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Simulation update #310

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a1e44e7
Adding columns, platforms, scene and playing mat
Vladimir-Andrisko Jan 25, 2025
d2ba304
finishing touches for the simulation
Vladimir-Andrisko Jan 28, 2025
fa28c73
Merge remote-tracking branch 'origin' into simulation-update
Vladimir-Andrisko Jan 29, 2025
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110 changes: 110 additions & 0 deletions mep3_simulation/webots_data/protos/ColumnsPlatform.proto
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Original file line number Diff line number Diff line change
@@ -0,0 +1,110 @@
#VRML_SIM R2023b utf8

PROTO ColumnsPlatform [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
DEF G0 Group {
children [
DEF platform Pose {
translation 0 0 0.063
rotation 0 0 1 0
children [
Shape {
appearance PBRAppearance {
baseColor 1 0.639 0.282
roughness 1
metalness 0
}
geometry Box {
size 0.4 0.1 0.015
}
castShadows FALSE
}
]
}
DEF cilindar_4 Pose {
translation 0.15 0 0
children [
Shape {
appearance PBRAppearance {
baseColor 0.208 0.518 0.894
roughness 1
metalness 0
}
geometry Cylinder {
height 0.109
radius 0.0365
}
castShadows FALSE
}
]
}
DEF cilindar_3 Pose {
translation 0.05 0 0
children [
Shape {
appearance PBRAppearance {
baseColor 0.208 0.518 0.894
roughness 1
metalness 0
}
geometry Cylinder {
height 0.109
radius 0.0365
}
castShadows FALSE
}
]
}
DEF cilindar_2 Pose {
translation -0.05 0 0
children [
Shape {
appearance PBRAppearance {
baseColor 0.208 0.518 0.894
roughness 1
metalness 0
}
geometry Cylinder {
height 0.109
radius 0.0365
}
castShadows FALSE
}
]
}
DEF cilindar_1 Pose {
translation -0.15 0 0
children [
Shape {
appearance PBRAppearance {
baseColor 0.208 0.518 0.894
roughness 1
metalness 0
}
geometry Cylinder {
height 0.109
radius 0.0365
}
castShadows FALSE
}
]
}
]
}
]
name "Columns_and_Platform"
physics Physics {
density -1
mass 0.1
}
boundingObject USE G0
locked FALSE
}
}
92 changes: 92 additions & 0 deletions mep3_simulation/webots_data/protos/SideOfTable.proto
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Original file line number Diff line number Diff line change
@@ -0,0 +1,92 @@
#VRML_SIM R2023b utf8
# template language: javascript

PROTO SideOfTable [
field SFVec3f translation -0.775 0 0.0275
field SFRotation rotation 0 0 1 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
DEF G1 Group {
children [
DEF triangle_2 Pose {
translation -0.225 -0.85 -0.0275
rotation 0 0 1 0
children [
Shape {
appearance PBRAppearance {
baseColor 0.141 0.122 0.195
roughness 1
metalness 0
}
geometry ElevationGrid {
height [
0
0
0.055
0.055
]
xDimension 2
xSpacing 0.2
yDimension 2
ySpacing 0.4
}
castShadows FALSE
isPickable FALSE
}
]
}
DEF triangle_1 Pose {
translation -0.225 0.45 -0.0275
rotation 0 0 1 0
children [
Shape {
appearance PBRAppearance {
baseColor 0.141 0.122 0.192
roughness 1
metalness 0
}
geometry ElevationGrid {
height [
0.055
0.055
]
xDimension 2
xSpacing 0.2
yDimension 2
ySpacing 0.4
}
castShadows FALSE
isPickable FALSE
}
]
}
DEF Scene Pose {
translation 0 0 0
rotation 0 0 1 0
children [
Shape {
appearance PBRAppearance {
baseColor 0.141 0.122 0.192
roughness 1
metalness 0
}
geometry Box {
size 0.45 0.9 0.055
}
castShadows FALSE
isPickable FALSE
}
]
}
]
}
]
name "Side_of_table"
boundingObject USE G1
locked TRUE
}
}
2 changes: 2 additions & 0 deletions mep3_simulation/webots_data/protos/StaticObjects.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@ EXTERNPROTO "Walls.proto"
EXTERNPROTO "FixedBeaconSupports.proto"
EXTERNPROTO "BasketSupport.proto"
EXTERNPROTO "CentralTrackingDevice.proto"
EXTERNPROTO "SideOfTable.proto"

PROTO StaticObjects [
]
Expand Down Expand Up @@ -33,6 +34,7 @@ Group {
Walls {}
FixedBeaconSupports {}
CentralTrackingDevice {}
SideOfTable {}
]
}
}
6 changes: 3 additions & 3 deletions mep3_simulation/webots_data/worlds/.eurobot.wbproj
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
Webots Project File version R2023b
perspectives: 000000ff00000000fd00000002000000010000011c00000307fc0200000001fb0000001400540065007800740045006400690074006f00720000000013000003070000003f00ffffff00000003000003be000000a7fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000003be0000006900ffffff000003be000003c300000001000000020000000100000008fc00000000
simulationViewPerspectives: 000000ff000000010000000200000195000005e90100000002010000000100
sceneTreePerspectives: 000000ff00000001000000030000001c000000c0000000fa0100000002010000000200
perspectives: 000000ff00000000fd00000002000000010000011c00000307fc0200000001fb0000001400540065007800740045006400690074006f00720000000013000003070000003f00ffffff000000030000039f00000039fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000000000000039f0000006900ffffff0000039f0000038a00000001000000020000000100000008fc00000000
simulationViewPerspectives: 000000ff0000000100000002000001c0000001dd0100000002010000000100
sceneTreePerspectives: 000000ff00000001000000030000001d000000c0000000fa0100000002010000000200
maximizedDockId: -1
centralWidgetVisible: 1
orthographicViewHeight: 1
Expand Down
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49 changes: 43 additions & 6 deletions mep3_simulation/webots_data/worlds/eurobot.wbt
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@ EXTERNPROTO "../protos/JetBotRaspberryPiCamera.proto"
EXTERNPROTO "../protos/GenericRobot.proto"
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/ColumnsPlatform.proto"

WorldInfo {
basicTimeStep 10
Expand All @@ -26,8 +27,8 @@ WorldInfo {
]
}
Viewpoint {
orientation 0.4819430059392584 -0.005549339884766831 -0.8761849940812015 3.1538728487414
position 2.988041384032802 0.28050982519477397 4.535328706366026
orientation 0.48206488969890254 -0.005550747173918898 -0.8761179323158478 -3.1331853071795863
position 2.99 0.281 4.54
}
TexturedBackground {
}
Expand All @@ -37,7 +38,7 @@ StaticObjects {
}
DEF ROBOT_OPPONENT_BIG OpponentBox {
name "opponent_box_big"
translation -0.775 1.195 0
translation 0.035 1.195 0
rotation 0 0 1 0
}
DEF ROBOT_OPPONENT_SMALL OpponentBox {
Expand Down Expand Up @@ -65,14 +66,14 @@ Robot {
}
DEF ROBOT_SMALL GenericRobot {
name "robot_small"
translation -0.75 -1.25 0
translation 0.12 -1.25 0
rotation 0 0 1 1.5708
arucoNumber 6
}
DEF ROBOT_BIG GenericRobot {
name "robot_big"
translation 0.815 -1.33 0
rotation 0 0 1 -1.5708
translation 0.815 0.24 0
rotation 0 0 -1 3.67802e-06
arucoNumber 7
baseSlot [
Solid {
Expand Down Expand Up @@ -110,3 +111,39 @@ DEF ROBOT_BIG GenericRobot {
}
]
}
ColumnsPlatform {
translation 0.0500015 -0.4 0.06
rotation 0 0 1 1.5708
}
ColumnsPlatform {
translation 0.0499985 0.4 0.06
rotation 0 0 1 1.5708
}
ColumnsPlatform {
translation 0.76 -0.72 0.07
rotation 0 0 1 1.5708
}
ColumnsPlatform {
translation 0.749997 0.72 0.06
rotation 0 0 1 1.5708
}
ColumnsPlatform {
translation -0.72 0.679998 0.05
rotation 0 0 1 1.5708
}
ColumnsPlatform {
translation -0.719998 -0.67 0.06
rotation 0 0 1 1.5708
}
ColumnsPlatform {
translation 0.6 -1.42 0.06
}
ColumnsPlatform {
translation -0.32 1.43 0.06
}
ColumnsPlatform {
translation 0.6 1.42 0.07
}
ColumnsPlatform {
translation -0.33 -1.42 0.06
}