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Syed Daanish
2025-11-07 11:39:23 +00:00
commit 4fb3471833
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simulator/protos/robot/VacuumSucker.proto Normal file
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#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
}
}
}
]
}
]
}
}