#VRML_SIM R2023b utf8
EXTERNPROTO "./robot/MotorAssembly.proto"
EXTERNPROTO "./robot/Caster.proto"
EXTERNPROTO "./robot/RobotCamera.proto"
EXTERNPROTO "./robot/UltrasoundModule.proto"
EXTERNPROTO "./robot/RGBLed.proto"
EXTERNPROTO "./robot/ReflectanceSensor.proto"
EXTERNPROTO "./robot/Flag.proto"
EXTERNPROTO "./robot/BumpSensor.proto"
EXTERNPROTO "./robot/VacuumSucker.proto"

PROTO SR2025bot [
  field SFString name ""
  field SFVec3f translation 0 0 0
  field SFRotation rotation 0 0 1 0
  field SFString controller "<generic>"
  field MFString controllerArgs []
  field SFString customData ""
  field SFColor flagColour 1 1 1
] {
  Robot {
    name IS name
    translation IS translation
    rotation IS rotation
    controller IS controller
    controllerArgs IS controllerArgs
    customData IS customData
    children [
      Pose {
        translation 0 0 0.049
        children [
          MotorAssembly {
            name "left motor"
            rotation 0 0 1 3.1415
            reversed TRUE
            translation 0 0.14 0
          }
          MotorAssembly {
            name "right motor"
            translation 0 -0.14 0
          }
          Caster {
            name "caster"
            translation -0.15 0 -0.045
          }
          DEF BASE Solid {
            translation -0.065 0 -0.02
            children [
              Shape {
                appearance PBRAppearance {
                  baseColor 0.757 0.604 0.424
                  roughness 1
                  metalness 0
                }
                geometry Box {
                  size 0.25 0.25 0.02
                }
              }
            ]
            name "Chassis"
            boundingObject DEF BASE_GEO Box {
              size 0.25 0.25 0.02
            }
            physics Physics {
              density 2000  # 66% Aluminium
            }
          }
          DEF BOARD Solid {
            translation -0.05 0 0
            rotation 0 0 1 1.5708
            children [
              Shape {
                appearance PBRAppearance {
                  baseColor 0 0 0
                  roughness 1
                  metalness 0
                }
                geometry Box {
                  size 0.08 0.06 0.02
                }
              }
            ]
            name "Board"
          }
          DEF STABILISER Solid {
            translation -0.16 0 0
            children [
              Shape {
                appearance PBRAppearance {
                  baseColor 0.8 0.8 0.75
                  roughness 1
                  metalness 0
                }
                geometry DEF WEIGHT_GEO Box {
                  size 0.04 0.15 0.02
                }
              }
            ]
            name "Chassis weight"
            boundingObject USE WEIGHT_GEO
            physics Physics {
              density 8000  # Steel
            }
          }
          RobotCamera {
            name "camera"
            translation 0.05 0 0.03
          }
          Solid {
            translation 0.03 0 0
            children [
              Shape {
                appearance PBRAppearance {
                  baseColor 0.4 0.4 0.4
                  metalness 0
                }
                geometry Box {
                  size 0.01 0.01 0.03
                }
              }
            ]
            name "Camera riser"
          }
          VacuumSucker {
            name "vacuum sucker"
            translation 0.01 0 -0.02
          }
          UltrasoundModule {
            name "ultrasound front"
            translation 0.04 0 0
          }
          UltrasoundModule {
            name "ultrasound left"
            translation -0.08 0.12 0
            rotation 0 0 1 1.5708
          }
          UltrasoundModule {
            name "ultrasound back"
            translation -0.18 0 0
            rotation 0 0 1 3.1416
          }
          UltrasoundModule {
            name "ultrasound right"
            translation -0.08 -0.12 0
            rotation 0 0 1 -1.5708
          }
          RGBLed {
            name "led 1"
            translation -0.11 0.08 -0.008
          }
          RGBLed {
            name "led 2"
            translation -0.11 0 -0.008
          }
          RGBLed {
            name "led 3"
            translation -0.11 -0.08 -0.008
          }
          ReflectanceSensor {
            name "left reflectance sensor"
            translation 0.03 0.02 -0.03
            rotation 0 0 1 1.5708
          }
          ReflectanceSensor {
            name "center reflectance sensor"
            translation 0.03 0 -0.03
            rotation 0 0 1 1.5708
          }
          ReflectanceSensor {
            name "right reflectance sensor"
            translation 0.03 -0.02 -0.03
            rotation 0 0 1 1.5708
          }
          BumpSensor {
            name "front left bump sensor"
            translation 0.06 0.06 -0.02
          }
          BumpSensor {
            name "front right bump sensor"
            translation 0.06 -0.06 -0.02
          }
          BumpSensor {
            name "rear left bump sensor"
            translation -0.19 0.06 -0.02
          }
          BumpSensor {
            name "rear right bump sensor"
            translation -0.19 -0.06 -0.02
          }
          Flag {
            name "flag"
            translation 0.03 0.07 0.09
            flagColour IS flagColour
          }
        ]
      }
    ]
    boundingObject Pose {
      translation -0.065 0 0.029
      children [USE BASE_GEO]
    }
    physics Physics {}
  }
}