Johnny Fernandes
532 lines
13 KiB
Protocol Buffer
532 lines
13 KiB
Protocol Buffer
#VRML_SIM R2025a utf8
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# Sheep - wheeled base with sheep character on top
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/TireRubber.proto"
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PROTO Sheep [
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field SFVec3f translation 0 0 0
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field SFRotation rotation 0 1 0 0
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field SFString name "sheep"
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field SFString controller "sheep"
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field MFString controllerArgs []
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field SFString customData ""
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field SFBool supervisor TRUE
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field SFBool synchronization TRUE
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field SFColor woolColor 0.92 0.90 0.85
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]
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{
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Robot {
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translation IS translation
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rotation IS rotation
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name IS name
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controller IS controller
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controllerArgs IS controllerArgs
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customData IS customData
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supervisor IS supervisor
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synchronization IS synchronization
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children [
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# ========== CHASSIS / BASE ==========
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DEF SHEEP_CHASSIS Transform {
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translation 0 0 0.04
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children [
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Shape {
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appearance DEF SHEEP_CHASSIS_APP PBRAppearance {
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baseColor 0.25 0.25 0.25
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roughness 0.6
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metalness 0.3
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}
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geometry Box {
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size 0.24 0.14 0.05
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}
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}
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]
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}
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# ========== FLUFFY WOOL BODY ==========
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DEF SHEEP_BODY Transform {
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translation 0 0 0.12
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children [
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Shape {
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appearance DEF WOOL PBRAppearance {
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baseColor IS woolColor
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roughness 0.95
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metalness 0.0
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}
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geometry Box {
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size 0.26 0.16 0.12
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}
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}
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# Fluffy wool bumps — 6 spheres clustered on top of the body box
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Transform {
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translation -0.04 0 0.07
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children [
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Shape {
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appearance USE WOOL
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geometry Sphere {
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radius 0.055
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subdivision 3
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}
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}
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]
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}
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Transform {
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translation 0.04 0.035 0.07
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children [
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Shape {
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appearance USE WOOL
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geometry Sphere {
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radius 0.05
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subdivision 3
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}
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}
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]
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}
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Transform {
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translation 0.04 -0.035 0.07
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children [
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Shape {
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appearance USE WOOL
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geometry Sphere {
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radius 0.05
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subdivision 3
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}
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}
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]
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}
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Transform {
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translation -0.04 0.035 0.07
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children [
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Shape {
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appearance USE WOOL
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geometry Sphere {
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radius 0.05
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subdivision 3
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}
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}
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]
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}
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Transform {
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translation -0.04 -0.035 0.07
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children [
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Shape {
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appearance USE WOOL
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geometry Sphere {
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radius 0.05
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subdivision 3
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}
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}
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]
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}
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Transform {
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translation 0 0 0.07
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children [
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Shape {
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appearance USE WOOL
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geometry Sphere {
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radius 0.06
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subdivision 3
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}
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}
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]
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}
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]
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}
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# ========== HEAD ==========
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DEF SHEEP_HEAD Transform {
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translation 0.16 0 0.12
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children [
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Shape {
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appearance DEF SHEEP_DARK PBRAppearance {
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baseColor 0.25 0.22 0.18
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roughness 0.8
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metalness 0.0
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}
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geometry Box {
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size 0.08 0.10 0.08
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}
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}
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# Left eye (white sphere + dark pupil)
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Transform {
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translation 0.04 0.03 0.02
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.95 0.95 0.95
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roughness 0.3
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}
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geometry Sphere {
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radius 0.013
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subdivision 2
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}
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}
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Transform {
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translation 0.008 0 0.003
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.1 0.1 0.1
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roughness 0.2
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}
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geometry Sphere {
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radius 0.007
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subdivision 2
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}
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}
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]
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}
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]
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}
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# Right eye
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Transform {
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translation 0.04 -0.03 0.02
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.95 0.95 0.95
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roughness 0.3
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}
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geometry Sphere {
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radius 0.013
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subdivision 2
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}
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}
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Transform {
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translation 0.008 0 0.003
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.1 0.1 0.1
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roughness 0.2
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}
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geometry Sphere {
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radius 0.007
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subdivision 2
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}
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}
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]
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}
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]
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}
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# Left ear
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Transform {
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translation 0 0.055 0.03
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rotation 0 0 -1 0.3
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children [
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Shape {
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appearance USE SHEEP_DARK
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geometry Box {
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size 0.05 0.018 0.03
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}
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}
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]
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}
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# Right ear
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Transform {
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translation 0 -0.055 0.03
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rotation 0 0 1 0.3
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children [
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Shape {
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appearance USE SHEEP_DARK
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geometry Box {
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size 0.05 0.018 0.03
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}
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}
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]
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}
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]
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}
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# ========== SHORT TAIL ==========
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Transform {
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translation -0.15 0 0.14
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children [
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Shape {
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appearance USE WOOL
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geometry Sphere {
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radius 0.035
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subdivision 2
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}
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}
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]
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}
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# ========== RIGHT AXLE ARM ==========
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DEF SHEEP_RIGHT_AXLE Transform {
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translation 0 -0.085 0.031
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.5 0.5 0.5
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roughness 0.3
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metalness 0.8
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}
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geometry Box {
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size 0.02 0.05 0.02
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}
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}
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]
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}
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# ========== LEFT AXLE ARM ==========
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DEF SHEEP_LEFT_AXLE Transform {
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translation 0 0.085 0.031
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.5 0.5 0.5
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roughness 0.3
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metalness 0.8
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}
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geometry Box {
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size 0.02 0.05 0.02
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}
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}
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]
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}
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# ========== RIGHT WHEEL ==========
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DEF SHEEP_RIGHT_WHEEL HingeJoint {
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jointParameters HingeJointParameters {
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axis 0 1 0
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anchor 0 -0.10 0.031
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}
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device [
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RotationalMotor {
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name "right wheel motor"
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maxVelocity 25.0
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maxTorque 3.0
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}
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PositionSensor {
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name "right wheel sensor"
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resolution 0.00628
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}
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]
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endPoint Solid {
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translation 0 -0.10 0.031
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rotation 0 -1 0 1.570796
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children [
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DEF SHEEP_WHEEL_VIS Pose {
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rotation 1 0 0 -1.5708
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.15 0.15 0.15
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roughness 0.4
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metalness 0.5
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}
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geometry Cylinder {
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height 0.014
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radius 0.028
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subdivision 24
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}
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}
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Shape {
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appearance TireRubber {
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textureTransform TextureTransform {
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scale 1.2 0.5
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}
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type "bike"
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}
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geometry Cylinder {
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height 0.018
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radius 0.031
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subdivision 24
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}
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}
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Shape {
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appearance PBRAppearance {
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baseColor 0.5 0.5 0.5
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metalness 0.6
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}
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geometry Cylinder {
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height 0.016
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radius 0.012
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subdivision 12
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}
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}
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]
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}
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]
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name "right wheel"
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boundingObject Pose {
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rotation 1 0 0 -1.5708
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children [
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Cylinder {
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height 0.018
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radius 0.031
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}
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]
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}
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physics Physics {
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density -1
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mass 0.04
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centerOfMass [
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0 0 0
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]
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}
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}
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}
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# ========== LEFT WHEEL ==========
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DEF SHEEP_LEFT_WHEEL HingeJoint {
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jointParameters HingeJointParameters {
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axis 0 1 0
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anchor 0 0.10 0.031
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}
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device [
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RotationalMotor {
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name "left wheel motor"
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maxVelocity 25.0
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maxTorque 3.0
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}
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PositionSensor {
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name "left wheel sensor"
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resolution 0.00628
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}
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]
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endPoint Solid {
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translation 0 0.10 0.031
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rotation 0.707105 0 0.707109 -3.14159
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children [
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USE SHEEP_WHEEL_VIS
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]
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name "left wheel"
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boundingObject Pose {
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rotation 1 0 0 -1.5708
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children [
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Cylinder {
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height 0.018
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radius 0.031
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}
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]
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}
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physics Physics {
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density -1
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mass 0.04
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centerOfMass [
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0 0 0
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]
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}
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}
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}
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# ========== FRONT CASTER ==========
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BallJoint {
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jointParameters BallJointParameters {
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anchor 0.10 0 0.016
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}
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endPoint Solid {
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translation 0.10 0 0.016
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name "front caster"
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.2 0.2 0.2
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roughness 0.3
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}
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geometry Sphere {
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radius 0.016
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subdivision 2
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}
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}
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]
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boundingObject Sphere {
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radius 0.016
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}
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physics Physics {
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density -1
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mass 0.02
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}
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}
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}
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# ========== REAR CASTER ==========
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BallJoint {
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jointParameters BallJointParameters {
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anchor -0.10 0 0.016
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}
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endPoint Solid {
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translation -0.10 0 0.016
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name "rear caster"
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.2 0.2 0.2
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roughness 0.3
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}
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geometry Sphere {
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radius 0.016
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subdivision 2
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}
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}
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]
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boundingObject Sphere {
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radius 0.016
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}
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physics Physics {
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density -1
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mass 0.02
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}
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}
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}
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# ========== RECEIVER ==========
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Receiver {
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name "receiver"
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channel 1
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}
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# ========== EMITTER ==========
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Emitter {
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name "emitter"
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channel 1
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range 30.0
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}
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# ========== GPS ==========
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GPS {
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translation 0 0 0.15
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name "gps"
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}
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# ========== COMPASS ==========
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Compass {
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translation 0 0 0.10
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name "compass"
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}
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]
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boundingObject Group {
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children [
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# Chassis box
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Transform {
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translation 0 0 0.04
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children [
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Box {
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size 0.24 0.14 0.05
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}
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]
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}
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# Body box
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Transform {
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translation 0 0 0.12
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children [
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Box {
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size 0.26 0.16 0.12
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}
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]
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}
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]
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}
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physics Physics {
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density -1
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mass 5.0
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centerOfMass [
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0 0 0.02
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]
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}
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}
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}
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