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-rw-r--r--simulation/protos/Ball.proto51
-rw-r--r--simulation/protos/BallCandy.proto38
-rw-r--r--simulation/protos/MyProto.proto10
-rw-r--r--simulation/protos/icons/Ball.pngbin13627 -> 0 bytes
-rw-r--r--simulation/protos/icons/BallCandy.pngbin10445 -> 0 bytes
-rw-r--r--simulation/protos/soccer_ball.proto29
-rw-r--r--simulation/protos/soccerballrbc.proto16
-rw-r--r--simulation/protos/three_omniwheel.proto770
8 files changed, 0 insertions, 914 deletions
diff --git a/simulation/protos/Ball.proto b/simulation/protos/Ball.proto
deleted file mode 100644
index 14726f1..0000000
--- a/simulation/protos/Ball.proto
+++ /dev/null
@@ -1,51 +0,0 @@
-#VRML_SIM R2023b utf8
-# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
-# license url: https://cyberbotics.com/webots_assets_license
-# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/objects/balls/protos/Ball.proto
-# keywords: exterior/sport
-# The Ball's size, mass and color correspond to the soccer ball used in the Robocup SPL.
-# You can change the centerOfMass to [0 0 0] to avoid the random rolling effect.
-
-PROTO Ball [
- field SFVec3f translation 0 0 0.1625
- field SFRotation rotation 0 0 1 0
- field SFString name "ball"
- field SFColor color 1.0 0.54 0.08 # Defines the color of the ball.
- field SFFloat radius 0.0325 # Defines the radius of the ball.
- field SFFloat mass 0.055 # Defines the mass of the ball.
- field MFVec3f centerOfMass [0 0 -0.0001] # Defines the center of mass of the ball.
- field SFFloat linearDamping 0.17 # Defines the linear damping of the ball.
- field SFFloat angularDamping 0.33 # Defines the angular damping of the ball.
- field SFString contactMaterial "default" # Is `Solid.contactMaterial`.
-]
-Robot {
- translation IS translation
- rotation IS rotation
- DEF BALL_SHAPE Shape {
- appearance PBRAppearance {
- baseColor IS color
- roughness 0.3
- metalness 0
- }
- geometry Sphere {
- radius IS radius
- subdivision 4
- }
- }
- ]
- contactMaterial IS contactMaterial
- boundingObject USE BALL_SHAPE
- physics Physics {
- density -1
- mass IS mass
- centerOfMass IS centerOfMass
- inertiaMatrix [ 0.000023 0.000023 0.000023, 0 0 0 ]
- damping Damping {
- linear IS linearDamping
- angular IS angularDamping
- }
- }
- name IS name
- model "ball"
- }
-}
diff --git a/simulation/protos/BallCandy.proto b/simulation/protos/BallCandy.proto
deleted file mode 100644
index 08438fc..0000000
--- a/simulation/protos/BallCandy.proto
+++ /dev/null
@@ -1,38 +0,0 @@
-#VRML_SIM R2024a utf8
-# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
-# license url: https://cyberbotics.com/webots_assets_license
-# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/softbank/nao/protos/BallCandy.proto
-# keywords: robot/accessory
-
-PROTO BallCandy [
- field SFVec3f translation 0 0 0.0162
- field SFRotation rotation 0 0 1 0
- field SFString name "ball candy"
- field SFColor color 0.9 0.1 0.1
-]
-{
-Solid {
- translation IS translation
- rotation IS rotation
- children [
- Shape {
- appearance PBRAppearance {
- baseColor IS color
- roughness 0.3
- metalness 0
- }
- geometry DEF CANDY_BALL_SHAPE Sphere {
- radius 0.0325
- subdivision 3
- }
- }
- ]
- name IS name
- model "ball candy"
- boundingObject USE CANDY_BALL_SHAPE
- physics Physics {
- density -1
- mass 0.16
- }
-}
-}
diff --git a/simulation/protos/MyProto.proto b/simulation/protos/MyProto.proto
deleted file mode 100644
index eb2a299..0000000
--- a/simulation/protos/MyProto.proto
+++ /dev/null
@@ -1,10 +0,0 @@
-#VRML_SIM R2023b utf8
-# Describe the functionality of your PROTO here.
-
-
-PROTO MyProto [
-
-]
-{
-
-}
diff --git a/simulation/protos/icons/Ball.png b/simulation/protos/icons/Ball.png
deleted file mode 100644
index e58ddd8..0000000
--- a/simulation/protos/icons/Ball.png
+++ /dev/null
Binary files differ
diff --git a/simulation/protos/icons/BallCandy.png b/simulation/protos/icons/BallCandy.png
deleted file mode 100644
index 6a3a0a1..0000000
--- a/simulation/protos/icons/BallCandy.png
+++ /dev/null
Binary files differ
diff --git a/simulation/protos/soccer_ball.proto b/simulation/protos/soccer_ball.proto
deleted file mode 100644
index 629df1a..0000000
--- a/simulation/protos/soccer_ball.proto
+++ /dev/null
@@ -1,29 +0,0 @@
-#VRML_SIM R2024a utf8
-# Describe the functionality of your PROTO here.
-
-EXTERNPROTO "/home/abel/Documents/robotica/simulation/protos/Ball.proto"
-
-PROTO soccer_ball [
- field SFVec3f translation 0 0 0.1625
- field SFRotation rotation 0 0 1 0
- field SFString name "soccer_ball"
- field SFString controller ""
-]
-{
- Ball {
- translation IS translation
- rotation IS rotation
- name IS name
- children [
- Emitter {
- channel 1 # Assign an appropriate channel number
- range -1 # Setting range to -1 makes it unlimited
- aperture 6.28319 # 2 * PI radians for omnidirectional
- beamWidth 6.28319 # 2 * PI radians for omnidirectional
- dataSize 1 # Size of the data packet
- dataRate 1 # Rate of data emission in bits per second
- }
- ]
- controller IS controller
- }
-}
diff --git a/simulation/protos/soccerballrbc.proto b/simulation/protos/soccerballrbc.proto
deleted file mode 100644
index 7a744d0..0000000
--- a/simulation/protos/soccerballrbc.proto
+++ /dev/null
@@ -1,16 +0,0 @@
-#VRML_SIM R2024a utf8
-# Describe the functionality of your PROTO here.
-
-
-PROTO soccerballrbc [
- field SFVec3f translation 0 0 0
- field SFRotation rotation 0 0 1 0
- field SFString name "emitter"
-]
-{
- Emitter {
- translation IS translation
- rotation IS rotation
- name IS name
- }
-}
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
-}
-
-
-}
generated by cgit v1.2.3 (git 2.46.0) at 2026-09-30 04:51:07 +0000