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Diffstat (limited to 'simulation/protos/three_omniwheel.proto')
| -rw-r--r-- | simulation/protos/three_omniwheel.proto | 770 |
1 files changed, 770 insertions, 0 deletions
diff --git a/simulation/protos/three_omniwheel.proto b/simulation/protos/three_omniwheel.proto new file mode 100644 index 0000000..14f3f61 --- /dev/null +++ b/simulation/protos/three_omniwheel.proto @@ -0,0 +1,770 @@ +#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 5 + rotation 0 1 0 1.5708 + fieldOfView 3.14 + width 640 + height 640 + projection "spherical" + } + 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 +} + + +} |