76 lines
1.9 KiB
Protocol Buffer
Executable File
76 lines
1.9 KiB
Protocol Buffer
Executable File
#VRML_SIM R2023b utf8
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# template language: javascript
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PROTO UltrasoundModule [
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field SFString name ""
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field SFVec3f translation 0 0 0
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field SFRotation rotation 0 0 1 0
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field SFInt32 range 4
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field SFBool upright FALSE
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] {
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DistanceSensor {
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name IS name
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translation IS translation
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rotation IS rotation
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type "sonar"
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numberOfRays 10
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aperture 0.3
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lookupTable [
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# 1% standard deviation, with no deviation at the limits
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0 0 0
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0.01 10 0.01
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%<= fields.range.value * 0.99 >% %<= fields.range.value * 1000 * 0.99 >% 0.01
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%<= fields.range.value >% %<= fields.range.value * 1000 >% 0
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# Return 0 for out of range values
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%<= fields.range.value + 0.001 >% 0 0
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]
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children [
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Pose {
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%< if (fields.upright.value) { >%
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rotation 0 1 1 3.14159
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%< } else { >%
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rotation 0 0 1 3.14159
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%< } >%
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.1 0.1 1
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metalness 0
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}
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geometry Box {
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size 0.002 0.045 0.02
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}
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}
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Pose {
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translation -0.007 0.013 0
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rotation 0 -1 0 1.5708
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children [
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DEF SONAR_TRX Shape {
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appearance PBRAppearance {
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baseColor 0.92 0.92 0.92
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roughness 0.3
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}
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geometry Cylinder {
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radius 0.008
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height 0.012
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subdivision 12
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bottom FALSE
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}
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castShadows FALSE
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}
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]
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}
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Pose {
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translation -0.007 -0.013 0
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rotation 0 -1 0 1.5708
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children [
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USE SONAR_TRX
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]
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}
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]
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}
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]
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}
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}
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