First commit

simulator/protos/robot/Caster.proto

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+#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
+            }
+          }
+        ]
+      }
+    ]
+  }
+}