First commit

simulator/protos/SR2025bot.proto

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+#VRML_SIM R2023b utf8
+EXTERNPROTO "./robot/MotorAssembly.proto"
+EXTERNPROTO "./robot/Caster.proto"
+EXTERNPROTO "./robot/RobotCamera.proto"
+EXTERNPROTO "./robot/UltrasoundModule.proto"
+EXTERNPROTO "./robot/RGBLed.proto"
+EXTERNPROTO "./robot/ReflectanceSensor.proto"
+EXTERNPROTO "./robot/Flag.proto"
+EXTERNPROTO "./robot/BumpSensor.proto"
+EXTERNPROTO "./robot/VacuumSucker.proto"
+
+PROTO SR2025bot [
+  field SFString name ""
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFString controller "<generic>"
+  field MFString controllerArgs []
+  field SFString customData ""
+  field SFColor flagColour 1 1 1
+] {
+  Robot {
+    name IS name
+    translation IS translation
+    rotation IS rotation
+    controller IS controller
+    controllerArgs IS controllerArgs
+    customData IS customData
+    children [
+      Pose {
+        translation 0 0 0.049
+        children [
+          MotorAssembly {
+            name "left motor"
+            rotation 0 0 1 3.1415
+            reversed TRUE
+            translation 0 0.14 0
+          }
+          MotorAssembly {
+            name "right motor"
+            translation 0 -0.14 0
+          }
+          Caster {
+            name "caster"
+            translation -0.15 0 -0.045
+          }
+          DEF BASE Solid {
+            translation -0.065 0 -0.02
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.757 0.604 0.424
+                  roughness 1
+                  metalness 0
+                }
+                geometry Box {
+                  size 0.25 0.25 0.02
+                }
+              }
+            ]
+            name "Chassis"
+            boundingObject DEF BASE_GEO Box {
+              size 0.25 0.25 0.02
+            }
+            physics Physics {
+              density 2000  # 66% Aluminium
+            }
+          }
+          DEF BOARD Solid {
+            translation -0.05 0 0
+            rotation 0 0 1 1.5708
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0 0 0
+                  roughness 1
+                  metalness 0
+                }
+                geometry Box {
+                  size 0.08 0.06 0.02
+                }
+              }
+            ]
+            name "Board"
+          }
+          DEF STABILISER Solid {
+            translation -0.16 0 0
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.8 0.8 0.75
+                  roughness 1
+                  metalness 0
+                }
+                geometry DEF WEIGHT_GEO Box {
+                  size 0.04 0.15 0.02
+                }
+              }
+            ]
+            name "Chassis weight"
+            boundingObject USE WEIGHT_GEO
+            physics Physics {
+              density 8000  # Steel
+            }
+          }
+          RobotCamera {
+            name "camera"
+            translation 0.05 0 0.03
+          }
+          Solid {
+            translation 0.03 0 0
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.4 0.4 0.4
+                  metalness 0
+                }
+                geometry Box {
+                  size 0.01 0.01 0.03
+                }
+              }
+            ]
+            name "Camera riser"
+          }
+          VacuumSucker {
+            name "vacuum sucker"
+            translation 0.01 0 -0.02
+          }
+          UltrasoundModule {
+            name "ultrasound front"
+            translation 0.04 0 0
+          }
+          UltrasoundModule {
+            name "ultrasound left"
+            translation -0.08 0.12 0
+            rotation 0 0 1 1.5708
+          }
+          UltrasoundModule {
+            name "ultrasound back"
+            translation -0.18 0 0
+            rotation 0 0 1 3.1416
+          }
+          UltrasoundModule {
+            name "ultrasound right"
+            translation -0.08 -0.12 0
+            rotation 0 0 1 -1.5708
+          }
+          RGBLed {
+            name "led 1"
+            translation -0.11 0.08 -0.008
+          }
+          RGBLed {
+            name "led 2"
+            translation -0.11 0 -0.008
+          }
+          RGBLed {
+            name "led 3"
+            translation -0.11 -0.08 -0.008
+          }
+          ReflectanceSensor {
+            name "left reflectance sensor"
+            translation 0.03 0.02 -0.03
+            rotation 0 0 1 1.5708
+          }
+          ReflectanceSensor {
+            name "center reflectance sensor"
+            translation 0.03 0 -0.03
+            rotation 0 0 1 1.5708
+          }
+          ReflectanceSensor {
+            name "right reflectance sensor"
+            translation 0.03 -0.02 -0.03
+            rotation 0 0 1 1.5708
+          }
+          BumpSensor {
+            name "front left bump sensor"
+            translation 0.06 0.06 -0.02
+          }
+          BumpSensor {
+            name "front right bump sensor"
+            translation 0.06 -0.06 -0.02
+          }
+          BumpSensor {
+            name "rear left bump sensor"
+            translation -0.19 0.06 -0.02
+          }
+          BumpSensor {
+            name "rear right bump sensor"
+            translation -0.19 -0.06 -0.02
+          }
+          Flag {
+            name "flag"
+            translation 0.03 0.07 0.09
+            flagColour IS flagColour
+          }
+        ]
+      }
+    ]
+    boundingObject Pose {
+      translation -0.065 0 0.029
+      children [USE BASE_GEO]
+    }
+    physics Physics {}
+  }
+}

simulator/protos/SRObot.proto

@@ -0,0 +1,178 @@
+#VRML_SIM R2023b utf8
+EXTERNPROTO "./robot/MotorAssembly.proto"
+EXTERNPROTO "./robot/Caster.proto"
+EXTERNPROTO "./robot/RobotCamera.proto"
+EXTERNPROTO "./robot/UltrasoundModule.proto"
+EXTERNPROTO "./robot/RGBLed.proto"
+EXTERNPROTO "./robot/ReflectanceSensor.proto"
+EXTERNPROTO "./robot/Flag.proto"
+EXTERNPROTO "./robot/BumpSensor.proto"
+
+PROTO SRObot [
+  field SFString name ""
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFString controller "<generic>"
+  field MFString controllerArgs []
+  field SFString customData ""
+  field SFColor flagColour 1 1 1
+] {
+  Robot {
+    name IS name
+    translation IS translation
+    rotation IS rotation
+    controller IS controller
+    controllerArgs IS controllerArgs
+    customData IS customData
+    children [
+      Pose {
+        translation 0 0 0.049
+        children [
+          MotorAssembly {
+            name "left motor"
+            rotation 0 0 1 3.1415
+            reversed TRUE
+            translation 0 0.1 0
+          }
+          MotorAssembly {
+            name "right motor"
+            translation 0 -0.1 0
+          }
+          Caster {
+            name "caster"
+            translation -0.13 0 -0.045
+          }
+          DEF BASE Solid {
+            translation -0.045 0 -0.02
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.757 0.604 0.424
+                  roughness 1
+                  metalness 0
+                }
+                geometry Box {
+                  size 0.21 0.16 0.02
+                }
+              }
+            ]
+            name "Chassis"
+            boundingObject DEF BASE_GEO Box {
+              size 0.21 0.16 0.02
+            }
+            physics Physics {
+              density 3000  # Aluminium
+            }
+          }
+          DEF BOARD Solid {
+            translation -0.06 0 0
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0 0 0
+                  roughness 1
+                  metalness 0
+                }
+                geometry Box {
+                  size 0.08 0.06 0.02
+                }
+              }
+            ]
+            name "Board"
+          }
+          RobotCamera {
+            name "camera"
+            translation 0 0 0.03
+          }
+          Solid {
+            translation -0.01 0 0
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.4 0.4 0.4
+                  metalness 0
+                }
+                geometry Box {
+                  size 0.01 0.01 0.03
+                }
+              }
+            ]
+            name "Camera riser"
+          }
+          UltrasoundModule {
+            name "ultrasound front"
+            translation 0.04 0 0
+          }
+          UltrasoundModule {
+            name "ultrasound left"
+            translation -0.08 0.07 0
+            rotation 0 0 1 1.5708
+          }
+          UltrasoundModule {
+            name "ultrasound back"
+            translation -0.14 0 0
+            rotation 0 0 1 3.1416
+          }
+          UltrasoundModule {
+            name "ultrasound right"
+            translation -0.08 -0.07 0
+            rotation 0 0 1 -1.5708
+          }
+          RGBLed {
+            name "led 1"
+            translation -0.12 0.05 -0.008
+          }
+          RGBLed {
+            name "led 2"
+            translation -0.12 0 -0.008
+          }
+          RGBLed {
+            name "led 3"
+            translation -0.12 -0.05 -0.008
+          }
+          ReflectanceSensor {
+            name "left reflectance sensor"
+            translation 0.03 0.02 -0.03
+            rotation 0 0 1 1.5708
+          }
+          ReflectanceSensor {
+            name "center reflectance sensor"
+            translation 0.03 0 -0.03
+            rotation 0 0 1 1.5708
+          }
+          ReflectanceSensor {
+            name "right reflectance sensor"
+            translation 0.03 -0.02 -0.03
+            rotation 0 0 1 1.5708
+          }
+          BumpSensor {
+            name "front left bump sensor"
+            translation 0.06 0.05 -0.02
+          }
+          BumpSensor {
+            name "front right bump sensor"
+            translation 0.06 -0.05 -0.02
+          }
+          BumpSensor {
+            name "rear left bump sensor"
+            translation -0.15 0.05 -0.02
+          }
+          BumpSensor {
+            name "rear right bump sensor"
+            translation -0.15 -0.05 -0.02
+          }
+          Flag {
+            name "flag"
+            translation 0.03 0.05 0.09
+            flagColour IS flagColour
+          }
+        ]
+      }
+    ]
+    boundingObject Pose {
+      translation -0.045 0 0.029
+      children [USE BASE_GEO]
+    }
+    physics Physics {}
+  }
+}

simulator/protos/arena/Arena.proto

@@ -0,0 +1,136 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+
+PROTO Arena [
+  field SFVec2f size 1 1
+  field SFColor wallColour 0.095395215 0.22841774 0.8000001
+  field MFString floorTexture []
+  field SFBool locked FALSE
+] {
+  Group {
+    children [
+      DEF ARENA_WALLS Group {
+        children [
+          Solid {  # North Wall
+            translation 0 %<= -(fields.size.value.y / 2 + 0.075) >% 0.15
+            children [
+              DEF NORTH_WALL Shape {
+                appearance DEF WALL_COLOUR PBRAppearance {
+                  baseColor IS wallColour
+                  roughness 1
+                  metalness 0
+                }
+                geometry Box {
+                  size %<= fields.size.value.x >% 0.15 0.3
+                }
+              }
+            ]
+            name "North Wall"
+            locked IS locked
+          }
+          Solid {  # East Wall
+            translation %<= -(fields.size.value.x / 2 + 0.075) >% 0 0.15
+            children [
+              DEF EAST_WALL Shape {
+                appearance USE WALL_COLOUR
+                geometry Box {
+                  size 0.15 %<= fields.size.value.y + 0.3 >% 0.3
+                }
+              }
+            ]
+            name "East Wall"
+            locked IS locked
+          }
+          Solid {  # West Wall
+            translation %<= fields.size.value.x / 2 + 0.075 >% 0 0.15
+            children [USE EAST_WALL]
+            name "West Wall"
+            locked IS locked
+          }
+          Solid {  # South Wall
+            translation 0 %<= fields.size.value.y / 2 + 0.075 >% 0.15
+            children [USE NORTH_WALL]
+            name "South Wall"
+            locked IS locked
+          }
+        ]
+      }
+      DEF ARENA_BOUNDING Group {
+        children [
+          Solid {  # Floor
+            translation 0 -0.002 0
+            rotation 0 0 1 3.1416
+            children [
+              DEF FLOOR Shape {
+                appearance Appearance {
+                  material Material {
+                    ambientIntensity 0
+                  }
+                  texture ImageTexture {
+                    url IS floorTexture
+                    repeatS FALSE
+                    repeatT FALSE
+                    filtering 1
+                  }
+                }
+                geometry Plane {
+                  size IS size
+                }
+              }
+            ]
+            name "Floor"
+            boundingObject Plane {
+              size IS size
+            }
+            locked IS locked
+          }
+          Solid {  # Ceiling
+            rotation 1 0 0 3.1419
+            translation 0 0 2
+            boundingObject Plane {
+              size IS size
+            }
+            name "Top boundary"
+            locked IS locked
+          }
+          Solid {  # North bound
+            rotation 1 0 0 -1.5708
+            translation 0 %<= -fields.size.value.y / 2 >% 1
+            boundingObject Plane {
+              size %<= fields.size.value.x >% 2
+            }
+            name "North boundary"
+            locked IS locked
+          }
+          Solid {  # East bound
+            rotation 0 -1 0 -1.5708
+            translation %<= -fields.size.value.x / 2 >% 0 1
+            boundingObject Plane {
+              size 2 %<= fields.size.value.y >%
+            }
+            name "East boundary"
+            locked IS locked
+          }
+          Solid {  # South bound
+            rotation 1 0 0 1.5708
+            translation 0 %<= fields.size.value.y / 2 >% 1
+            boundingObject Plane {
+              size %<= fields.size.value.x >% 2
+            }
+            name "South boundary"
+            locked IS locked
+          }
+          Solid {  # West bound
+            rotation 0 -1 0 1.5708
+            translation %<= fields.size.value.x / 2 >% 0 1
+            boundingObject Plane {
+              size 2 %<= fields.size.value.y >%
+            }
+            name "West boundary"
+            locked IS locked
+          }
+        ]
+      }
+    ]
+  }
+}

simulator/protos/arena/Deck.proto

@@ -0,0 +1,50 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+
+PROTO Deck [
+  field SFVec2f size 1 1
+  field SFVec3f translation 0 0 0.001
+  field SFRotation rotation 1 0 0 0
+  field SFFloat height 0.17
+  field SFColor sideColour 1 1 1
+  field SFColor topColour 0.1 0.1 0.1
+  field SFBool locked FALSE
+  field SFString name ""
+] {
+  Solid {
+    translation IS translation
+    rotation IS rotation
+    children [
+      Shape {
+        appearance PBRAppearance {
+          baseColor IS sideColour
+          roughness 1
+          metalness 0.5
+        }
+        geometry DEF DECK Box {
+          size %<= fields.size.value.x >% %<= fields.size.value.y >% %<= fields.height.value >%
+        }
+      }
+      Solid {
+        translation 0 0 %<= fields.height.value / 2 + 0.002 >%
+        children [
+          Shape {
+            appearance PBRAppearance {
+              baseColor IS topColour
+              roughness 1
+              metalness 0
+            }
+            geometry Plane {
+              size %<= fields.size.value.x >% %<= fields.size.value.y >%
+            }
+            castShadows FALSE
+          }
+        ]
+        name "Top of deck"
+      }
+    ]
+    boundingObject USE DECK
+    name IS name
+    locked IS locked
+  }
+}

simulator/protos/arena/Pillar.proto

@@ -0,0 +1,76 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+# tags: nonDeterministic
+
+EXTERNPROTO "../props/Marker.proto"
+
+PROTO Pillar [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 1 0 0
+  field SFVec3f size 0.13 0.13 0.13
+  field SFVec2f {0.08 0.08, 0.15 0.15, 0.2 0.2} marker_size 0.08 0.08
+  field SFFloat marker_height 0.065
+  field SFColor colour 0.9 0.9 0.9
+  field SFString marker "0"
+  field SFString model ""
+  field MFString texture_url []
+]
+{
+  Pose {
+    translation IS translation
+    rotation IS rotation
+    children [
+      Solid {
+        translation 0 0 %<= fields.size.value.z / 2 >%
+        children [
+          Shape {
+            appearance DEF PILLAR_APPEARANCE PBRAppearance {
+              baseColor IS colour
+              metalness 0
+              roughness 1
+            }
+            geometry DEF PILLAR_GEOMETRY Box {
+              size IS size
+            }
+          }
+          Marker {
+            translation 0 %<= fields.size.value.y / 2 + 0.001 >% %<= fields.marker_height.value - (fields.size.value.z / 2) >%
+            rotation 1 0 0 -1.5708
+            size IS marker_size
+            name "front"
+            model IS marker
+            texture_url IS texture_url
+          }
+          Marker {
+            translation 0 %<= -(fields.size.value.y / 2 + 0.001) >% %<= fields.marker_height.value - (fields.size.value.z / 2) >%
+            rotation 1 0 0 1.5708
+            size IS marker_size
+            name "back"
+            model IS marker
+            texture_url IS texture_url
+          }
+          Marker {
+            translation %<= fields.size.value.x / 2 + 0.001 >% 0 %<= fields.marker_height.value - (fields.size.value.z / 2) >%
+            rotation 0 1 0 1.5708
+            size IS marker_size
+            name "side-1"
+            model IS marker
+            texture_url IS texture_url
+          }
+          Marker {
+            translation %<= -(fields.size.value.x / 2 + 0.001) >% 0 %<= fields.marker_height.value - (fields.size.value.z / 2) >%
+            rotation 0 1 0 -1.5708
+            size IS marker_size
+            name "side-2"
+            model IS marker
+            texture_url IS texture_url
+          }
+        ]
+        name IS model
+        model IS model
+        boundingObject USE PILLAR_GEOMETRY
+        locked TRUE
+      }
+    ]
+  }
+}

simulator/protos/arena/TriangleDeck.proto

@@ -0,0 +1,68 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/geometries/protos/Extrusion.proto"
+
+PROTO TriangleDeck [
+  field SFVec2f size 1 1
+  field SFVec3f translation 0 0 0.001
+  field SFRotation rotation 1 0 0 0
+  field SFFloat height 0.17
+  field SFColor sideColour 1 1 1
+  field SFColor topColour 0.1 0.1 0.1
+  field SFBool locked FALSE
+  field SFString name ""
+] {
+  Pose {
+    translation IS translation
+    rotation IS rotation
+    children [
+      Solid {
+        translation 0 0 %<= -fields.height.value / 2 + 0.002 >%
+        children [
+          Shape {
+            appearance PBRAppearance {
+              baseColor IS sideColour
+              roughness 1
+              metalness 0.5
+            }
+            geometry DEF DECK Extrusion {
+              crossSection [0.5 0.5, 0.5 -0.5, -0.5 0.5, 0.5 0.5]
+              scale %<= fields.size.value.x >% %<= fields.size.value.y >%
+              spine [0 0 0, 0 0 %<= fields.height.value >%]
+              splineSubdivision 1
+            }
+          }
+          Solid {
+            translation 0 0 %<= fields.height.value + 0.002 >%
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor IS topColour
+                  roughness 1
+                  metalness 0
+                }
+                geometry IndexedFaceSet {
+                  coord Coordinate {
+                    point [
+                      %<= -fields.size.value.x / 2 >% %<= -fields.size.value.y / 2 >% 0
+                      %<= fields.size.value.x / 2 >% %<= -fields.size.value.y / 2 >% 0
+                      %<= -fields.size.value.x / 2 >% %<= fields.size.value.y / 2 >% 0
+                    ]
+                  }
+                  coordIndex [
+                    0 1 2 0
+                  ]
+                }
+                castShadows FALSE
+              }
+            ]
+            name "Top of deck"
+          }
+        ]
+        boundingObject USE DECK
+        name IS name
+        locked IS locked
+      }
+    ]
+  }
+}

simulator/protos/props/BoxToken.proto

@@ -0,0 +1,125 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+# tags: nonDeterministic
+
+EXTERNPROTO "./Marker.proto"
+
+PROTO BoxToken [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 1 0 0
+  field SFVec3f size 0.13 0.13 0.13
+  field SFVec2f {0.08 0.08, 0.15 0.15, 0.2 0.2} marker_size 0.08 0.08
+  field SFColor colour 0.7 0.55 0.35
+  field SFString marker "0"
+  field SFString model ""
+  field SFFloat mass 0.080
+  field MFString texture_url []
+  field SFFloat connectorStrength 35
+  field SFFloat connectorShear 20
+]
+{
+  Solid {
+    translation IS translation
+    rotation IS rotation
+    children [
+      Shape {
+        appearance DEF TOKEN_APPEARANCE PBRAppearance {
+          baseColor IS colour
+          metalness 0
+          roughness 1
+        }
+        geometry DEF TOKEN_GEOMETRY Box {
+          size IS size
+        }
+      }
+      Marker {
+        translation 0 %<= fields.size.value.y / 2 + 0.001 >% 0
+        rotation 1 0 0 -1.5708
+        size IS marker_size
+        name "front"
+        model IS marker
+        texture_url IS texture_url
+      }
+      Marker {
+        translation 0 %<= -(fields.size.value.y / 2 + 0.001) >% 0
+        rotation 1 0 0 1.5708
+        size IS marker_size
+        name "back"
+        model IS marker
+        texture_url IS texture_url
+      }
+      Marker {
+        translation %<= fields.size.value.x / 2 + 0.001 >% 0 0
+        rotation 0 1 0 1.5708
+        size IS marker_size
+        name "side-1"
+        model IS marker
+        texture_url IS texture_url
+      }
+      Marker {
+        translation %<= -(fields.size.value.x / 2 + 0.001) >% 0 0
+        rotation 0 1 0 -1.5708
+        size IS marker_size
+        name "side-2"
+        model IS marker
+        texture_url IS texture_url
+      }
+      Marker {
+        translation 0 0 %<= fields.size.value.z / 2 + 0.001 >%
+        rotation 0 0 1 0
+        size IS marker_size
+        name "top"
+        model IS marker
+        texture_url IS texture_url
+      }
+      Marker {
+        translation 0 0 %<= -(fields.size.value.z / 2 + 0.001) >%
+        rotation 0 1 0 3.1416
+        size IS marker_size
+        name "bottom"
+        model IS marker
+        texture_url IS texture_url
+      }
+      # Shape {
+      #   appearance PBRAppearance {
+      #     transparency 0.4
+      #     baseColor 1 0 0
+      #   }
+      #   geometry Sphere {
+      #     radius %<= fields.size.value.x / 2 * 1.4 >%
+      #     subdivision 5
+      #   }
+      # }
+      Connector {
+        type "passive"
+        distanceTolerance %<= fields.size.value.x / 2 * 1.4 >%
+        axisTolerance 3.1415
+        rotationTolerance 0
+        numberOfRotations 0
+        tensileStrength IS connectorStrength
+        shearStrength IS connectorShear
+        snap FALSE
+        name "Front Connector"
+      }
+      Connector {
+        rotation 0 0 1 3.1416
+        type "passive"
+        distanceTolerance %<= fields.size.value.x / 2 * 1.4 >%
+        axisTolerance 3.1415
+        rotationTolerance 0
+        numberOfRotations 0
+        tensileStrength IS connectorStrength
+        shearStrength IS connectorShear
+        snap FALSE
+        name "Rear Connector"
+      }
+    ]
+    name IS model
+    model IS model
+    boundingObject USE TOKEN_GEOMETRY
+    physics Physics {
+      density -1
+      mass IS mass
+    }
+  }
+}

simulator/protos/props/Can.proto

@@ -0,0 +1,36 @@
+#VRML_SIM R2023b utf8
+
+PROTO Can [
+  field SFVec3f translation 0 0 0.001
+  field SFRotation rotation 1 0 0 0
+  field SFString name ""
+] {
+  Solid {
+    translation IS translation
+    rotation IS rotation
+    children [
+      Shape {
+        appearance DEF TOKEN_APPEARANCE PBRAppearance {
+          baseColor 1 1 1
+          roughness 1
+          metalness 1
+        }
+        geometry DEF TOKEN_GEOMETRY Cylinder {
+          height 0.1
+          radius 0.034
+          subdivision 12
+        }
+      }
+    ]
+    name IS name
+    boundingObject USE TOKEN_GEOMETRY
+    physics Physics {
+      density -1
+      mass 0.300
+      damping Damping {
+        linear 0.4
+        angular 0.4
+      }
+    }
+  }
+}

simulator/protos/props/Marker.proto

@@ -0,0 +1,99 @@
+#VRML_SIM R2022b utf8
+# template language: javascript
+# tags: nonDeterministic
+
+PROTO Marker [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 1 0 0
+  field SFVec2f {0.08 0.08, 0.1 0.1, 0.15 0.15, 0.2 0.2} size 0.08 0.08
+  field SFString name ""
+  field SFString model ""
+  field MFString texture_url []
+  field SFBool add_recognition FALSE
+  field SFBool upright FALSE
+]
+{
+  %< if (fields.upright.value) { >%
+  Pose {
+    translation IS translation
+    rotation IS rotation
+    children [
+  %< } >%
+  Solid {
+    %<
+    import * as wbrandom from 'wbrandom.js';
+    wbrandom.seed(context.id);
+    const uid = wbrandom.integer();
+    >%
+    %< if (fields.upright.value) { >%
+    rotation 1 0 0 1.5708
+    %< } else { >%
+    translation IS translation
+    rotation IS rotation
+    %< } >%
+    children [
+      %<
+      if (fields.add_recognition.value) {
+        for (let corner of [['TL', 1, 1], ['TR', -1, 1], ['BR', -1, -1], ['BL', 1, -1]]) {
+        let corner_name = corner[0];
+        let horiz_sign = corner[1];
+        let vert_sign = corner[2];
+      >%
+      Solid {
+        translation %<= horiz_sign * fields.size.value.x / 2 >% %<= vert_sign * fields.size.value.y / 2 >% 0.001
+        children [
+          Shape {
+            appearance PBRAppearance {
+              transparency 1
+              metalness 0
+            }
+            geometry Plane {
+              # Make the detection corners one marker pixel in size
+              size %<= fields.size.value.x / 8 >% %<= fields.size.value.y / 8 >%
+            }
+            castShadows FALSE
+          }
+        ]
+        model %<= "\"" + uid + "_" + fields.model.value + "_" + corner_name + "\"" >%
+        name %<= "\"" + corner_name + "\"" >%
+        locked TRUE
+        recognitionColors [
+          0 0 1
+        ]
+      }
+      %< }} >%
+      Shape {
+        appearance PBRAppearance {
+          baseColorMap ImageTexture {
+            url IS texture_url
+            repeatS FALSE
+            repeatT FALSE
+          }
+          roughness 1
+          metalness 0
+        }
+        geometry Plane {
+          # The size of the marker including the white border
+          size %<= 1.25 * fields.size.value.x >% %<= 1.25 * fields.size.value.y >%
+        }
+        castShadows FALSE
+      }
+    ]
+    %< if (fields.name.value !== "") { >%
+    name IS name
+    %< } else { >%
+    name IS model
+    %< } >%
+    model %<= "\"" + uid + "_" + fields.model.value + "_base\"" >%
+    locked TRUE
+    %< if (fields.add_recognition.value) { >%
+    recognitionColors [
+      1 1 1
+    ]
+    %< } >%
+  }
+  %< if (fields.upright.value) { >%
+    ]
+  }
+  %< } >%
+}

simulator/protos/robot/BumpSensor.proto

@@ -0,0 +1,28 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+
+PROTO BumpSensor [
+  field SFString name ""
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+] {
+  TouchSensor {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    children [
+      Shape {
+        appearance PBRAppearance {
+          baseColor 0.5 0 0
+          roughness 0.7
+        }
+        geometry DEF BUMPER Box {
+          size 0.01 0.05 0.01
+        }
+      }
+    ]
+    boundingObject Box {
+      size 0.03 0.05 0.01
+    }
+  }
+}

simulator/protos/robot/Caster.proto

@@ -0,0 +1,52 @@
+#VRML_SIM R2023b utf8
+
+PROTO Caster [
+  field SFString name ""
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+] {
+  Pose {
+    translation IS translation
+    rotation IS rotation
+    children [
+      Solid {
+        name IS name
+        children [
+          DEF CASTER_BALL Shape {
+            appearance PBRAppearance {
+              baseColor 0 0.0051864 0
+              roughness 0
+              metalness 0
+            }
+            geometry Sphere {
+              radius 0.005
+            }
+            castShadows FALSE
+          }
+        ]
+        boundingObject USE CASTER_BALL
+        physics Physics {
+          density 8000  # steel
+        }
+      }
+      Pose {
+        translation 0 0 0.01075
+        children [
+          DEF CASTER_TOP_CYLINDER Shape {
+            appearance PBRAppearance {
+              baseColor 0 0.0051864 0
+              roughness 0.5
+              metalness 0
+            }
+            geometry Cylinder {
+              height 0.0215
+              radius 0.01
+              subdivision 6
+              top FALSE
+            }
+          }
+        ]
+      }
+    ]
+  }
+}

simulator/protos/robot/Flag.proto

@@ -0,0 +1,51 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+
+PROTO Flag [
+  field SFString name ""
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFColor flagColour 0.1 0.1 0.7
+] {
+  Solid {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    children [
+      Shape {  # pole
+        appearance PBRAppearance {
+          baseColor 0.0705882 0.0705882 0.0705882
+          roughness 0.4
+          metalness 0
+        }
+        geometry Cylinder {
+          height 0.2
+          radius 0.0075
+          subdivision 8
+          bottom FALSE
+        }
+      }
+      Solid {
+        translation -0.08 0 0.04925
+        children [
+          Shape {
+            appearance PBRAppearance {
+              metalness 0
+              baseColor IS flagColour
+            }
+            geometry Box {
+              size 0.15 0.005 0.1
+            }
+          }
+        ]
+        name %<= "\"" + fields.name.value + "flag\"" >%
+      }
+    ]
+    boundingObject Box {
+      size 0.015 0.015 0.2
+    }
+    physics Physics {
+      density 1000
+    }
+  }
+}

simulator/protos/robot/MotorAssembly.proto

@@ -0,0 +1,85 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+
+PROTO MotorAssembly [
+  field SFString name ""
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFFloat maxVelocity 25
+  field SFBool reversed FALSE
+] {
+  Pose {
+    translation IS translation
+    rotation IS rotation
+    children [
+      Solid {
+        translation 0 0.04 0
+        rotation -1 0 0 1.5708
+        name %<= "\"" + fields.name.value + " housing\"" >%
+        children [
+          Shape {
+            appearance PBRAppearance {
+              baseColor 0.36 0.36 0.36
+              roughness 0.3
+              metalness 0
+            }
+            geometry Cylinder {
+              height 0.07
+              radius 0.015
+              subdivision 12
+            }
+          }
+        ]
+        boundingObject Box {
+          size 0.03 0.03 0.07
+        }
+        physics Physics {
+          density 8000  # steel
+        }
+      }
+      HingeJoint {
+        jointParameters HingeJointParameters {
+          position 0
+          %< if (fields.reversed.value) { >%
+          axis 0 -1 0
+          %< } else { >%
+          axis 0 1 0
+          %< } >%
+        }
+        device [
+          RotationalMotor {
+            name IS name
+            maxVelocity IS maxVelocity
+            sound ""
+          }
+          PositionSensor {
+            name %<= "\"" + fields.name.value + " sensor\"" >%
+          }
+        ]
+        endPoint Solid {
+          translation 0 0 0
+          rotation -1 0 0 1.5708
+          children [
+            DEF WHEEL_GEO Shape {
+              appearance PBRAppearance {
+                baseColor 0 0.0051864 0
+                roughness 0.3
+                metalness 0
+              }
+              geometry Cylinder {
+                height 0.021
+                radius 0.05
+                subdivision 24
+              }
+            }
+          ]
+          name IS name
+          boundingObject USE WHEEL_GEO
+          physics Physics {
+            density 2000
+          }
+        }
+      }
+    ]
+  }
+}

simulator/protos/robot/RGBLed.proto

@@ -0,0 +1,37 @@
+#VRML_SIM R2023b utf8
+
+PROTO RGBLed [
+  field SFString name ""
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+] {
+  LED {
+    name IS name
+    translation IS translation
+    rotation IS rotation
+    children [
+      Shape {
+        appearance DEF APP_LED PBRAppearance {
+          baseColor 0.6 0.4 0.4
+          roughness 1
+          emissiveIntensity 100
+        }
+        geometry Box {
+          size 0.02 0.04 0.005
+        }
+        castShadows FALSE
+      }
+    ]
+    color [
+      1 0 0  # RED
+      1 1 0  # YELLOW
+      0 1 0  # GREEN
+      0 1 1  # CYAN
+      0 0 1  # BLUE
+      1 0 1  # MAGENTA
+      1 1 1  # WHITE
+    ]
+  }
+}
+
+

simulator/protos/robot/ReflectanceSensor.proto

@@ -0,0 +1,40 @@
+#VRML_SIM R2023b utf8
+
+PROTO ReflectanceSensor [
+  field SFString name ""
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+] {
+  Pose {
+    translation IS translation
+    rotation IS rotation
+    children [
+      DistanceSensor {
+        name IS name
+        rotation 0 1 0 1.5708
+        type "infra-red"
+        lookupTable [
+          # 2% standard deviation
+          0 0 0.02
+          0.1 1023 0.02
+        ]
+        children [
+          Pose {
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.1 0.1 1
+                  metalness 0
+                }
+                geometry Box {
+                  size 0.002 0.045 0.015
+                }
+                castShadows FALSE
+              }
+            ]
+          }
+        ]
+      }
+    ]
+  }
+}

simulator/protos/robot/RobotCamera.proto

@@ -0,0 +1,56 @@
+#VRML_SIM R2023b utf8
+
+PROTO RobotCamera [
+  field SFString name ""
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFInt32 width 800
+  field SFInt32 height 450
+] {
+  Camera {
+    name IS name
+    translation IS translation
+    rotation IS rotation
+    children [
+      Pose {
+        translation 0 0 0
+        rotation 0 1 0 1.5708
+        children [
+          Shape {
+            appearance PBRAppearance {
+              baseColor 0 0 0
+            }
+            geometry Cylinder {
+              height 0.01
+              radius 0.01
+            }
+            castShadows FALSE
+          }
+        ]
+        translationStep 0.001
+      }
+      Pose {
+        translation -0.02 0 0
+        children [
+          Shape {
+            appearance PBRAppearance {
+              baseColor 0.4 0.4 0.4
+              metalness 0
+            }
+            geometry Box {
+              size 0.03 0.03 0.03
+            }
+          }
+        ]
+      }
+    ]
+    # In radians, ~45 degrees
+    fieldOfView 0.82
+    width IS width
+    height IS height
+    recognition Recognition {
+      frameThickness 2
+      maxRange 6
+    }
+  }
+}

simulator/protos/robot/UltrasoundModule.proto

@@ -0,0 +1,75 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+
+PROTO UltrasoundModule [
+  field SFString name ""
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFInt32 range 4
+  field SFBool upright FALSE
+] {
+  DistanceSensor {
+    name IS name
+    translation IS translation
+    rotation IS rotation
+    type "sonar"
+    numberOfRays 10
+    aperture 0.3
+    lookupTable [
+      # 1% standard deviation, with no deviation at the limits
+      0 0 0
+      0.01 10 0.01
+      %<= fields.range.value * 0.99 >% %<= fields.range.value * 1000 * 0.99 >% 0.01
+      %<= fields.range.value >% %<= fields.range.value * 1000 >% 0
+      # Return 0 for out of range values
+      %<= fields.range.value + 0.001 >% 0 0
+    ]
+    children [
+      Pose {
+        %< if (fields.upright.value) { >%
+        rotation 0 1 1 3.14159
+        %< } else { >%
+        rotation 0 0 1 3.14159
+        %< } >%
+        children [
+          Shape {
+            appearance PBRAppearance {
+              baseColor 0.1 0.1 1
+              metalness 0
+            }
+            geometry Box {
+              size 0.002 0.045 0.02
+            }
+          }
+          Pose {
+            translation -0.007 0.013 0
+            rotation 0 -1 0 1.5708
+            children [
+              DEF SONAR_TRX Shape {
+                appearance PBRAppearance {
+                  baseColor 0.92 0.92 0.92
+                  roughness 0.3
+                }
+                geometry Cylinder {
+                  radius 0.008
+                  height 0.012
+                  subdivision 12
+                  bottom FALSE
+                }
+                castShadows FALSE
+              }
+            ]
+          }
+          Pose {
+            translation -0.007 -0.013 0
+            rotation 0 -1 0 1.5708
+            children [
+              USE SONAR_TRX
+            ]
+          }
+        ]
+      }
+    ]
+  }
+}
+

simulator/protos/robot/VacuumSucker.proto

@@ -0,0 +1,201 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+
+PROTO VacuumSucker [
+  field SFString name ""
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFFloat max_height 0.35
+  field SFFloat forward_reach 0.12
+] {
+  Pose {
+    translation IS translation
+    rotation IS rotation
+    children [
+      Pose {
+        translation 0 0 %<= fields.max_height.value / 4 >%
+        children [
+          DEF BASE Solid {
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.7 0.7 0.7
+                  roughness 1
+                  metalness 0
+                }
+                geometry DEF BASE_GEO Box {
+                  size 0.06 0.06 %<= fields.max_height.value / 2 >%
+                }
+              }
+            ]
+            name "Tower Base"
+            boundingObject USE BASE_GEO
+            physics Physics {
+              density 500  # Hollow Aluminium
+            }
+          }
+          SliderJoint {
+            jointParameters JointParameters {
+              axis 0 0 1
+              minStop 0
+              maxStop IS max_height
+              position 0.01
+            }
+            device [
+              LinearMotor {
+                name %<= "\"" + fields.name.value + " motor::main\"" >%
+                minPosition 0
+                maxPosition IS max_height
+                maxVelocity 2
+                sound ""
+              }
+              PositionSensor {
+                name %<= "\"" + fields.name.value + " position sensor\"" >%
+              }
+            ]
+            endPoint Solid {
+              translation %<= (fields.forward_reach.value + 0.055) - 0.05 >% 0 %<= fields.max_height.value / 4 - 0.05 >%
+              children [
+                Solid {
+                  children [
+                    Pose {
+                      translation %<= 0.025 - (fields.forward_reach.value + 0.055) / 2 >% 0 0.08
+                      children [
+                        Shape {  # Horizontal arm
+                          appearance PBRAppearance {
+                            baseColor 0.7 0.7 0.7
+                            roughness 1
+                            metalness 0
+                          }
+                          geometry Box {
+                            size %<= fields.forward_reach.value + 0.055 >% 0.05 0.02
+                          }
+                        }
+                      ]
+                    }
+                    Pose {
+                      translation %<= 0.05 - (fields.forward_reach.value + 0.055) >% 0 %<= 0.06 - (fields.max_height.value / 4) >%
+                      children [
+                        Shape {  # Column
+                          appearance PBRAppearance {
+                            baseColor 0.7 0.7 0.7
+                            roughness 1
+                            metalness 0
+                          }
+                          geometry DEF COLUMN_GEO Box {
+                            size 0.05 0.05 %<= fields.max_height.value / 2 + 0.02 >%
+                          }
+                        }
+                      ]
+                    }
+                    Pose {
+                      translation 0 0 0.045
+                      children [
+                        Shape {
+                          appearance PBRAppearance {
+                            baseColor 0.7 0.7 0.7
+                            roughness 1
+                            metalness 0
+                          }
+                          geometry Box {
+                            size 0.05 0.05 0.05
+                          }
+                        }
+                      ]
+                    }
+                  ]
+                  name "Armature"
+                  boundingObject Pose {
+                    translation %<= 0.05 - (fields.forward_reach.value + 0.055) >% 0 %<= 0.06 - (fields.max_height.value / 4) >%
+                    children [USE COLUMN_GEO]
+                  }
+                  physics Physics {
+                    density 200  # Hollow Aluminium
+                  }
+                }
+                DEF SUCKER Shape {
+                  appearance PBRAppearance {
+                    baseColor 0 0 0
+                    roughness 1
+                    metalness 1
+                  }
+                  geometry DEF hook_geo Box {
+                    size 0.05 0.05 0.04
+                  }
+                  castShadows FALSE
+                }
+                Connector {
+                  # Shift origin to near the lower face of the hook shape
+                  translation 0 0 -0.01
+                  rotation 0 1 0 3.1416
+                  type "active"
+                  distanceTolerance 0.094  # (0.14 / 2) * sqrt(2)
+                  axisTolerance 3.1415
+                  rotationTolerance 0
+                  numberOfRotations 0
+                  tensileStrength 35
+                  shearStrength 20
+                  snap FALSE
+                  autoLock TRUE
+                  name IS name
+                  unilateralUnlock TRUE
+                  unilateralLock TRUE
+                }
+              ]
+              boundingObject Pose {
+                translation 0 0 0.005
+                children [
+                  Box {
+                    size 0.05 0.05 0.03
+                  }
+                ]
+              }
+              physics Physics {
+                density 1500  # rubber
+              }
+            }
+          }
+          # Secondary slider joint for telescoping column
+          SliderJoint {
+            jointParameters JointParameters {
+              axis 0 0 1
+              minStop 0
+              maxStop %<= fields.max_height.value / 2 >%
+              position 0.005
+            }
+            device [
+              LinearMotor {
+                name %<= "\"" + fields.name.value + " motor::extension\"" >%
+                minPosition 0
+                maxPosition %<= fields.max_height.value / 2 >%
+                maxVelocity 1
+                sound ""
+                multiplier 0.5
+              }
+            ]
+            endPoint Solid {
+              translation 0 0 0.005
+              children [
+                Shape {
+                  appearance PBRAppearance {
+                    baseColor 0.7 0.7 0.7
+                    roughness 1
+                    metalness 0
+                  }
+                  geometry DEF COLUMN_GEO Box {
+                    size 0.055 0.055 %<= fields.max_height.value / 2 + 0.01 >%
+                  }
+                }
+              ]
+              name "Extension"
+              boundingObject USE COLUMN_GEO
+              physics Physics {
+                density 200  # Hollow Aluminium
+              }
+            }
+          }
+        ]
+      }
+    ]
+  }
+}