sim

3 files changed, 41 insertions, 0 deletions

diff --git a/simulation/worlds/.soccer.jpg b/simulation/worlds/.soccer.jpg
new file mode 100644
index 0000000..58cbefe
--- /dev/null
+++ b/simulation/worlds/.soccer.jpg
diff --git a/simulation/worlds/.soccer.wbproj b/simulation/worlds/.soccer.wbproj
new file mode 100644
index 0000000..34fdd72
--- /dev/null
+++ b/simulation/worlds/.soccer.wbproj
@@ -0,0 +1,10 @@
+Webots Project File version R2023b
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e000000000000000014000000000000000000000001000001f60000038efc0200000001fb0000001400540065007800740045006400690074006f007201000000170000038e0000008900ffffff0000000300000780000000cdfc0100000002fb0000000e0043006f006e0073006f006c00650100000000000005660000000000000000fc00000000000007800000006900fffffffa000000000100000002fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000ffffffff0000006900fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000ffffffff0000000000000000000005880000038e00000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000100000003480100000002010000000100
+sceneTreePerspectives: 000000ff00000001000000030000001d000000c0000000fa0100000002010000000200
+maximizedDockId: -1
+centralWidgetVisible: 1
+orthographicViewHeight: 1
+textFiles: 2 "controllers/OMHI_test/OMHI_test.py" "protos/three_omniwheel.proto" "protos/Ball.proto"
+consoles: Console:All:All
+renderingDevicePerspectives: robot:camera;1;0.33125;0.00518135;0
diff --git a/simulation/worlds/soccer.wbt b/simulation/worlds/soccer.wbt
new file mode 100644
index 0000000..923ea36
--- /dev/null
+++ b/simulation/worlds/soccer.wbt
@@ -0,0 +1,31 @@
+#VRML_SIM R2023b utf8
+
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "../protos/three_omniwheel.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/samples/contests/robocup/protos/RobocupSoccerField.proto"
+EXTERNPROTO "../protos/Ball.proto"
+
+WorldInfo {
+}
+Viewpoint {
+  orientation -0.03595733212996323 0.5262633829020815 0.8495610172804262 6.193238178192842
+  position -2.037531963006127 0.0964241547726655 0.3894014354770412
+}
+TexturedBackground {
+}
+TexturedBackgroundLight {
+}
+DEF Robot three_omniwheel {
+  translation 0.273203 -0.0732043 0.169476
+  rotation 0 0 -1 -0.7854153071795862
+  controller "OMHI_test"
+}
+RobocupSoccerField {
+  translation -0.031783 -0.00794585 -1.82077e-14
+  rotation 0 0 -1 0.0850848
+}
+Ball {
+  translation -0.51 0 0.1625
+  color 0.533333 0.541176 0.521569
+}