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red.proto
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red.proto
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PROTO red[
field SFVec3f translation -0.03 0.035 0.76
field SFRotation rotation 0 1 0 0
field SFString controller "<extern>"
]
{
Robot {
translation IS translation
rotation IS rotation
name "red"
children [
Receiver {
channel 1
}
Emitter {
channel 1
}
Display {
name "map"
width 256
height 256
}
Compass {
name "compass"
xAxis TRUE
yAxis TRUE
zAxis TRUE
resolution -1
}
GPS {
name "gps"
type "satellite"
accuracy 0
noiseCorrelation 0
resolution -1
speedNoise 0
speedResolution -1
}
DistanceSensor {
translation 0 0 0
rotation 0 1 0 -1.5708
lookupTable [
0 0 0,
0.1 2.31 0.0072
0.15 2.75 0.0061
0.2 2.53 0.0066
0.3 1.98 0.0084
0.4 1.54 0.0108
0.5 1.23 0.0136
0.6 1.05 0.0159
0.7 0.90 0.0185
0.8 0.81 0.0206
0.9 0.72 0.0231
1.0 0.65 0.0256
1.1 0.60 0.0278
1.2 0.55 0.0303
1.3 0.52 0.0321
1.4 0.48 0.0347
1.5 0.45 0.0370
]
name "infrared"
type "laser"
numberOfRays 1
aperture 0.05235987756 # 3deg
resolution -1 # {-1, [0, inf)}
}
DistanceSensor {
translation -0.0225 -0.02 0.075
rotation 0 1 0 -1.745
name "ultrasonic_right"
lookupTable [
0 0 0
0.1 0.1 0.01667
0.2 0.2 0.00833
0.3 0.3 0.00556
0.4 0.4 0.00417
0.5 0.5 0.00333
0.6 0.6 0.00278
0.7 0.7 0.00238
0.8 0.8 0.00208
0.9 0.9 0.00185
1 1 0.00167
]
type "sonar"
numberOfRays 20
aperture 0.5235987756
}
DistanceSensor {
translation 0.0225 -0.02 0.075
rotation 0 1 0 -1.396
name "ultrasonic_left"
lookupTable [
0 0 0
0.1 0.1 0.01667
0.2 0.2 0.00833
0.3 0.3 0.00556
0.4 0.4 0.00417
0.5 0.5 0.00333
0.6 0.6 0.00278
0.7 0.7 0.00238
0.8 0.8 0.00208
0.9 0.9 0.00185
1 1 0.00167
]
type "sonar"
numberOfRays 20
aperture 0.5235987756
}
LightSensor {
translation 0 0.075 0.17139
rotation 0 0 1 -1.570796327
name "red_light_sensor"
lookupTable [
0 0 0
0.369 0 0
0.370 1 0
1 1 0
]
colorFilter 1 0 0
occlusion FALSE
resolution -1
}
LightSensor {
translation 0 0.075 0.17739
rotation 0 0 1 -1.570796327
name "green_light_sensor"
lookupTable [
0 0 0
0.369 0 0
0.370 1 0
1 1 0
]
colorFilter 0 1 0
occlusion FALSE
resolution -1
}
DEF GATE HingeJoint {
jointParameters HingeJointParameters {
position 5.616075030873274e-07
axis -1 0 0
anchor -0.075 0 0.075
}
device [
RotationalMotor {
name "gate"
maxTorque 0.4
}
]
endPoint Solid {
translation -0.07500099999941445 -5.248606974800071e-08 0.15000199999651959
rotation 0.5773465286068395 0.5773518173233849 0.5773524616202971 2.0944003198669634
children [
DEF GATE_SHAPE Shape {
appearance PBRAppearance {
baseColor 0.33 0.33 0.33
}
geometry Cylinder {
height 0.15
radius 0.005
}
}
]
name "solid(2)"
boundingObject USE GATE_SHAPE
physics Physics {
density -1
mass 0.01
}
}
}
DEF RIGHT_WHEEL HingeJoint {
jointParameters HingeJointParameters {
position 1190.585619502424
anchor -0.09 0.015 0.025
}
device [
RotationalMotor {
name "wheel2"
maxVelocity 8
maxTorque 0.1
}
]
endPoint DEF WHEEL2 Solid {
rotation -0.7068290684491383 -0.7068429778642714 0.027670790362622464 3.1969362685391625
translation -0.09 0.015 0.025
children [
DEF WHEEL Shape {
appearance PBRAppearance {
baseColor 0.33 0.33 0.33
}
geometry Cylinder {
height 0.01
radius 0.05
}
}
]
name "solid(1)"
boundingObject USE WHEEL
physics DEF WHEEL_PH Physics {
}
}
}
DEF BODY Group {
children [
DEF FENCE2 Transform {
translation -0.0749986 0 0.224999
rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.09439
children [
DEF SCOOP_1 Shape {
appearance PBRAppearance {
baseColor 0.33 0.33 0.33
}
geometry IndexedFaceSet {
coord Coordinate {
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DEF SLIPPER Transform {
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geometry Sphere {
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geometry Box {
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DEF LEFT_WHEEL HingeJoint {
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radius 0.05
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physics Physics {
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controller IS controller
}
}
# the following line just sets vi/vim to use two spaces, feel free to ignore it
# vi: sts=2:sw=2:et