179 lines
4.8 KiB
Protocol Buffer
Executable File
179 lines
4.8 KiB
Protocol Buffer
Executable File
#VRML_SIM R2023b utf8
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EXTERNPROTO "./robot/MotorAssembly.proto"
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EXTERNPROTO "./robot/Caster.proto"
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EXTERNPROTO "./robot/RobotCamera.proto"
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EXTERNPROTO "./robot/UltrasoundModule.proto"
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EXTERNPROTO "./robot/RGBLed.proto"
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EXTERNPROTO "./robot/ReflectanceSensor.proto"
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EXTERNPROTO "./robot/Flag.proto"
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EXTERNPROTO "./robot/BumpSensor.proto"
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PROTO SRObot [
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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 SFString controller "<generic>"
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field MFString controllerArgs []
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field SFString customData ""
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field SFColor flagColour 1 1 1
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] {
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Robot {
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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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controller IS controller
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controllerArgs IS controllerArgs
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customData IS customData
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children [
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Pose {
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translation 0 0 0.049
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children [
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MotorAssembly {
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name "left motor"
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rotation 0 0 1 3.1415
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reversed TRUE
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translation 0 0.1 0
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}
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MotorAssembly {
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name "right motor"
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translation 0 -0.1 0
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}
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Caster {
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name "caster"
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translation -0.13 0 -0.045
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}
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DEF BASE Solid {
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translation -0.045 0 -0.02
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.757 0.604 0.424
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roughness 1
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metalness 0
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}
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geometry Box {
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size 0.21 0.16 0.02
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}
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}
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]
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name "Chassis"
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boundingObject DEF BASE_GEO Box {
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size 0.21 0.16 0.02
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}
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physics Physics {
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density 3000 # Aluminium
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}
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}
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DEF BOARD Solid {
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translation -0.06 0 0
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0 0 0
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roughness 1
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metalness 0
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}
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geometry Box {
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size 0.08 0.06 0.02
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}
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}
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]
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name "Board"
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}
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RobotCamera {
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name "camera"
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translation 0 0 0.03
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}
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Solid {
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translation -0.01 0 0
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.4 0.4 0.4
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metalness 0
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}
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geometry Box {
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size 0.01 0.01 0.03
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}
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}
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]
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name "Camera riser"
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}
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UltrasoundModule {
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name "ultrasound front"
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translation 0.04 0 0
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}
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UltrasoundModule {
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name "ultrasound left"
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translation -0.08 0.07 0
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rotation 0 0 1 1.5708
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}
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UltrasoundModule {
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name "ultrasound back"
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translation -0.14 0 0
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rotation 0 0 1 3.1416
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}
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UltrasoundModule {
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name "ultrasound right"
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translation -0.08 -0.07 0
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rotation 0 0 1 -1.5708
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}
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RGBLed {
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name "led 1"
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translation -0.12 0.05 -0.008
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}
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RGBLed {
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name "led 2"
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translation -0.12 0 -0.008
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}
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RGBLed {
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name "led 3"
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translation -0.12 -0.05 -0.008
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}
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ReflectanceSensor {
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name "left reflectance sensor"
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translation 0.03 0.02 -0.03
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rotation 0 0 1 1.5708
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}
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ReflectanceSensor {
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name "center reflectance sensor"
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translation 0.03 0 -0.03
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rotation 0 0 1 1.5708
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}
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ReflectanceSensor {
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name "right reflectance sensor"
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translation 0.03 -0.02 -0.03
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rotation 0 0 1 1.5708
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}
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BumpSensor {
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name "front left bump sensor"
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translation 0.06 0.05 -0.02
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}
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BumpSensor {
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name "front right bump sensor"
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translation 0.06 -0.05 -0.02
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}
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BumpSensor {
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name "rear left bump sensor"
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translation -0.15 0.05 -0.02
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}
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BumpSensor {
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name "rear right bump sensor"
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translation -0.15 -0.05 -0.02
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}
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Flag {
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name "flag"
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translation 0.03 0.05 0.09
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flagColour IS flagColour
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}
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]
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}
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]
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boundingObject Pose {
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translation -0.045 0 0.029
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children [USE BASE_GEO]
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}
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physics Physics {}
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}
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}
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