box { size 0.14 6.92 1.10 } }
|
||||||
|
|
||||||
|
# East wall (x=13)
|
||||||
|
Solid { translation 13 -11.46 0.55 children [
|
||||||
|
Transform { translation 0 -3.46 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
|
||||||
|
Transform { translation 0 -1.73 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
|
||||||
|
Transform { translation 0 0 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
|
||||||
|
Transform { translation 0 1.73 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
|
||||||
|
Transform { translation 0 3.46 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
|
||||||
|
Transform { translation 0 0 -0.38 children [ Shape { appearance USE WOOD geometry Box { size 0.06 6.92 0.08 } } ] }
|
||||||
|
Transform { translation 0 0 -0.05 children [ Shape { appearance USE WOOD geometry Box { size 0.06 6.92 0.08 } } ] }
|
||||||
|
Transform { translation 0 0 0.30 children [ Shape { appearance USE WOOD geometry Box { size 0.06 6.92 0.08 } } ] }
|
||||||
|
Transform { translation 0 0 0.53 children [ Shape { appearance USE FPOST geometry Box { size 0.14 6.92 0.04 } } ] }
|
||||||
|
] boundingObject Box { size 0.14 6.92 1.10 } }
|
||||||
|
|
||||||
|
# North wall - open entrance (no wall, just corner posts)
|
||||||
|
Solid { translation 10 -8 0.55 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] boundingObject Box { size 0.12 0.12 1.10 } }
|
||||||
|
Solid { translation 13 -8 0.55 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] boundingObject Box { size 0.12 0.12 1.10 } }
|
||||||
|
|
||||||
|
# Corner pillars
|
||||||
|
Solid { translation 15 15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] boundingObject Box { size 0.44 0.44 1.12 } }
|
||||||
|
Solid { translation 15 -15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] boundingObject Box { size 0.44 0.44 1.12 } }
|
||||||
|
Solid { translation -15 15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] boundingObject Box { size 0.44 0.44 1.12 } }
|
||||||
|
Solid { translation -15 -15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] boundingObject Box { size 0.44 0.44 1.12 } }
|
||||||
|
|
||||||
|
# Mid-pillars every 5 m — East
|
||||||
|
Solid { translation 15 10 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation 15 5 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation 15 0 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation 15 -5 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation 15 -10 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
# West
|
||||||
|
Solid { translation -15 10 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation -15 5 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation -15 0 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation -15 -5 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation -15 -10 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
# North
|
||||||
|
Solid { translation 10 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation 5 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation 0 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation -5 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation -10 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
# South
|
||||||
|
Solid { translation 5 -15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation 0 -15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation -5 -15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
Solid { translation -10 -15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
|
||||||
|
|
||||||
|
# ==================== BARN 1 — Gambrel/Dutch style (NE, outside fence) ====================
|
||||||
|
# Body 10×7×4, weathered gray-brown wood, gambrel roof, large double doors
|
||||||
|
Solid {
|
||||||
|
translation 18.5 25.49 2
|
||||||
|
children [
|
||||||
|
Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 10 7 4 } }
|
||||||
|
# Gambrel roof
|
||||||
|
Transform { translation -3.5 0 3.05 rotation 0 1 0 -0.611 children [ Shape { appearance PBRAppearance { baseColor 0.20 0.18 0.16 roughness 0.82 metalness 0.02 } geometry Box { size 3.9 7.2 0.18 } } ] }
|
||||||
|
Transform { translation 3.5 0 3.05 rotation 0 1 0 0.611 children [ Shape { appearance PBRAppearance { baseColor 0.20 0.18 0.16 roughness 0.82 metalness 0.02 } geometry Box { size 3.9 7.2 0.18 } } ] }
|
||||||
|
Transform { translation -1.0 0 4.55 rotation 0 1 0 -0.422 children [ Shape { appearance PBRAppearance { baseColor 0.20 0.18 0.16 roughness 0.82 metalness 0.02 } geometry Box { size 2.5 7.2 0.18 } } ] }
|
||||||
|
Transform { translation 1.0 0 4.55 rotation 0 1 0 0.422 children [ Shape { appearance PBRAppearance { baseColor 0.20 0.18 0.16 roughness 0.82 metalness 0.02 } geometry Box { size 2.5 7.2 0.18 } } ] }
|
||||||
|
Transform { translation 0 0 5.04 children [ Shape { appearance PBRAppearance { baseColor 0.20 0.18 0.16 roughness 0.82 metalness 0.02 } geometry Box { size 1.6 7.2 0.22 } } ] }
|
||||||
|
# South gable fill
|
||||||
|
Transform { translation 0 -3.57 2.40 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 8.8 0.16 0.80 } } ] }
|
||||||
|
Transform { translation 0 -3.57 3.10 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 6.8 0.16 0.70 } } ] }
|
||||||
|
Transform { translation 0 -3.57 3.70 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 5.1 0.16 0.60 } } ] }
|
||||||
|
Transform { translation 0 -3.57 4.10 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 4.0 0.16 0.40 } } ] }
|
||||||
|
Transform { translation 0 -3.57 4.42 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 2.7 0.16 0.60 } } ] }
|
||||||
|
Transform { translation 0 -3.57 4.84 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 0.9 0.16 0.36 } } ] }
|
||||||
|
# North gable fill
|
||||||
|
Transform { translation 0 3.57 2.40 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 8.8 0.16 0.80 } } ] }
|
||||||
|
Transform { translation 0 3.57 3.10 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 6.8 0.16 0.70 } } ] }
|
||||||
|
Transform { translation 0 3.57 3.70 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 5.1 0.16 0.60 } } ] }
|
||||||
|
Transform { translation 0 3.57 4.10 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 4.0 0.16 0.40 } } ] }
|
||||||
|
Transform { translation 0 3.57 4.42 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 2.7 0.16 0.60 } } ] }
|
||||||
|
Transform { translation 0 3.57 4.84 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 0.9 0.16 0.36 } } ] }
|
||||||
|
# Double barn doors (south face)
|
||||||
|
Transform {
|
||||||
|
translation 0 -3.51 -0.50
|
||||||
|
children [
|
||||||
|
Shape { appearance PBRAppearance { baseColor 0.44 0.30 0.14 roughness 0.88 metalness 0 } geometry Box { size 2.8 0.10 3.0 } }
|
||||||
|
Transform { rotation 0 0 1 0.83 children [ Shape { appearance PBRAppearance { baseColor 0.34 0.22 0.10 roughness 0.90 metalness 0 } geometry Box { size 0.10 0.12 3.75 } } ] }
|
||||||
|
Transform { rotation 0 0 1 -0.83 children [ Shape { appearance PBRAppearance { baseColor 0.34 0.22 0.10 roughness 0.90 metalness 0 } geometry Box { size 0.10 0.12 3.75 } } ] }
|
||||||
|
Transform { translation -1.45 0 0 children [ Shape { appearance PBRAppearance { baseColor 0.34 0.22 0.10 roughness 0.90 metalness 0 } geometry Box { size 0.12 0.14 3.24 } } ] }
|
||||||
|
Transform { translation 1.45 0 0 children [ Shape { appearance PBRAppearance { baseColor 0.34 0.22 0.10 roughness 0.90 metalness 0 } geometry Box { size 0.12 0.14 3.24 } } ] }
|
||||||
|
Transform { translation 0 0 1.62 children [ Shape { appearance PBRAppearance { baseColor 0.34 0.22 0.10 roughness 0.90 metalness 0 } geometry Box { size 3.04 0.14 0.14 } } ] }
|
||||||
|
]
|
||||||
|
}
|
||||||
|
# Windows
|
||||||
|
Transform { translation -3.6 -3.52 0.55 children [ Shape { appearance PBRAppearance { baseColor 0.60 0.80 0.95 roughness 0.20 metalness 0.05 } geometry Box { size 1.40 0.12 1.10 } } ] }
|
||||||
|
Transform { translation 3.6 -3.52 0.55 children [ Shape { appearance PBRAppearance { baseColor 0.60 0.80 0.95 roughness 0.20 metalness 0.05 } geometry Box { size 1.40 0.12 1.10 } } ] }
|
||||||
|
Transform { translation 5.06 2.0 0.55 children [ Shape { appearance PBRAppearance { baseColor 0.60 0.80 0.95 roughness 0.20 metalness 0.05 } geometry Box { size 0.12 1.20 1.0 } } ] }
|
||||||
|
Transform { translation 5.06 -2.0 0.55 children [ Shape { appearance PBRAppearance { baseColor 0.60 0.80 0.95 roughness 0.20 metalness 0.05 } geometry Box { size 0.12 1.20 1.0 } } ] }
|
||||||
|
Transform { translation 0 -3.52 3.90 children [ Shape { appearance PBRAppearance { baseColor 0.44 0.30 0.14 roughness 0.88 metalness 0 } geometry Box { size 1.30 0.12 1.00 } } ] }
|
||||||
|
]
|
||||||
|
boundingObject Box { size 10 7 7 }
|
||||||
|
}
|
||||||
|
|
||||||
|
# ==================== BARN 3 — Red barn (NE, outside fence, gate facing fence) ====================
|
||||||
|
# Body 7×9×3.5, red walls, steep dark roof
|
||||||
|
Solid {
|
||||||
|
translation 29.76 9.52 1.75
|
||||||
|
rotation 0 0 1 -1.5708
|
||||||
|
children [
|
||||||
|
Shape { appearance USE BARN_RED geometry Box { size 7 9 3.5 } }
|
||||||
|
# Roof
|
||||||
|
Transform { translation -2.0 0 3.0 rotation 0 1 0 -0.70 children [ Shape { appearance USE BARN_ROOF geometry Box { size 4.2 9.2 0.20 } } ] }
|
||||||
|
Transform { translation 2.0 0 3.0 rotation 0 1 0 0.70 children [ Shape { appearance USE BARN_ROOF geometry Box { size 4.2 9.2 0.20 } } ] }
|
||||||
|
Transform { translation 0 0 4.28 children [ Shape { appearance USE BARN_ROOF geometry Box { size 2.0 9.2 0.24 } } ] }
|
||||||
|
# South gable fill
|
||||||
|
Transform { translation 0 -4.52 2.05 children [ Shape { appearance USE BARN_RED geometry Box { size 6.2 0.16 0.60 } } ] }
|
||||||
|
Transform { translation 0 -4.52 2.65 children [ Shape { appearance USE BARN_RED geometry Box { size 4.5 0.16 0.60 } } ] }
|
||||||
|
Transform { translation 0 -4.52 3.25 children [ Shape { appearance USE BARN_RED geometry Box { size 2.9 0.16 0.60 } } ] }
|
||||||
|
Transform { translation 0 -4.52 3.85 children [ Shape { appearance USE BARN_RED geometry Box { size 1.2 0.16 0.60 } } ] }
|
||||||
|
# North gable fill
|
||||||
|
Transform { translation 0 4.52 2.05 children [ Shape { appearance USE BARN_RED geometry Box { size 6.2 0.16 0.60 } } ] }
|
||||||
|
Transform { translation 0 4.52 2.65 children [ Shape { appearance USE BARN_RED geometry Box { size 4.5 0.16 0.60 } } ] }
|
||||||
|
Transform { translation 0 4.52 3.25 children [ Shape { appearance USE BARN_RED geometry Box { size 2.9 0.16 0.60 } } ] }
|
||||||
|
Transform { translation 0 4.52 3.85 children [ Shape { appearance USE BARN_RED geometry Box { size 1.2 0.16 0.60 } } ] }
|
||||||
|
# Door
|
||||||
|
Transform {
|
||||||
|
translation 0 -4.52 -0.62
|
||||||
|
children [
|
||||||
|
Shape { appearance USE DOOR_MAT geometry Box { size 1.70 0.14 2.26 } }
|
||||||
|
Transform { translation 0 0 1.22 children [ Shape { appearance USE WOOD geometry Box { size 2.10 0.18 0.26 } } ] }
|
||||||
|
Transform { translation -0.90 0 0 children [ Shape { appearance USE WOOD geometry Box { size 0.24 0.18 2.52 } } ] }
|
||||||
|
Transform { translation 0.90 0 0 children [ Shape { appearance USE WOOD geometry Box { size 0.24 0.18 2.52 } } ] }
|
||||||
|
Transform { translation 0 0 -0.68 children [ Shape { appearance USE WOOD geometry Box { size 1.60 0.12 0.12 } } ] }
|
||||||
|
Transform { translation 0 0 0.30 children [ Shape { appearance USE WOOD geometry Box { size 1.60 0.12 0.12 } } ] }
|
||||||
|
]
|
||||||
|
}
|
||||||
|
# Windows — south face
|
||||||
|
Transform { translation -2.2 -4.53 0.30 children [ Shape { appearance USE GLASS geometry Box { size 0.80 0.14 0.70 } } ] }
|
||||||
|
Transform { translation 2.2 -4.53 0.30 children [ Shape { appearance USE GLASS geometry Box { size 0.80 0.14 0.70 } } ] }
|
||||||
|
# East-face windows
|
||||||
|
Transform { translation 3.52 3.0 0.30 children [ Shape { appearance USE GLASS geometry Box { size 0.14 0.80 0.70 } } ] }
|
||||||
|
Transform { translation 3.52 0.0 0.30 children [ Shape { appearance USE GLASS geometry Box { size 0.14 0.80 0.70 } } ] }
|
||||||
|
Transform { translation 3.52 -3.0 0.30 children [ Shape { appearance USE GLASS geometry Box { size 0.14 0.80 0.70 } } ] }
|
||||||
|
]
|
||||||
|
boundingObject Box { size 7 9 6 }
|
||||||
|
}
|
||||||
|
|
||||||
|
# ==================== TREES (outside fence) ====================
|
||||||
|
|
||||||
|
# Tree A — large oak, SE
|
||||||
|
Solid {
|
||||||
|
translation 20 -18 0
|
||||||
|
children [
|
||||||
|
Transform { translation 0 0 2.0 children [ Shape { appearance USE TRUNK geometry Cylinder { height 4.0 radius 0.30 subdivision 10 } } ] }
|
||||||
|
Transform { translation 0.0 0.0 4.6 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 2.6 subdivision 4 } } ] }
|
||||||
|
Transform { translation 1.2 0.6 5.6 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.9 subdivision 4 } } ] }
|
||||||
|
Transform { translation -1.0 0.9 5.3 children [ Shape { appearance USE LEAF_C geometry Sphere { radius 1.7 subdivision 4 } } ] }
|
||||||
|
Transform { translation 0.4 -1.1 5.1 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 1.5 subdivision 4 } } ] }
|
||||||
|
Transform { translation -0.5 -0.4 6.2 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.0 subdivision 4 } } ] }
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# Tree B — medium, NE near barn
|
||||||
|
Solid {
|
||||||
|
translation -8 26 0
|
||||||
|
children [
|
||||||
|
Transform { translation 0 0 1.7 children [ Shape { appearance USE TRUNK geometry Cylinder { height 3.4 radius 0.25 subdivision 10 } } ] }
|
||||||
|
Transform { translation 0.0 0.0 3.8 children [ Shape { appearance USE LEAF_C geometry Sphere { radius 2.2 subdivision 4 } } ] }
|
||||||
|
Transform { translation 0.9 -0.7 4.7 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 1.6 subdivision 4 } } ] }
|
||||||
|
Transform { translation -0.6 0.8 4.4 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.4 subdivision 4 } } ] }
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# Tree C — large, NW
|
||||||
|
Solid {
|
||||||
|
translation -23 20 0
|
||||||
|
children [
|
||||||
|
Transform { translation 0 0 2.3 children [ Shape { appearance USE TRUNK geometry Cylinder { height 4.6 radius 0.36 subdivision 10 } } ] }
|
||||||
|
Transform { translation 0.0 0.0 5.2 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 2.9 subdivision 4 } } ] }
|
||||||
|
Transform { translation 1.3 0.9 6.3 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 2.1 subdivision 4 } } ] }
|
||||||
|
Transform { translation -1.1 1.1 6.0 children [ Shape { appearance USE LEAF_C geometry Sphere { radius 1.9 subdivision 4 } } ] }
|
||||||
|
Transform { translation 0.6 -1.3 5.8 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 1.6 subdivision 4 } } ] }
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# Tree D — small, SW
|
||||||
|
Solid {
|
||||||
|
translation -20 -23 0
|
||||||
|
children [
|
||||||
|
Transform { translation 0 0 1.4 children [ Shape { appearance USE TRUNK geometry Cylinder { height 2.8 radius 0.20 subdivision 10 } } ] }
|
||||||
|
Transform { translation 0.0 0.0 3.2 children [ Shape { appearance USE LEAF_C geometry Sphere { radius 1.9 subdivision 4 } } ] }
|
||||||
|
Transform { translation -0.7 0.6 4.0 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 1.4 subdivision 4 } } ] }
|
||||||
|
Transform { translation 0.6 -0.5 3.8 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.2 subdivision 4 } } ] }
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# Tree E — north cluster
|
||||||
|
Solid {
|
||||||
|
translation 7 23 0
|
||||||
|
children [
|
||||||
|
Transform { translation 0 0 1.9 children [ Shape { appearance USE TRUNK geometry Cylinder { height 3.8 radius 0.27 subdivision 10 } } ] }
|
||||||
|
Transform { translation 0.0 0.0 4.1 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 2.3 subdivision 4 } } ] }
|
||||||
|
Transform { translation 1.0 0.5 5.0 children [ Shape { appearance USE LEAF_C geometry Sphere { radius 1.7 subdivision 4 } } ] }
|
||||||
|
Transform { translation -0.6 -0.9 4.8 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.4 subdivision 4 } } ] }
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# Tree F — SW
|
||||||
|
Solid {
|
||||||
|
translation -2.98 -22.8 0
|
||||||
|
children [
|
||||||
|
Transform { translation 0 0 1.3 children [ Shape { appearance USE TRUNK geometry Cylinder { height 2.6 radius 0.19 subdivision 10 } } ] }
|
||||||
|
Transform { translation 0.0 0.0 2.9 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.7 subdivision 4 } } ] }
|
||||||
|
Transform { translation 0.6 0.4 3.7 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 1.2 subdivision 4 } } ] }
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# Tree G — west side
|
||||||
|
Solid {
|
||||||
|
translation -23 -5 0
|
||||||
|
children [
|
||||||
|
Transform { translation 0 0 2.0 children [ Shape { appearance USE TRUNK geometry Cylinder { height 4.0 radius 0.29 subdivision 10 } } ] }
|
||||||
|
Transform { translation 0.0 0.0 4.4 children [ Shape { appearance USE LEAF_C geometry Sphere { radius 2.4 subdivision 4 } } ] }
|
||||||
|
Transform { translation -1.0 0.8 5.3 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 1.8 subdivision 4 } } ] }
|
||||||
|
Transform { translation 0.9 -0.7 5.0 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.6 subdivision 4 } } ] }
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# Tree H — east side
|
||||||
|
Solid {
|
||||||
|
translation 21.35 -1.05 0
|
||||||
|
children [
|
||||||
|
Transform { translation 0 0 1.5 children [ Shape { appearance USE TRUNK geometry Cylinder { height 3.0 radius 0.22 subdivision 10 } } ] }
|
||||||
|
Transform { translation 0.0 0.0 3.4 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 2.0 subdivision 4 } } ] }
|
||||||
|
Transform { translation 0.7 0.6 4.2 children [ Shape { appearance USE LEAF_C geometry Sphere { radius 1.4 subdivision 4 } } ] }
|
||||||
|
Transform { translation -0.5 -0.8 4.0 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.2 subdivision 4 } } ] }
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# ==================== SCARECROW (east side, outside fence) ====================
|
||||||
|
Solid {
|
||||||
|
translation 20 -10 0
|
||||||
|
children [
|
||||||
|
Transform { translation 0 0 1.22 children [ Shape { appearance USE TRUNK geometry Cylinder { height 2.44 radius 0.045 subdivision 8 } } ] }
|
||||||
|
Transform { translation 0 0 2.02 rotation 1 0 0 1.5708 children [ Shape { appearance USE TRUNK geometry Cylinder { height 1.60 radius 0.032 subdivision 8 } } ] }
|
||||||
|
Transform {
|
||||||
|
translation 0 0 2.44
|
||||||
|
children [
|
||||||
|
Shape { appearance USE STRAW geometry Sphere { radius 0.17 subdivision 3 } }
|
||||||
|
Transform { translation 0.13 0.05 0.06 children [ Shape { appearance PBRAppearance { baseColor 0.06 0.06 0.06 } geometry Sphere { radius 0.028 subdivision 2 } } ] }
|
||||||
|
Transform { translation 0.13 -0.05 0.06 children [ Shape { appearance PBRAppearance { baseColor 0.06 0.06 0.06 } geometry Sphere { radius 0.028 subdivision 2 } } ] }
|
||||||
|
Transform { translation 0.16 0 -0.02 rotation 0 1 0 1.5708 children [ Shape { appearance PBRAppearance { baseColor 0.75 0.50 0.30 } geometry Cone { height 0.07 bottomRadius 0.032 subdivision 6 } } ] }
|
||||||
|
Transform { translation 0.14 0.04 -0.06 children [ Shape { appearance PBRAppearance { baseColor 0.18 0.08 0.08 } geometry Box { size 0.01 0.04 0.01 } } ] }
|
||||||
|
Transform { translation 0.14 -0.04 -0.06 children [ Shape { appearance PBRAppearance { baseColor 0.18 0.08 0.08 } geometry Box { size 0.01 0.04 0.01 } } ] }
|
||||||
|
]
|
||||||
|
}
|
||||||
|
Transform { translation 0 0 2.62 children [ Shape { appearance USE HAT geometry Cylinder { height 0.04 radius 0.28 subdivision 12 } } ] }
|
||||||
|
Transform { translation 0 0 2.80 children [ Shape { appearance USE HAT geometry Cylinder { height 0.30 radius 0.17 subdivision 10 } } ] }
|
||||||
|
Transform { translation 0 0 1.60 children [ Shape { appearance USE SHIRT geometry Box { size 0.20 0.40 0.46 } } ] }
|
||||||
|
Transform { translation 0 0 1.14 children [ Shape { appearance USE PANTS geometry Box { size 0.17 0.32 0.34 } } ] }
|
||||||
|
Transform { translation 0 0.68 2.03 rotation 0 0 1 0.25 children [ Shape { appearance USE STRAW geometry Box { size 0.03 0.24 0.03 } } ] }
|
||||||
|
Transform { translation 0 -0.68 2.03 rotation 0 0 -1 0.25 children [ Shape { appearance USE STRAW geometry Box { size 0.03 0.24 0.03 } } ] }
|
||||||
|
Transform { translation 0.10 0.08 1.82 children [ Shape { appearance USE STRAW geometry Box { size 0.03 0.03 0.14 } } ] }
|
||||||
|
Transform { translation 0.10 -0.08 1.82 children [ Shape { appearance USE STRAW geometry Box { size 0.03 0.03 0.14 } } ] }
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
# ==================== HAY BALES (near barn) ====================
|
||||||
|
Solid { translation 25.75 13.76 0.62 children [ Transform { rotation 1 0 0 1.5708 children [ Shape { appearance USE HAY geometry Cylinder { height 1.30 radius 0.62 subdivision 14 } } ] } ] boundingObject Box { size 1.30 1.24 1.24 } }
|
||||||
|
Solid { translation 24.34 12.32 0.62 children [ Transform { rotation 1 0 0 1.5708 children [ Shape { appearance USE HAY geometry Cylinder { height 1.30 radius 0.62 subdivision 14 } } ] } ] boundingObject Box { size 1.30 1.24 1.24 } }
|
||||||
|
Solid { translation 24.28 13.79 0.62 children [ Transform { rotation 1 0 0 1.5708 children [ Shape { appearance USE HAY geometry Cylinder { height 1.30 radius 0.62 subdivision 14 } } ] } ] boundingObject Box { size 1.30 1.24 1.24 } }
|
||||||
|
|
||||||
|
# ==================== TRACTOR (near barn) ====================
|
||||||
|
Solid {
|
||||||
|
translation 17 19 0
|
||||||
|
rotation 0 0 1 1.9
|
||||||
|
children [
|
||||||
|
# Chassis
|
||||||
|
Transform { translation 0 0 0.35 children [ Shape { appearance PBRAppearance { baseColor 0.20 0.20 0.20 roughness 0.6 metalness 0.3 } geometry Box { size 2.0 0.90 0.12 } } ] }
|
||||||
|
# Engine hood
|
||||||
|
Transform { translation 0.60 0 0.60 children [ Shape { appearance PBRAppearance { baseColor 0.15 0.50 0.12 roughness 0.7 metalness 0.1 } geometry Box { size 0.65 0.80 0.45 } } ] }
|
||||||
|
# Main body
|
||||||
|
Transform { translation -0.15 0 0.60 children [ Shape { appearance PBRAppearance { baseColor 0.15 0.50 0.12 roughness 0.7 metalness 0.1 } geometry Box { size 0.80 0.85 0.45 } } ] }
|
||||||
|
# Cabin
|
||||||
|
Transform { translation -0.20 0 0.95 children [ Shape { appearance PBRAppearance { baseColor 0.15 0.50 0.12 roughness 0.7 metalness 0.1 } geometry Box { size 0.75 0.80 0.45 } } ] }
|
||||||
|
# Cabin roof
|
||||||
|
Transform { translation -0.20 0 1.22 children [ Shape { appearance PBRAppearance { baseColor 0.12 0.40 0.10 roughness 0.75 metalness 0.1 } geometry Box { size 0.85 0.90 0.06 } } ] }
|
||||||
|
# Windshield
|
||||||
|
Transform { translation 0.12 0 0.95 children [ Shape { appearance USE GLASS geometry Box { size 0.02 0.55 0.35 } } ] }
|
||||||
|
# Rear window
|
||||||
|
Transform { translation -0.58 0 0.95 children [ Shape { appearance USE GLASS geometry Box { size 0.02 0.55 0.35 } } ] }
|
||||||
|
# Side windows
|
||||||
|
Transform { translation -0.20 0.40 0.95 children [ Shape { appearance USE GLASS geometry Box { size 0.55 0.02 0.30 } } ] }
|
||||||
|
Transform { translation -0.20 -0.40 0.95 children [ Shape { appearance USE GLASS geometry Box { size 0.55 0.02 0.30 } } ] }
|
||||||
|
# Seat
|
||||||
|
Transform { translation -0.25 0 0.55 children [ Shape { appearance PBRAppearance { baseColor 0.12 0.12 0.12 roughness 0.9 } geometry Box { size 0.30 0.35 0.06 } } ] }
|
||||||
|
# Exhaust stack
|
||||||
|
Transform { translation 0.50 0.30 0.60 children [
|
||||||
|
Shape { appearance PBRAppearance { baseColor 0.25 0.25 0.25 roughness 0.4 metalness 0.6 } geometry Cylinder { height 0.90 radius 0.03 subdivision 6 } }
|
||||||
|
Transform { translation 0 0 0.50 children [ Shape { appearance PBRAppearance { baseColor 0.20 0.20 0.20 roughness 0.4 metalness 0.6 } geometry Cylinder { height 0.04 radius 0.045 subdivision 6 } } ] }
|
||||||
|
] }
|
||||||
|
# Rear axle
|
||||||
|
Transform { translation -0.45 0 0.40 children [ Shape { appearance PBRAppearance { baseColor 0.25 0.25 0.25 roughness 0.5 metalness 0.5 } geometry Box { size 0.08 1.15 0.08 } } ] }
|
||||||
|
# Front axle
|
||||||
|
Transform { translation 0.60 0 0.25 children [ Shape { appearance PBRAppearance { baseColor 0.25 0.25 0.25 roughness 0.5 metalness 0.5 } geometry Box { size 0.08 0.90 0.08 } } ] }
|
||||||
|
# Rear left wheel
|
||||||
|
Transform { translation -0.45 0.60 0.40 rotation 1 0 0 1.5708 children [
|
||||||
|
Shape { appearance PBRAppearance { baseColor 0.08 0.08 0.08 roughness 0.95 } geometry Cylinder { height 0.22 radius 0.40 subdivision 20 } }
|
||||||
|
Shape { appearance PBRAppearance { baseColor 0.35 0.35 0.35 metalness 0.5 } geometry Cylinder { height 0.24 radius 0.14 subdivision 10 } }
|
||||||
|
] }
|
||||||
|
# Rear right wheel
|
||||||
|
Transform { translation -0.45 -0.60 0.40 rotation 1 0 0 1.5708 children [
|
||||||
|
Shape { appearance PBRAppearance { baseColor 0.08 0.08 0.08 roughness 0.95 } geometry Cylinder { height 0.22 radius 0.40 subdivision 20 } }
|
||||||
|
Shape { appearance PBRAppearance { baseColor 0.35 0.35 0.35 metalness 0.5 } geometry Cylinder { height 0.24 radius 0.14 subdivision 10 } }
|
||||||
|
] }
|
||||||
|
# Front left wheel
|
||||||
|
Transform { translation 0.60 0.45 0.25 rotation 1 0 0 1.5708 children [
|
||||||
|
Shape { appearance PBRAppearance { baseColor 0.08 0.08 0.08 roughness 0.95 } geometry Cylinder { height 0.16 radius 0.25 subdivision 16 } }
|
||||||
|
Shape { appearance PBRAppearance { baseColor 0.35 0.35 0.35 metalness 0.5 } geometry Cylinder { height 0.18 radius 0.09 subdivision 8 } }
|
||||||
|
] }
|
||||||
|
# Front right wheel
|
||||||
|
Transform { translation 0.60 -0.45 0.25 rotation 1 0 0 1.5708 children [
|
||||||
|
Shape { appearance PBRAppearance { baseColor 0.08 0.08 0.08 roughness 0.95 } geometry Cylinder { height 0.16 radius 0.25 subdivision 16 } }
|
||||||
|
Shape { appearance PBRAppearance { baseColor 0.35 0.35 0.35 metalness 0.5 } geometry Cylinder { height 0.18 radius 0.09 subdivision 8 } }
|
||||||
|
] }
|
||||||
|
# Rear fenders
|
||||||
|
Transform { translation -0.45 0.50 0.72 children [ Shape { appearance PBRAppearance { baseColor 0.12 0.40 0.10 roughness 0.75 metalness 0.1 } geometry Box { size 0.50 0.12 0.20 } } ] }
|
||||||
|
Transform { translation -0.45 -0.50 0.72 children [ Shape { appearance PBRAppearance { baseColor 0.12 0.40 0.10 roughness 0.75 metalness 0.1 } geometry Box { size 0.50 0.12 0.20 } } ] }
|
||||||
|
# Front bumper
|
||||||
|
Transform { translation 0.95 0 0.35 children [ Shape { appearance PBRAppearance { baseColor 0.35 0.35 0.35 roughness 0.7 metalness 0.3 } geometry Box { size 0.12 0.75 0.30 } } ] }
|
||||||
|
# Headlights
|
||||||
|
Transform { translation 0.97 0.25 0.45 children [ Shape { appearance PBRAppearance { baseColor 0.95 0.92 0.70 roughness 0.3 } geometry Sphere { radius 0.05 subdivision 3 } } ] }
|
||||||
|
Transform { translation 0.97 -0.25 0.45 children [ Shape { appearance PBRAppearance { baseColor 0.95 0.92 0.70 roughness 0.3 } geometry Sphere { radius 0.05 subdivision 3 } } ] }
|
||||||
|
# Taillights
|
||||||
|
Transform { translation -0.58 0.25 0.45 children [ Shape { appearance PBRAppearance { baseColor 0.80 0.10 0.10 roughness 0.4 } geometry Box { size 0.04 0.08 0.06 } } ] }
|
||||||
|
Transform { translation -0.58 -0.25 0.45 children [ Shape { appearance PBRAppearance { baseColor 0.80 0.10 0.10 roughness 0.4 } geometry Box { size 0.04 0.08 0.06 } } ] }
|
||||||
|
# Drawbar hitch
|
||||||
|
Transform { translation -0.95 0 0.20 children [ Shape { appearance PBRAppearance { baseColor 0.25 0.25 0.25 roughness 0.5 metalness 0.5 } geometry Box { size 0.12 0.06 0.06 } } ] }
|
||||||
|
]
|
||||||
|
boundingObject Box { size 2.2 1.4 1.3 }
|
||||||
|
}
|
||||||
|
|
||||||
|
# ==================== GRASS PATCHES (inside field, decorative) ====================
|
||||||
|
Solid { translation -8 6 0.15 children [
|
||||||
|
Transform { translation 0.10 0.00 0 children [ Shape { appearance USE LEAF_B geometry Box { size 0.04 0.02 0.30 } } ] }
|
||||||
|
Transform { translation -0.05 0.12 0 rotation 0 0 1 0.4 children [ Shape { appearance USE LEAF_A geometry Box { size 0.04 0.02 0.26 } } ] }
|
||||||
|
Transform { translation 0.08 -0.10 0 rotation 0 0 1 -0.3 children [ Shape { appearance USE LEAF_C geometry Box { size 0.04 0.02 0.28 } } ] }
|
||||||
|
Transform { translation -0.12 0.04 0 rotation 0 0 1 0.2 children [ Shape { appearance USE LEAF_B geometry Box { size 0.04 0.02 0.24 } } ] }
|
||||||
|
] }
|
||||||
|
Solid { translation 6 -9 0.15 children [
|
||||||
|
Transform { translation 0.08 0.06 0 children [ Shape { appearance USE LEAF_A geometry Box { size 0.04 0.02 0.28 } } ] }
|
||||||
|
Transform { translation -0.10 0.00 0 rotation 0 0 1 -0.3 children [ Shape { appearance USE LEAF_C geometry Box { size 0.04 0.02 0.32 } } ] }
|
||||||
|
Transform { translation 0.02 -0.12 0 rotation 0 0 1 0.35 children [ Shape { appearance USE LEAF_B geometry Box { size 0.04 0.02 0.26 } } ] }
|
||||||
|
Transform { translation -0.06 0.10 0 children [ Shape { appearance USE LEAF_A geometry Box { size 0.04 0.02 0.22 } } ] }
|
||||||
|
] }
|
||||||
|
Solid { translation -3 11 0.15 children [
|
||||||
|
Transform { translation 0.06 -0.06 0 children [ Shape { appearance USE LEAF_C geometry Box { size 0.04 0.02 0.26 } } ] }
|
||||||
|
Transform { translation -0.08 0.08 0 rotation 0 0 1 0.3 children [ Shape { appearance USE LEAF_A geometry Box { size 0.04 0.02 0.30 } } ] }
|
||||||
|
Transform { translation 0.12 0.02 0 rotation 0 0 1 -0.25 children [ Shape { appearance USE LEAF_B geometry Box { size 0.04 0.02 0.28 } } ] }
|
||||||
|
] }
|
||||||
|
Solid { translation 10 8 0.15 children [
|
||||||
|
Transform { translation -0.07 0.05 0 children [ Shape { appearance USE LEAF_B geometry Box { size 0.04 0.02 0.24 } } ] }
|
||||||
|
Transform { translation 0.09 -0.07 0 rotation 0 0 1 0.4 children [ Shape { appearance USE LEAF_C geometry Box { size 0.04 0.02 0.28 } } ] }
|
||||||
|
Transform { translation 0.00 0.11 0 rotation 0 0 1 -0.2 children [ Shape { appearance USE LEAF_A geometry Box { size 0.04 0.02 0.26 } } ] }
|
||||||
|
] }
|
||||||
|
Solid { translation -11 -7 0.15 children [
|
||||||
|
Transform { translation 0.05 0.08 0 children [ Shape { appearance USE LEAF_A geometry Box { size 0.04 0.02 0.30 } } ] }
|
||||||
|
Transform { translation -0.09 -0.04 0 rotation 0 0 1 0.35 children [ Shape { appearance USE LEAF_B geometry Box { size 0.04 0.02 0.28 } } ] }
|
||||||
|
Transform { translation 0.10 -0.09 0 rotation 0 0 1 -0.3 children [ Shape { appearance USE LEAF_C geometry Box { size 0.04 0.02 0.24 } } ] }
|
||||||
|
Transform { translation -0.03 0.12 0 children [ Shape { appearance USE LEAF_A geometry Box { size 0.04 0.02 0.26 } } ] }
|
||||||
|
] }
|
||||||
|
|
||||||
|
# ==================== SHEPHERD DOG ====================
|
||||||
|
ShepherdDog {
|
||||||
|
translation 0 0 0.5
|
||||||
|
rotation 0 0 1 0
|
||||||
|
controller "shepherd_dog"
|
||||||
|
}
|
||||||
|
|
||||||
|
# ==================== SHEEP ====================
|
||||||
|
Sheep {
|
||||||
|
translation 3 2 0.5
|
||||||
|
name "sheep1"
|
||||||
|
controller "sheep"
|
||||||
|
}
|
||||||
|
Sheep {
|
||||||
|
translation 3 -2 0.5
|
||||||
|
name "sheep2"
|
||||||
|
controller "sheep"
|
||||||
|
}
|
||||||
|
Sheep {
|
||||||
|
translation 4 0 0.5
|
||||||
|
name "sheep3"
|
||||||
|
controller "sheep"
|
||||||
|
}
|
||||||
|
Sheep {
|
||||||
|
translation 3.5 1 0.5
|
||||||
|
name "sheep4"
|
||||||
|
controller "sheep"
|
||||||
|
}
|
||||||
|
Sheep {
|
||||||
|
translation 3.5 -1 0.5
|
||||||
|
name "sheep5"
|
||||||
|
controller "sheep"
|
||||||
}
|
}
|
||||||
|
|||||||
Reference in New Issue
Block a user