First commit

2025-11-07 11:39:23 +00:00
commit 4fb3471833
281 changed files with 6610 additions and 0 deletions
--- a/simulator/protos/props/BoxToken.proto
+++ b/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
+    }
+  }
+}