First commit

2025-11-07 11:39:23 +00:00
commit 4fb3471833
281 changed files with 6610 additions and 0 deletions
--- a/simulator/worlds/arena.wbt
+++ b/simulator/worlds/arena.wbt
@@ -0,0 +1,289 @@
+#VRML_SIM R2023b utf8
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "../protos/arena/Arena.proto"
+EXTERNPROTO "../protos/arena/Deck.proto"
+EXTERNPROTO "../protos/arena/TriangleDeck.proto"
+EXTERNPROTO "../protos/props/Can.proto"
+EXTERNPROTO "../protos/props/Marker.proto"
+EXTERNPROTO "../protos/SRObot.proto"
+
+WorldInfo {
+  basicTimeStep 8
+}
+Viewpoint {
+  orientation 0.43231 0.43231 -0.79134 1.80272
+  position 0 9.1 13.8
+}
+DEF AMBIENT Background {
+  skyColor [
+    0.4 0.4 0.4
+  ]
+  luminosity 1.6
+}
+TexturedBackgroundLight {
+}
+
+DEF ROBOT0 SRObot {
+  name "robot0"
+  translation 0.45 1.95 0
+  rotation 0 0 1 3.1415
+  flagColour 0 1 0
+  controllerArgs ["0"]
+  controller "usercode_runner"
+  customData "start"
+}
+
+DEF ROBOT1 SRObot {
+  name "robot1"
+  translation -0.45 -1.95 0
+  rotation 0 0 1 0
+  flagColour 1 0.4 0
+  controllerArgs ["1"]
+  controller "usercode_runner"
+  customData "start"
+}
+
+Robot {
+  name "competition_supervisor"
+  controller "competition_supervisor"
+  supervisor TRUE
+}
+
+Arena {
+  size 5.4 5.4
+  locked TRUE
+  floorTexture ["arena_floor.png"]
+}
+Deck {
+  name "TL deck"
+  size 1.2192 1.2192
+  translation 2.0904 -2.0904 0.085
+  locked TRUE
+}
+Deck {
+  name "BR deck"
+  size 1.2192 1.2192
+  translation -2.0904 2.0904 0.085
+  locked TRUE
+}
+Deck {
+  name "CR deck"
+  size 1.2192 1.2192
+  translation -0.6096 -0.6096 0.085
+  locked TRUE
+}
+Deck {
+  name "CL deck"
+  size 1.2192 1.2192
+  translation 0.6096 0.6096 0.085
+  locked TRUE
+}
+TriangleDeck {
+  name "TR deck"
+  size 1.2192 1.2192
+  translation -2.0904 -2.0904 0.085
+  locked TRUE
+}
+TriangleDeck {
+  name "BL deck"
+  size 1.2192 1.2192
+  translation 2.0904 2.0904 0.085
+  rotation 0 0 1 3.14159
+  locked TRUE
+}
+
+DEF CANS Pose {
+  translation 0 0 0.05
+  children [
+    Can {
+      name "can1"
+      translation -0.46 0.60 0
+    }
+    Can {
+      name "can2"
+      translation -1.48 1.1 0
+    }
+    Can {
+      name "can3"
+      translation -1.5892 0.06 0
+    }
+    Can {
+      name "can4"
+      translation -2.33 -0.06 0
+    }
+    Can {
+      name "can5"
+      translation -1.48 -1.95 0
+    }
+
+    Can {
+      name "can6"
+      translation 0.46 -0.6 0
+    }
+    Can {
+      name "can7"
+      translation 1.48 -1.1 0
+    }
+    Can {
+      name "can8"
+      translation 1.5892 -0.06 0
+    }
+    Can {
+      name "can9"
+      translation 2.33 0.06 0
+    }
+    Can {
+      name "can10"
+      translation 1.48 1.95 0
+    }
+  ]
+}
+
+Marker {
+  name "A0"
+  model "100"
+  size 0.1 0.1
+  translation -1.4798 2.165 0.07
+  rotation 0 0 1 1.5708
+  texture_url ["sim_markers/100.png"]
+  upright TRUE
+}
+Marker {
+  name "A1"
+  model "101"
+  size 0.1 0.1
+  translation -1.4798 2.015 0.07
+  rotation 0 0 1 1.5708
+  texture_url ["sim_markers/101.png"]
+  upright TRUE
+}
+Marker {
+  name "A2"
+  model "102"
+  size 0.1 0.1
+  translation -0.535 0.001 0.07
+  rotation 0 0 1 3.1415
+  texture_url ["sim_markers/102.png"]
+  upright TRUE
+}
+Marker {
+  name "A3"
+  model "103"
+  size 0.1 0.1
+  translation -0.685 0.001 0.07
+  rotation 0 0 1 3.1415
+  texture_url ["sim_markers/103.png"]
+  upright TRUE
+}
+Marker {
+  name "A4"
+  model "104"
+  size 0.1 0.1
+  translation -2.699 0.815 0.07
+  rotation 0 0 1 1.5708
+  texture_url ["sim_markers/104.png"]
+  upright TRUE
+}
+Marker {
+  name "A5"
+  model "105"
+  size 0.1 0.1
+  translation -2.699 0.665 0.07
+  rotation 0 0 1 1.5708
+  texture_url ["sim_markers/105.png"]
+  upright TRUE
+}
+Marker {
+  name "A6"
+  model "106"
+  size 0.1 0.1
+  translation -2.14243 -2.03637 0.07
+  rotation 0 0 1 2.3561
+  texture_url ["sim_markers/106.png"]
+  upright TRUE
+}
+Marker {
+  name "A7"
+  model "107"
+  size 0.1 0.1
+  translation -2.03637 -2.14243 0.07
+  rotation 0 0 1 2.3561
+  texture_url ["sim_markers/107.png"]
+  upright TRUE
+}
+
+Marker {
+  name "B0"
+  model "100"
+  size 0.1 0.1
+  translation 1.4798 -2.165 0.07
+  rotation 0 0 1 -1.5708
+  texture_url ["sim_markers/100.png"]
+  upright TRUE
+}
+Marker {
+  name "B1"
+  model "101"
+  size 0.1 0.1
+  translation 1.4798 -2.015 0.07
+  rotation 0 0 1 -1.5708
+  texture_url ["sim_markers/101.png"]
+  upright TRUE
+}
+Marker {
+  name "B2"
+  model "102"
+  size 0.1 0.1
+  translation 0.535 -0.001 0.07
+  rotation 0 0 1 0
+  texture_url ["sim_markers/102.png"]
+  upright TRUE
+}
+Marker {
+  name "B3"
+  model "103"
+  size 0.1 0.1
+  translation 0.685 -0.001 0.07
+  rotation 0 0 1 0
+  texture_url ["sim_markers/103.png"]
+  upright TRUE
+}
+Marker {
+  name "B4"
+  model "104"
+  size 0.1 0.1
+  translation 2.699 -0.815 0.07
+  rotation 0 0 1 -1.5708
+  texture_url ["sim_markers/104.png"]
+  upright TRUE
+}
+Marker {
+  name "B5"
+  model "105"
+  size 0.1 0.1
+  translation 2.699 -0.665 0.07
+  rotation 0 0 1 -1.5708
+  texture_url ["sim_markers/105.png"]
+  upright TRUE
+}
+Marker {
+  name "B6"
+  model "106"
+  size 0.1 0.1
+  translation 2.14243 2.03637 0.07
+  rotation 0 0 1 -0.7853
+  texture_url ["sim_markers/106.png"]
+  upright TRUE
+}
+Marker {
+  name "B7"
+  model "107"
+  size 0.1 0.1
+  translation 2.03637 2.14243 0.07
+  rotation 0 0 1 -0.7853
+  texture_url ["sim_markers/107.png"]
+  upright TRUE
+}
+
+# 5400/2 - 1219.2/2 ± 150/2/sqrt(2)
+# 2.14343, 2.03737