sim for omni drive

Signed-off-by: Abel Tim <git@abeltim.com>

1 files changed, 0 insertions, 770 deletions

diff --git a/simulation/protos/three_omniwheel.proto b/simulation/protos/three_omniwheel.proto
deleted file mode 100644
index 7643587..0000000
--- a/simulation/protos/three_omniwheel.proto
+++ /dev/null
@@ -1,770 +0,0 @@
-#VRML_SIM R2023b utf8
-# Describe the functionality of your PROTO here.
-
-
-PROTO three_omniwheel [
-  field SFVec3f translation 0 0 0.0694759
-  field SFRotation rotation 0 0 1 0
-  field SFBool supervisor FALSE
-  field SFString controller "omni_robot_test"
-  field SFString wheel_1 "wheel1"
-  field SFString wheel_2 "wheel2"
-  field SFString wheel_3 "wheel3"
-  
-  field SFString enc_1 "pw1"
-  field SFString enc_2 "pw2"
-  field SFString enc_3 "pw3"
-  
-  field SFString imu "IMU"
-  
-]
-{
-DEF OMNI_WHEELS Robot {
-  translation IS translation
-  rotation IS rotation
-  children [
-    GPS {
-    }
-    InertialUnit {
-      name IS imu
-    }
-    DEF SOLID1 Solid {
-      children [
-        DEF WHEEL1 HingeJoint {
-          jointParameters HingeJointParameters {
-            position 2.1643615637298633e-06
-            anchor -0.1 0 0
-          }
-          device [
-            RotationalMotor {
-              name IS wheel_2
-              maxVelocity 40
-            }
-            PositionSensor {
-              name IS enc_2
-            }
-          ]
-          endPoint Solid {
-            translation -0.18800000000000022 0 0
-            rotation 1 0 0 2.1643135136802424e-06
-            children [
-              DEF sr1 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position 57.8185179862605
-                  axis 0 1 0
-                  anchor -0.02 0 0.05
-                }
-                endPoint Solid {
-                  translation -0.02 0 0.05
-                  rotation 0 -1 0 5.0133350855353624
-                  children [
-                    DEF r1 Pose {
-                      rotation -1 0 0 1.5708
-                      children [
-                        DEF SMALL_WHEEL_SHAPE Shape {
-                          appearance PBRAppearance {
-                            baseColor 1 0.752941 0.796078
-                            roughness 1
-                            metalness 0
-                          }
-                          geometry Cylinder {
-                            height 0.02
-                            radius 0.01
-                          }
-                        }
-                      ]
-                    }
-                  ]
-                  name "sr1"
-                  boundingObject USE r1
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr2 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position -72.87950575726012
-                  axis 0 -0.707107 0.707107
-                  anchor -0.02 0.03535 0.03535
-                }
-                endPoint Solid {
-                  translation -0.02 0.03535 0.03535
-                  rotation 0 -0.7071067811865475 0.7071067811865475 2.5187179288949184
-                  children [
-                    DEF r2 Pose {
-                      rotation -1 0 0 2.27
-                      children [
-                        USE SMALL_WHEEL_SHAPE
-                      ]
-                    }
-                  ]
-                  name "sr2"
-                  boundingObject USE r2
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr3 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position 254.08525159893895
-                  axis 0 1 0
-                  anchor -0.02 0 -0.05
-                }
-                endPoint Solid {
-                  translation -0.02 0 -0.05
-                  rotation 0 0.9999999999999999 0 2.757839311755494
-                  children [
-                    DEF r3 Pose {
-                      rotation -1 0 0 1.5708
-                      children [
-                        USE SMALL_WHEEL_SHAPE
-                      ]
-                    }
-                  ]
-                  name "sr3"
-                  boundingObject USE r3
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr4 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position -91.5154893085253
-                  axis 0 -0.707107 0.707107
-                  anchor -0.02 -0.03535 -0.03535
-                }
-                endPoint Solid {
-                  translation -0.02 -0.03535 -0.03535
-                  rotation 0 0.7071067811865476 -0.7071067811865476 3.550895008011093
-                  children [
-                    DEF r4 Pose {
-                      rotation -1 0 0 2.27
-                      children [
-                        USE SMALL_WHEEL_SHAPE
-                      ]
-                    }
-                  ]
-                  name "sr4"
-                  boundingObject USE r4
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr5 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position -57.77216958013899
-                  axis 0 0 1
-                  anchor -0.02 0.05 0
-                }
-                endPoint Solid {
-                  translation -0.02 0.05 0
-                  rotation 0 0 1 5.059683491656872
-                  children [
-                    DEF r5 Pose {
-                      children [
-                        USE SMALL_WHEEL_SHAPE
-                      ]
-                    }
-                  ]
-                  name "sr5"
-                  boundingObject USE r5
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr6 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position 29.313352597901943
-                  axis 0 0 1
-                  anchor -0.02 -0.05 0
-                }
-                endPoint Solid {
-                  translation -0.02 -0.05 0
-                  rotation 0 0 1 4.180611369183597
-                  children [
-                    DEF r6 Pose {
-                      children [
-                        USE SMALL_WHEEL_SHAPE
-                      ]
-                    }
-                  ]
-                  name "sr6"
-                  boundingObject USE r6
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr7 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position -30.271672667590778
-                  axis 0 0.707107 0.707107
-                  anchor -0.02 0.03535 -0.03535
-                }
-                endPoint Solid {
-                  translation -0.02 0.03535 -0.03535
-                  rotation 0 -0.7071067811865476 -0.7071067811865476 5.138931438872432
-                  children [
-                    DEF r7 Pose {
-                      rotation -1 0 0 0.76
-                      children [
-                        USE SMALL_WHEEL_SHAPE
-                      ]
-                    }
-                  ]
-                  name "sr7"
-                  boundingObject USE r7
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr8 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position 43.759922240170496
-                  axis 0 0.707107 0.707107
-                  anchor -0.02 -0.03535 0.03535
-                }
-                endPoint Solid {
-                  translation -0.02 -0.03535 0.03535
-                  rotation 0 0.7071067811865475 0.7071067811865475 6.060810397092978
-                  children [
-                    DEF r8 Pose {
-                      rotation -1 0 0 0.76
-                      children [
-                        USE SMALL_WHEEL_SHAPE
-                      ]
-                    }
-                  ]
-                  name "sr8"
-                  boundingObject USE r8
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF WHEEL_TRANS Pose {
-                translation -0.02 0 0
-                rotation 0 -1 0 1.5708
-                children [
-                  DEF WHEEL_SHAPE Shape {
-                    appearance PBRAppearance {
-                      baseColor 0.678431 0.847059 0.901961
-                      roughness 1
-                      metalness 0
-                    }
-                    geometry Cylinder {
-                      height 0.02
-                      radius 0.05
-                      subdivision 20
-                    }
-                  }
-                ]
-              }
-            ]
-            boundingObject Pose {
-              translation -0.02 0 0
-              rotation 0 -1 0 1.5708
-              children [
-                DEF wheel1 Shape {
-                  appearance PBRAppearance {
-                    baseColor 0.8 0.8 0.8
-                    transparency 0.12999999523162842
-                    roughness 1
-                    metalness 0
-                    emissiveColor 0 1 0
-                  }
-                  geometry Cylinder {
-                    height 0.02
-                    radius 0.05
-                  }
-                }
-              ]
-            }
-            physics Physics {
-            }
-          }
-        }
-      ]
-      name "wheel 1"
-      boundingObject DEF DUMMY Sphere {
-        radius 0.01
-      }
-      physics Physics {
-      }
-    }
-    DEF SOLID2 Solid {
-      rotation 0 0 1 2.09
-      children [
-        DEF WHEEL2 HingeJoint {
-          jointParameters HingeJointParameters {
-            position 2.147203700564652e-06
-            anchor -0.1 0 0
-          }
-          device [
-            RotationalMotor {
-              name IS wheel_3
-              maxVelocity 40
-            }
-            PositionSensor {
-              name IS enc_3
-            }
-          ]
-          endPoint Solid {
-            translation -0.18800000000000022 0 0
-            rotation -1 0 0 0.0024036627866462442
-            children [
-              DEF sr1 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position 201.28591247298849
-                  axis 0 1 0
-                  anchor -0.02 0 0.05
-                }
-                endPoint Solid {
-                  translation -0.02 0 0.05
-                  rotation 0 1 0 0.22398264324171874
-                  children [
-                    USE r1
-                  ]
-                  name "sr1"
-                  boundingObject USE r1
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr2 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position -547.5899169781771
-                  axis 0 -0.707107 0.707107
-                  anchor -0.02 0.03535 0.03535
-                }
-                endPoint Solid {
-                  translation -0.02 0.03535 0.03535
-                  rotation 0 -0.7071067811865477 0.7071067811865477 5.330390053626466
-                  children [
-                    USE r2
-                  ]
-                  name "sr2"
-                  boundingObject USE r2
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr3 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position -206.92828017054742
-                  axis 0 1 0
-                  anchor -0.02 0 -0.05
-                }
-                endPoint Solid {
-                  translation -0.02 0 -0.05
-                  rotation 0 -1 0 5.866350340800657
-                  children [
-                    USE r3
-                  ]
-                  name "sr3"
-                  boundingObject USE r3
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr4 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position 420.37627206700927
-                  axis 0 -0.707107 0.707107
-                  anchor -0.02 -0.03535 -0.03535
-                }
-                endPoint Solid {
-                  translation -0.02 -0.03535 -0.03535
-                  rotation 0 -0.7071067811865476 0.7071067811865476 5.68604179315656
-                  children [
-                    USE r4
-                  ]
-                  name "sr4"
-                  boundingObject USE r4
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr5 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position -222.66482730239827
-                  axis 0 0 1
-                  anchor -0.02 0.05 0
-                }
-                endPoint Solid {
-                  translation -0.02 0.05 0
-                  rotation 0 0 1 3.529843756066848
-                  children [
-                    USE r5
-                  ]
-                  name "sr5"
-                  boundingObject USE r5
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr6 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position 512.1259858934077
-                  axis 0 0 1
-                  anchor -0.02 -0.05 0
-                }
-                endPoint Solid {
-                  translation -0.02 -0.05 0
-                  rotation 0 0 -1 3.0952092953184036
-                  children [
-                    USE r6
-                  ]
-                  name "sr6"
-                  boundingObject USE r6
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr7 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position -594.2001560064724
-                  axis 0 0.707107 0.707107
-                  anchor -0.02 0.03535 -0.03535
-                }
-                endPoint Solid {
-                  translation -0.02 0.03535 -0.03535
-                  rotation 0 -0.7071067811865476 -0.7071067811865476 3.580737131591283
-                  children [
-                    USE r7
-                  ]
-                  name "sr7"
-                  boundingObject USE r7
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr8 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position 368.1888428392369
-                  axis 0 0.707107 0.707107
-                  anchor -0.02 -0.03535 0.03535
-                }
-                endPoint Solid {
-                  translation -0.02 -0.03535 0.03535
-                  rotation 0 0.7071067811865475 0.7071067811865475 3.764095022820868
-                  children [
-                    USE r8
-                  ]
-                  name "sr8"
-                  boundingObject USE r8
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              USE WHEEL_TRANS
-            ]
-            boundingObject Pose {
-              translation -0.02 0 0
-              rotation 0 -1 0 1.5708
-              children [
-                DEF wheel1 Shape {
-                  appearance PBRAppearance {
-                    baseColor 0.8 0.8 0.8
-                    transparency 0.12999999523162842
-                    roughness 1
-                    metalness 0
-                    emissiveColor 0 1 0
-                  }
-                  geometry Cylinder {
-                    height 0.02
-                    radius 0.05
-                  }
-                }
-              ]
-            }
-            physics Physics {
-            }
-          }
-        }
-      ]
-      name "wheel 2"
-      boundingObject USE DUMMY
-      physics Physics {
-      }
-    }
-    DEF SOLID3 Solid {
-      rotation 0 0 1 4.18
-      children [
-        DEF WHEEL3 HingeJoint {
-          jointParameters HingeJointParameters {
-            position 2.1651704619267438e-06
-            anchor -0.1 0 0
-          }
-          device [
-            PositionSensor {
-              name IS enc_1
-            }
-            RotationalMotor {
-              name IS wheel_1
-              maxVelocity 40
-            }
-          ]
-          endPoint Solid {
-            translation -0.188 0 0
-            rotation -1 0 0 0.003907274705380449
-            children [
-              DEF sr1 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position 108.70539791483581
-                  axis 0 1 0
-                  anchor -0.02 0 0.05
-                }
-                endPoint Solid {
-                  translation -0.02 0 0.05
-                  rotation 0 -1 0 4.391937614396743
-                  children [
-                    USE r1
-                  ]
-                  name "sr1"
-                  boundingObject USE r1
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr2 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position -411.60744599975556
-                  axis 0 -0.707107 0.707107
-                  anchor -0.02 0.03535 0.03535
-                }
-                endPoint Solid {
-                  translation -0.02 0.03535 0.03535
-                  rotation 0 -0.7071067811865476 0.7071067811865476 3.0827842740971523
-                  children [
-                    USE r2
-                  ]
-                  name "sr2"
-                  boundingObject USE r2
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr3 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position -175.16445331775438
-                  axis 0 1 0
-                  anchor -0.02 0 -0.05
-                }
-                endPoint Solid {
-                  translation -0.02 0 -0.05
-                  rotation 0 1 0 0.7647352832740422
-                  children [
-                    USE r3
-                  ]
-                  name "sr3"
-                  boundingObject USE r3
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr4 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position 604.8094183337004
-                  axis 0 -0.707107 0.707107
-                  anchor -0.02 -0.03535 -0.03535
-                }
-                endPoint Solid {
-                  translation -0.02 -0.03535 -0.03535
-                  rotation 0 -0.7071067811865476 0.7071067811865476 1.6236288444600624
-                  children [
-                    USE r4
-                  ]
-                  name "sr4"
-                  boundingObject USE r4
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr5 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position -72.1547326648585
-                  axis 0 0 1
-                  anchor -0.02 0.05 0
-                }
-                endPoint Solid {
-                  translation -0.02 0.05 0
-                  rotation 0 0 0.9999999999999999 3.243491021296538
-                  children [
-                    USE r5
-                  ]
-                  name "sr5"
-                  boundingObject USE r5
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr6 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position 135.00475088700045
-                  axis 0 0 1
-                  anchor -0.02 -0.05 0
-                }
-                endPoint Solid {
-                  translation -0.02 -0.05 0
-                  rotation 0 0 -1 3.2253258709504475
-                  children [
-                    USE r6
-                  ]
-                  name "sr6"
-                  boundingObject USE r6
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr7 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position -236.81899650662353
-                  axis 0 0.707107 0.707107
-                  anchor -0.02 0.03535 -0.03535
-                }
-                endPoint Solid {
-                  translation -0.02 0.03535 -0.03535
-                  rotation 0 0.7071067811865476 0.7071067811865476 1.9420451662007516
-                  children [
-                    USE r7
-                  ]
-                  name "sr7"
-                  boundingObject USE r7
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              DEF sr8 HingeJoint {
-                jointParameters HingeJointParameters {
-                  position 203.55589624475382
-                  axis 0 0.707107 0.707107
-                  anchor -0.02 -0.03535 0.03535
-                }
-                endPoint Solid {
-                  translation -0.02 -0.03535 0.03535
-                  rotation 0 0.7071067811865476 0.7071067811865476 2.4939664150070575
-                  children [
-                    USE r8
-                  ]
-                  name "sr8"
-                  boundingObject USE r8
-                  physics Physics {
-                    density -1
-                    mass 0.1
-                  }
-                }
-              }
-              USE WHEEL_TRANS
-            ]
-            boundingObject Pose {
-              translation -0.02 0 0
-              rotation 0 -1 0 1.5708
-              children [
-                DEF wheel1 Shape {
-                  appearance PBRAppearance {
-                    baseColor 0.8 0.8 0.8
-                    transparency 0.12999999523162842
-                    roughness 1
-                    metalness 0
-                    emissiveColor 0 1 0
-                  }
-                  geometry Cylinder {
-                    height 0.02
-                    radius 0.05
-                  }
-                }
-              ]
-            }
-            physics Physics {
-            }
-          }
-        }
-      ]
-      name "wheel 3"
-      boundingObject USE DUMMY
-      physics Physics {
-      }
-    }
-    Camera {
-      translation 0 0 2
-      fieldOfView 0.5
-      width 640
-      height 480
-      exposure 1.0
-      projection "planar"
-    }
-    DEF BODY_TRANS Pose {
-      translation 0 0 0.03
-      children [
-        Shape {
-          appearance PBRAppearance {
-            baseColor 0.564706 0.933333 0.564706
-            roughness 1
-            metalness 0
-          }
-          geometry Cylinder {
-            height 0.15
-            radius 0.18
-            subdivision 18
-          }
-        }
-      ]
-    }
-  ]
-  boundingObject USE BODY_TRANS
-  physics Physics {
-  }
-  recognitionColors [
-    0 0 0
-  ]
-  controller IS controller
-  supervisor IS supervisor
-}
-
-
-}