d358ca1b32
The various C Webots controllers are replaced by a single Python controller - More readable (in my opinion) - Does not require compilation - Easily modifiable to run user code - Can be blackboxed and configured via arguments when designing a robot model - Optionally provides the ability to stream camera images over TCP - Generalizable to copters and rovers (and probably more) - Supports multi-vehicle simulation (including of multiple types) - Requires no non-standard libraries (neither does current) Higher fidelity example worlds - Iris quadcopter demo world similar to gazebo - Crazyflie quadcopter demo world (crazyflie models baked into webots) - Pioneer3at rover demo world (pioneer models baked into webots)
57 lines
1.4 KiB
Protocol Buffer
57 lines
1.4 KiB
Protocol Buffer
# VRML_SIM R2022b utf8
|
|
# template language: javascript
|
|
|
|
PROTO ArucoMarker [
|
|
field SFVec3f translation 0 0 0
|
|
field SFRotation rotation 0 0 1 0
|
|
field SFString name "aruco" # Defines the name of the aruco board.
|
|
field SFFloat size 0.1 # Defines size of the markers.
|
|
field SFString{"0", "1", "2", "3", "4", "5", "6", "7", "8"}
|
|
markerId "0" # Defines the marker id.
|
|
]
|
|
{
|
|
Solid {
|
|
translation IS translation
|
|
rotation IS rotation
|
|
name IS name
|
|
children [
|
|
# marker slightly in front of the border
|
|
Transform {
|
|
translation 0 0 1e-3
|
|
children [
|
|
Shape {
|
|
appearance PBRAppearance {
|
|
baseColor 1 1 1
|
|
metalness 0
|
|
roughness 0.6
|
|
|
|
%< let markerTexture = "textures/aruco_" + fields.markerId.value + ".png"; >%
|
|
baseColorMap ImageTexture {
|
|
url "%<= markerTexture >%"
|
|
}
|
|
|
|
}
|
|
|
|
geometry Plane {
|
|
size %<= fields.size.value >% %<= fields.size.value >%
|
|
}
|
|
}
|
|
]
|
|
}
|
|
|
|
|
|
# while boarder
|
|
Shape {
|
|
appearance PBRAppearance {
|
|
baseColor 1 1 1
|
|
metalness 0
|
|
roughness 0.6
|
|
}
|
|
geometry Plane {
|
|
size %<= fields.size.value * 8/6 >% %<= fields.size.value * 8/6 >%
|
|
}
|
|
}
|
|
|
|
]
|
|
}
|
|
} |