First commit

simulator/protos/robot/UltrasoundModule.proto

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