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NMP_Advanced.wbt
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611 lines (611 loc) · 13.8 KB
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#VRML_SIM R2021a utf8
WorldInfo {
coordinateSystem "NUE"
}
Viewpoint {
orientation -0.9996945748567277 0.010667754130078652 -0.022292510487751292 0.8884105819020557
position 0.07874285914261142 2.630051411737886 2.180885021195641
}
TexturedBackground {
}
TexturedBackgroundLight {
}
DEF Floor Floor {
rotation 0 1 0 0.7853996938995746
size 4 4
tileSize 0.4 0.4
}
DEF Walls Group {
}
DEF ROBOT_RED Robot {
translation -0.21211 0.0001 0.21209
rotation 0 1 0 2.3561996938995744
children [
Gyro {
}
Accelerometer {
}
Lidar {
}
DEF MAIN_BODY Transform {
translation 0 0.0415 0
children [
Shape {
appearance PBRAppearance {
baseColor 0.196078 0.196078 0.196078
roughness 1
metalness 0
}
geometry DEF BODY Cylinder {
height 0.08
radius 0.045
}
}
]
}
DEF LEFT_WHEEL HingeJoint {
jointParameters HingeJointParameters {
position 716.4543820994643
axis -1 0 0
anchor 0 0.025 0
}
device [
RotationalMotor {
name "left wheel motor"
}
]
endPoint DEF LEFT_WHEEL Solid {
translation -0.029999999999998556 0.025 0
rotation 1 0 0 4.813412919008584
children [
DEF WHEEL Transform {
rotation 0 0 1 1.57
children [
Shape {
appearance PBRAppearance {
baseColor 0.196078 0.196078 0.196078
roughness 1
metalness 0
}
geometry Cylinder {
height 0.01
radius 0.025
}
}
]
}
]
name "left wheel"
boundingObject DEF WHEEL Transform {
rotation 0 0 1 1.57
children [
Shape {
appearance PBRAppearance {
baseColor 0 0 1
roughness 1
metalness 0
}
geometry Cylinder {
height 0.01
radius 0.025
}
}
]
}
physics DEF PHYSICS_WHEEL Physics {
density -1
mass 0.05
}
}
}
DEF RIGHT_WHEEL HingeJoint {
jointParameters HingeJointParameters {
position -20.216961239977245
axis -1 0 0
anchor 0 0.025 0
}
device [
RotationalMotor {
name "right wheel motor"
}
]
endPoint DEF RIGHT_WHEEL Solid {
translation 0.029999999999999964 0.025 0
rotation -1 0 0 0.3284299887410934
children [
DEF WHEEL Transform {
rotation 0 0 1 1.57
children [
Shape {
appearance PBRAppearance {
baseColor 0.196078 0.196078 0.196078
roughness 1
metalness 0
}
geometry Cylinder {
height 0.01
radius 0.025
}
}
]
}
]
name "right wheel"
boundingObject USE WHEEL
physics DEF PHYSICS_WHEEL Physics {
density -1
mass 0.05
}
}
}
DEF DS0 DistanceSensor {
translation 0.045 0.063 0
children [
DEF INFRARED Transform {
rotation 0 0 1 1.57
children [
Shape {
appearance PBRAppearance {
baseColor 0.975691 0.981481 0.0252992
roughness 1
metalness 0
}
geometry Cylinder {
height 0.004
radius 0.008
}
}
]
}
]
name "ds0"
lookupTable [
0 1000 0
0.01 1000 0.01
0.1 500 0.01
0.9 50 0.01
1 10 0
]
aperture 1
}
DEF DS1 DistanceSensor {
translation 0.0225 0.063 -0.039
rotation 0 1 0 1.0472003061004251
children [
DEF INFRARED Transform {
rotation 0 0 1 1.57
children [
Shape {
appearance PBRAppearance {
baseColor 0.975691 0.981481 0.0252992
roughness 1
metalness 0
}
geometry Cylinder {
height 0.004
radius 0.008
}
}
]
}
]
name "ds1"
lookupTable [
0 1000 0
0.01 1000 0.01
0.1 500 0.01
0.9 50 0.01
1 10 0
]
aperture 1
}
DEF DS4 DistanceSensor {
translation 0.039 0.063 -0.0233
rotation 0 -1 0 -0.5236053071795865
children [
DEF INFRARED Transform {
rotation 0 0 1 1.57
children [
Shape {
appearance PBRAppearance {
baseColor 0.975691 0.981481 0.0252992
roughness 1
metalness 0
}
geometry Cylinder {
height 0.004
radius 0.008
}
}
]
}
]
name "ds4"
lookupTable [
0 1000 0
0.01 1000 0.01
0.1 500 0.01
0.9 50 0.01
1 10 0
]
aperture 1
}
DEF DS2 DistanceSensor {
translation -0.0225 0.063 -0.039
rotation 0 1 0 2.094399693899575
children [
DEF INFRARED Transform {
rotation 0 0 1 1.57
children [
Shape {
appearance PBRAppearance {
baseColor 0.975691 0.981481 0.0252992
roughness 1
metalness 0
}
geometry Cylinder {
height 0.004
radius 0.008
}
}
]
}
]
name "ds2"
lookupTable [
0 1000 0
0.01 1000 0.01
0.1 500 0.01
0.9 50 0.01
1 10 0
]
aperture 1
}
DEF DS3 DistanceSensor {
translation -0.045 0.063 0
rotation 0 1 0 3.141592653589793
children [
DEF INFRARED Transform {
rotation 0 0 1 1.57
children [
Shape {
appearance PBRAppearance {
baseColor 0.975691 0.981481 0.0252992
roughness 1
metalness 0
}
geometry Cylinder {
height 0.004
radius 0.008
}
}
]
}
]
name "ds3"
lookupTable [
0 1000 0
0.01 1000 0.01
0.1 500 0.01
0.9 50 0.01
1 10 0
]
aperture 1
}
DEF DS5 DistanceSensor {
translation -0.039 0.063 -0.022
rotation 0 -1 0 -2.6179953071795863
children [
DEF INFRARED Transform {
rotation 0 0 1 1.57
children [
Shape {
appearance PBRAppearance {
baseColor 0.975691 0.981481 0.0252992
roughness 1
metalness 0
}
geometry Cylinder {
height 0.004
radius 0.008
}
}
]
}
]
name "ds5"
lookupTable [
0 1000 0
0.01 1000 0.01
0.1 500 0.01
0.9 50 0.01
1 10 0
]
aperture 1
}
DEF CAMERA Camera {
translation 0 0.045 -0.045
children [
Transform {
rotation 1 0 0 1.57
children [
Shape {
appearance PBRAppearance {
baseColor 1 0 0
roughness 1
metalness 0
}
geometry Cylinder {
height 0.01
radius 0.007
}
}
]
}
]
fieldOfView 1.047
width 1280
height 720
antiAliasing TRUE
noise 0.01
}
DEF LED LED {
translation 0 0.08 0
children [
Group {
children [
Shape {
appearance PBRAppearance {
baseColor 1 0 0
roughness 1
metalness 0
}
geometry DEF LED_SHAPE Sphere {
radius 0.01
}
}
PointLight {
attenuation 0 0 1
color 0 0 0
intensity 0.5
location 0 0.03 0
on FALSE
castShadows TRUE
}
]
}
]
color [
1 0 0
0 1 0
0 0 1
1 1 0
0 1 1
1 0 1
1 0.647059 0
0.627451 0.12549 0.941176
0.545098 0.411765 0.0784314
]
}
]
name "ROBOT_RED"
boundingObject DEF MYBOT_BOUNDING Transform {
translation 0 0.0415 0
children [
DEF BODY Cylinder {
height 0.08
radius 0.045
}
]
}
physics DEF MYBOT_PHYSICS Physics {
density -1
mass 0.5
}
controller "NMP_Controller"
}
Transform {
scale 0.2 0.2 0.2
children [
TrafficCone {
translation 2.12127 0 -0.707112
rotation 0 1 0 0.785398
name "traffic cone(42)"
}
TrafficCone {
translation 3.53527 0 -0.707107
rotation 0 1 0 0.785398
name "traffic cone(44)"
}
TrafficCone {
translation 3.53527 0 0.707095
rotation 0 1 0 0.785398
name "traffic cone(46)"
}
TrafficCone {
translation 2.12126 0 0.707096
rotation 0 1 0 0.785398
name "traffic cone(48)"
}
TrafficCone {
translation -2.12114 0 0.707084
rotation 0 1 0 0.785398
name "traffic cone(18)"
}
TrafficCone {
translation -3.53518 0 0.707086
rotation 0 1 0 0.785398
name "traffic cone(20)"
}
TrafficCone {
translation -3.53518 0 -0.707117
rotation 0 1 0 0.785398
name "traffic cone(22)"
}
TrafficCone {
translation -2.12118 0 -0.707117
rotation 0 1 0 0.785398
name "traffic cone(24)"
}
TrafficCone {
translation -0.707099 0 2.1212
rotation 0 1 0 0.785398
name "traffic cone(1)"
}
TrafficCone {
translation -1.27274 0 2.9696
rotation 0 1 0 0.785398
name "traffic cone(2)"
}
TrafficCone {
translation -2.12114 0 3.5352
rotation 0 1 0 0.785398
name "traffic cone(3)"
}
TrafficCone {
translation -3.53514 0 3.5352
rotation 0 1 0 0.785398
name "traffic cone(5)"
}
TrafficCone {
translation -4.38354 0 2.9696
rotation 0 0.9999999999999999 0 0.7853979999999999
name "traffic cone(6)"
}
TrafficCone {
translation -5.23196 0 2.40398
rotation 0 1 0 0.785398
name "traffic cone(7)"
}
TrafficCone {
translation -5.80466 0 1.54848
rotation 0 1 0 0.785398
name "traffic cone(8)"
}
TrafficCone {
translation -6.37053 0 0.699767
rotation 0 1 0 0.785398
name "traffic cone(9)"
}
TrafficCone {
translation -5.80488 0 -1.56301
rotation 0 1 0 0.785398
name "traffic cone(11)"
}
TrafficCone {
translation -5.23214 0 -2.41854
rotation 0 1 0 0.785398
name "traffic cone(12)"
}
TrafficCone {
translation -4.38372 0 -2.98418
rotation 0 1 0 0.785398
name "traffic cone(13)"
}
TrafficCone {
translation -3.52803 0 -3.5571
rotation 0 1 0 0.785398
name "traffic cone(14)"
}
TrafficCone {
translation -6.36359 0 -0.721557
rotation 0 1 0 0.785398
name "traffic cone(15)"
}
TrafficCone {
translation -2.12803 0 -3.54313
rotation 0 1 0 0.785398
name "traffic cone(25)"
}
TrafficCone {
translation -1.27963 0 -2.97753
rotation 0 1 0 0.785398
name "traffic cone(26)"
}
TrafficCone {
translation -0.713969 0 -2.12911
rotation 0 1 0 0.785398
name "traffic cone(27)"
}
TrafficCone {
translation 0.707506 0 -2.12184
rotation 0 1 0 0.785398
name "traffic cone(4)"
}
TrafficCone {
translation 1.27316 0 -2.97036
rotation 0 1 0 0.785398
name "traffic cone(10)"
}
TrafficCone {
translation 2.12875 0 -3.54321
rotation 0 1 0 0.785398
name "traffic cone(16)"
}
TrafficCone {
translation 3.54275 0 -3.54321
rotation 0 1 0 0.785398
name "traffic cone(19)"
}
TrafficCone {
translation 4.39115 0 -2.97761
rotation 0 1 0 0.785398
name "traffic cone(21)"
}
TrafficCone {
translation 5.23955 0 -2.41201
rotation 0 1 0 0.785398
name "traffic cone(23)"
}
TrafficCone {
translation 5.80515 0 -1.56361
rotation 0 1 0 0.785398
name "traffic cone(29)"
}
TrafficCone {
translation 6.37075 0 -0.715167
rotation 0 1 0 0.785398
name "traffic cone(30)"
}
TrafficCone {
translation 6.37076 0 0.699036
rotation 0 1 0 0.785398
name "traffic cone(32)"
}
TrafficCone {
translation 5.80516 0 1.54748
rotation 0 1 0 0.785398
name "traffic cone(33)"
}
TrafficCone {
translation 5.23956 0 2.39588
rotation 0 1 0 0.785398
name "traffic cone(34)"
}
TrafficCone {
translation 4.39116 0 2.96148
rotation 0 1 0 0.785398
name "traffic cone(35)"
}
TrafficCone {
translation 3.54276 0 3.52708
rotation 0 1 0 0.785398
name "traffic cone(36)"
}
TrafficCone {
translation 2.12874 0 3.52706
rotation 0 1 0 0.785398
name "traffic cone(38)"
}
TrafficCone {
translation 1.28034 0 2.96146
rotation 0 1 0 0.785398
name "traffic cone(39)"
}
TrafficCone {
translation 0.714669 0 2.11303
rotation 0 1 0 0.785398
name "traffic cone(40)"
}
]
}