├── LICENSE ├── README.md ├── controllers ├── mavic2proController │ ├── __pycache__ │ │ └── mavic2proHelper.cpython-37.pyc │ ├── mavic2proController.py │ ├── mavic2proHelper.py │ └── mavic2proHelper.pyc ├── params.csv └── pioneerController │ ├── __pycache__ │ └── roverHelper.cpython-37.pyc │ ├── pioneerController.py │ └── roverHelper.py ├── docs └── doc_image.jpeg ├── pathCSV ├── rover_waypoint_generator.py └── waypoints.csv ├── protos ├── .CircleArena.cache ├── .Floor.cache ├── .Pioneer3DistanceSensor.cache ├── .Pioneer3Gripper.cache ├── .Pioneer3at.cache ├── .Pioneer3dx.cache ├── .RectangleArena.cache ├── .SandyGround.cache ├── .UnevenTerrain.cache ├── CircleArena.proto ├── Floor.proto ├── Pioneer3DistanceSensor.proto ├── Pioneer3Gripper.proto ├── Pioneer3at.proto ├── Pioneer3dx.proto ├── RectangleArena.proto ├── SandyGround.proto ├── UnevenTerrain.proto ├── icons │ ├── CircleArena.png │ ├── Floor.png │ ├── Pioneer3DistanceSensor.png │ ├── Pioneer3Gripper.png │ ├── Pioneer3at.png │ ├── Pioneer3dx.png │ ├── RectangleArena.png │ └── UnevenTerrain.png └── textures │ ├── Aruco.png │ ├── body_3at_base_color.jpg │ ├── body_3at_normal.jpg │ ├── body_3at_occlusion.jpg │ ├── body_3at_roughness.jpg │ ├── body_3dx_base_color.jpg │ ├── body_3dx_metalness.jpg │ ├── body_3dx_normal.jpg │ ├── body_3dx_occlusion.jpg │ ├── body_3dx_roughness.jpg │ ├── caster_wheel.jpg │ ├── caster_wheel_base_color.jpg │ ├── caster_wheel_normal.jpg │ ├── caster_wheel_occlusion.jpg │ ├── caster_wheel_roughness.jpg │ ├── cross_tire.jpg │ ├── cross_tire_base_color.jpg │ ├── cross_tire_normal.jpg │ ├── cross_tire_occlusion.jpg │ ├── honeycomb_base_color.jpg │ ├── honeycomb_normal.jpg │ ├── rover_circuit.jpg │ ├── serial_plug.jpg │ ├── smooth_rubber.jpg │ ├── smooth_rubber_base_color.jpg │ ├── smooth_rubber_normal.jpg │ ├── smooth_rubber_occlusion.jpg │ ├── smooth_rubber_roughness.jpg │ ├── top_3at_base_color.jpg │ ├── top_3at_base_color_copy.jpg │ ├── top_3dx_base_color.jpg │ └── top_3dx_normal.jpg └── worlds ├── .ObjectTracking.wbproj ├── .empty.wbproj └── ObjectTracking.wbt /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2019 Prasad N R 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Webots-Quadcopter-Python-SITL 2 | 3 | _Note: This repository fundamentally uses Webots to simulate robots. I found a critical bug in Webots. Camera flickers and rover gets stuck repeatedly. I tried to find a workaround. Link: https://github.com/cyberbotics/webots/issues/1081 However, in Webots, the coordinates are inherently flipped (y-axis along the floor). Given the problems of camera not working, rover getting stuck and flipped coordinates, I could understand that the controller cannot be made production-ready. So, I have archived this repository. However, the flight controller is built on sound math. So, it should work in any SITL or Python-based hardware._ 4 | 5 | ## Background 6 | 7 | A couple of years ago, I had authored a paper on object tracking Quadcopter. (Link: https://www.academia.edu/40403950/Single_Horizontal_Camera-Based_Object_Tracking_Quadcopter_Using_StaGaus_Algorithm ) I had some difficulties with reproducible results (with physical drone as mentioned in the paper). However, back then, I ended up building a ROS and Gazebo based multi-type multi-vehicle SITL (Software In The Loop) simulator (as detailed in the paper). The setup was extensive and worked only with a specific version of Ubuntu (requiring `sudo` and root access). 8 | 9 | Also, few of the repositories have been archived now and I believe Erle Robotics has shut down completely and their github repositories are archived (which means that my ROS Gazebo SITL simulator may/may not be fully reproducible. At least, it won't be easy to reproduce my research to say the least). 10 | 11 | **_However, this simulator is a general purpose object tracking simulator and is not restricted to my research paper. My intention is to advance the standardisation of reinforcement learning, deep learning and the likes and make it simpler to achieve it._** 12 | 13 | ## Solution 14 | 15 | 1. Building a cross-platform compatible (main target OS being Windows, Linux and Mac OS) with pure Python implementation of controllers for multi-type, multi-vehicle SITL simulator. As I could not find anything like this yet for object tracking in Webots, I started out with Mavic 2 Pro Quadcopter and Pioneer 3DX rover. 16 | 17 | 2. I also wrote pure Python SITL Flight Controller (for waypoint navigation) as I could not find pure general purpose quadcopter controller in Python for SITL. It can also be used in hardware (and it is general purpose code, so, it will work with all hardwares that can run Python interpreter). 18 | 19 |

20 | 21 |

22 | 23 | ## Installation instructions 24 | 25 | 1. Install Webots (according to your OS). 26 | Link: https://cyberbotics.com/download 27 | 28 | 2. Install Python (according to your OS). 29 | Note: Any of the versions of Python supported by Webots is needed. 30 | Link: https://cyberbotics.com/doc/guide/using-python 31 | 32 | 3. Install libraries needed to run this simulation. 33 | a. `pip install simple-pid` Source: https://github.com/m-lundberg/simple-pid 34 | b. `pip install numpy` 35 | c. Install Python OpenCV. 36 | - `pip install opencv-contrib-python` (Preferred. However, this installs opencv-contrib which may contain patented algorithms. Unofficial community whl) 37 | - `pip install opencv-python` (Unofficial community whl) 38 | - Downloading source code from https://opencv.org and compiling (or checking if cv2.py or something like python2_cv.py and python3_cv.py files are present after downloading OpenCV exe executables (for Windows users only)). This method requires compilation and is not recommended unless performance is needed in simulations and it takes some time to install. 39 | - Ubuntu and linux users may be able to install OpenCV via system package managers like `apt`, `aptitude` etc. 40 | 41 | ## Running the simulator 42 | 43 | Just double click on (or run) _Webots-Quadcopter-Python-SITL/blob/master/worlds/ObjectTracking.wbt_ 44 | 45 | ## FAQs: 46 | 47 | [What is the intuition of the math of the aerodynamics?](https://github.com/PrasadNR/Webots-Quadcopter-Python-SITL/issues/3) 48 | 49 | [Will there be other "cross-platform" simulator support/custom simulator support?](https://github.com/PrasadNR/Webots-Quadcopter-Python-SITL/issues/4) 50 | -------------------------------------------------------------------------------- /controllers/mavic2proController/__pycache__/mavic2proHelper.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PrasadNR/Webots-Quadcopter-Python-SITL/f36b17dfd95006192d66a453d9fcdafb47662dc3/controllers/mavic2proController/__pycache__/mavic2proHelper.cpython-37.pyc -------------------------------------------------------------------------------- /controllers/mavic2proController/mavic2proController.py: -------------------------------------------------------------------------------- 1 | from controller import * 2 | import mavic2proHelper 3 | import cv2 4 | import numpy 5 | from simple_pid import PID 6 | import csv 7 | import struct 8 | 9 | params = dict() 10 | with open("../params.csv", "r") as f: 11 | lines = csv.reader(f) 12 | for line in lines: 13 | params[line[0]] = line[1] 14 | 15 | TIME_STEP = int(params["QUADCOPTER_TIME_STEP"]) 16 | TAKEOFF_THRESHOLD_VELOCITY = int(params["TAKEOFF_THRESHOLD_VELOCITY"]) 17 | M_PI = numpy.pi; 18 | 19 | target_altitude = float(params["target_altitude"]) 20 | 21 | robot = Robot() 22 | 23 | [frontLeftMotor, frontRightMotor, backLeftMotor, backRightMotor] = mavic2proHelper.getMotorAll(robot) 24 | 25 | timestep = int(robot.getBasicTimeStep()) 26 | mavic2proMotors = mavic2proHelper.getMotorAll(robot) 27 | mavic2proHelper.initialiseMotors(robot, 0) 28 | mavic2proHelper.motorsSpeed(robot, TAKEOFF_THRESHOLD_VELOCITY, TAKEOFF_THRESHOLD_VELOCITY, TAKEOFF_THRESHOLD_VELOCITY, TAKEOFF_THRESHOLD_VELOCITY) 29 | 30 | camera = Camera("camera") 31 | camera.enable(TIME_STEP) 32 | front_left_led = LED("front left led") 33 | front_right_led = LED("front right led") 34 | gps = GPS("gps") 35 | gps.enable(TIME_STEP) 36 | imu = InertialUnit("inertial unit") 37 | imu.enable(TIME_STEP) 38 | compass = Compass("compass") 39 | compass.enable(TIME_STEP) 40 | gyro = Gyro("gyro") 41 | gyro.enable(TIME_STEP) 42 | receiver = Receiver("receiver") 43 | receiver.enable(TIME_STEP) 44 | 45 | pitchPID = PID(float(params["pitch_Kp"]), float(params["pitch_Ki"]), float(params["pitch_Kd"]), setpoint=0.0) 46 | rollPID = PID(float(params["roll_Kp"]), float(params["roll_Ki"]), float(params["roll_Kd"]), setpoint=0.0) 47 | throttlePID = PID(float(params["throttle_Kp"]), float(params["throttle_Ki"]), float(params["throttle_Kd"]), setpoint=target_altitude) 48 | yawPID = PID(float(params["yaw_Kp"]), float(params["yaw_Ki"]), float(params["yaw_Kd"]), setpoint=float(params["yaw_setpoint"])) 49 | 50 | targetX, targetY, altitude_attained = 0.0, 0.0, False 51 | 52 | while (robot.step(timestep) != -1): 53 | 54 | led_state = int(robot.getTime()) % 2 55 | front_left_led.set(led_state) 56 | front_right_led.set(int(not(led_state))) 57 | 58 | roll = imu.getRollPitchYaw()[0] + M_PI / 2.0 59 | pitch = imu.getRollPitchYaw()[1] 60 | yaw = compass.getValues()[1] 61 | roll_acceleration = gyro.getValues()[0] 62 | pitch_acceleration = gyro.getValues()[1] 63 | 64 | xGPS = gps.getValues()[2] 65 | yGPS = gps.getValues()[0] 66 | zGPS = gps.getValues()[1] 67 | 68 | vertical_input = throttlePID(zGPS) 69 | yaw_input = yawPID(yaw) 70 | 71 | if zGPS > target_altitude * float(params["altitude_attainment_factor"]): 72 | altitude_attained = True 73 | #targetX = xRover 74 | #targetY = yRover 75 | 76 | if receiver.getQueueLength() > 0: 77 | message = receiver.getData().decode('utf-8') 78 | xRover, yRover = float(message.split(",")[0].strip()), float(message.split(",")[1].strip()) 79 | receiver.nextPacket() 80 | 81 | if altitude_attained == False: 82 | targetX = -1.0 83 | targetY = -1.0 84 | 85 | rollPID.setpoint = -targetX 86 | pitchPID.setpoint = targetY 87 | 88 | roll_input = float(params["k_roll_p"]) * roll + roll_acceleration + rollPID(-xGPS) 89 | pitch_input = float(params["k_pitch_p"]) * pitch - pitch_acceleration + pitchPID(yGPS) 90 | 91 | #print(xGPS, yGPS) 92 | 93 | front_left_motor_input = float(params["k_vertical_thrust"]) + vertical_input - roll_input - pitch_input + yaw_input 94 | front_right_motor_input = float(params["k_vertical_thrust"]) + vertical_input + roll_input - pitch_input - yaw_input 95 | rear_left_motor_input = float(params["k_vertical_thrust"]) + vertical_input - roll_input + pitch_input - yaw_input 96 | rear_right_motor_input = float(params["k_vertical_thrust"]) + vertical_input + roll_input + pitch_input + yaw_input 97 | 98 | if not(numpy.isnan(front_left_motor_input)): 99 | mavic2proHelper.motorsSpeed(robot, front_left_motor_input, -front_right_motor_input, -rear_left_motor_input, rear_right_motor_input) -------------------------------------------------------------------------------- /controllers/mavic2proController/mavic2proHelper.py: -------------------------------------------------------------------------------- 1 | def getMotorAll(robot): 2 | frontLeftMotor = robot.getMotor('front left propeller') 3 | frontRightMotor = robot.getMotor('front right propeller') 4 | backLeftMotor = robot.getMotor('rear left propeller') 5 | backRightMotor = robot.getMotor('rear right propeller') 6 | return [frontLeftMotor, frontRightMotor, backLeftMotor, backRightMotor] 7 | 8 | def motorsSpeed(robot, v1, v2, v3, v4): 9 | [frontLeftMotor, frontRightMotor, backLeftMotor, backRightMotor] = getMotorAll(robot) 10 | frontLeftMotor.setVelocity(v1) 11 | frontRightMotor.setVelocity(v2) 12 | backLeftMotor.setVelocity(v3) 13 | backRightMotor.setVelocity(v4) 14 | return 15 | 16 | def initialiseMotors(robot, MAX_PROPELLER_VELOCITY): 17 | [frontLeftMotor, frontRightMotor, backLeftMotor, backRightMotor] = getMotorAll(robot) 18 | frontLeftMotor.setPosition(float('inf')) 19 | frontRightMotor.setPosition(float('inf')) 20 | backLeftMotor.setPosition(float('inf')) 21 | backRightMotor.setPosition(float('inf')) 22 | 23 | motorsSpeed(robot, 0, 0, 0, 0) 24 | return -------------------------------------------------------------------------------- /controllers/mavic2proController/mavic2proHelper.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PrasadNR/Webots-Quadcopter-Python-SITL/f36b17dfd95006192d66a453d9fcdafb47662dc3/controllers/mavic2proController/mavic2proHelper.pyc -------------------------------------------------------------------------------- /controllers/params.csv: -------------------------------------------------------------------------------- 1 | QUADCOPTER_TIME_STEP,8,ROVER_TIME_STEP,64 2 | TAKEOFF_THRESHOLD_VELOCITY,163,floor_width,70 3 | k_vertical_thrust,68.5,floor_height,42.4 4 | k_roll_p,5,waypoint_reached_tolerance,0.1 5 | k_pitch_p,10,, 6 | target_altitude,1.5,, 7 | pitch_Kp,2,, 8 | pitch_Ki,0,, 9 | pitch_Kd,2,, 10 | roll_Kp,2,, 11 | roll_Ki,0,, 12 | roll_Kd,3,, 13 | throttle_Kp,10,, 14 | throttle_Ki,0,, 15 | throttle_Kd,5,, 16 | yaw_Kp,2,, 17 | yaw_Ki,0,, 18 | yaw_Kd,3,, 19 | yaw_setpoint,0,, 20 | altitude_attainment_factor,0.8,, 21 | -------------------------------------------------------------------------------- /controllers/pioneerController/__pycache__/roverHelper.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PrasadNR/Webots-Quadcopter-Python-SITL/f36b17dfd95006192d66a453d9fcdafb47662dc3/controllers/pioneerController/__pycache__/roverHelper.cpython-37.pyc -------------------------------------------------------------------------------- /controllers/pioneerController/pioneerController.py: -------------------------------------------------------------------------------- 1 | from controller import * 2 | import roverHelper 3 | import cv2 4 | import numpy 5 | import csv 6 | 7 | params = dict() 8 | with open("../params.csv", "r") as f: 9 | lines = csv.reader(f) 10 | for line in lines: 11 | params[line[2]] = line[3] 12 | 13 | TIME_STEP = int(params["ROVER_TIME_STEP"]) 14 | robot = Robot() 15 | M_PI = numpy.pi 16 | 17 | [frontLeftMotor, frontRightMotor, backLeftMotor, backRightMotor] = roverHelper.getMotorAll(robot) 18 | MAX_WHEEL_VELOCITY = frontLeftMotor.getMaxVelocity() 19 | 20 | timestep = int(robot.getBasicTimeStep()) 21 | roverHelper.initialiseMotors(robot, MAX_WHEEL_VELOCITY) 22 | 23 | gps = GPS("gps") 24 | gps.enable(TIME_STEP) 25 | emitter = Emitter("emitter") 26 | compass = Compass("compass") 27 | compass.enable(TIME_STEP) 28 | 29 | waypointCounter = 1 30 | waypoints = dict() 31 | image = cv2.imread("../../protos/textures/rover_circuit.jpg") 32 | numberOfWaypoints = 0 33 | with open("../../pathCSV/waypoints.csv", "r") as f: 34 | reader = csv.DictReader(f) 35 | for row in reader: 36 | coordinateX = numpy.interp(row["coordinateX"], [0, image.shape[1] - 1], [-float(params["floor_width"]) / 2, float(params["floor_width"]) / 2]) 37 | coordinateY = numpy.interp(row["coordinateY"], [0, image.shape[0] - 1], [-float(params["floor_height"]) / 2, float(params["floor_height"]) / 2]) 38 | waypoints[row["waypointID"]] = (coordinateX, coordinateY) 39 | numberOfWaypoints += 1 40 | #print(row["waypointID"], (coordinateX, coordinateY)) 41 | 42 | teleoperaton = True #THIS VARIABLE IS ONLY FOR DEBUGGING PURPOSES AND USAGE OF THIS VARIABLE IN PRODUCTION IS HIGHLY DISCOURAGED. SET THIS TO False WHEN ROVER HAS TO BE AUTONOMOUS. 43 | 44 | if teleoperaton == True: 45 | keyboard = Keyboard(); 46 | keyboard.enable(TIME_STEP); 47 | 48 | while (robot.step(timestep) != -1): 49 | 50 | if teleoperaton == True: 51 | key = keyboard.getKey(); 52 | if key == keyboard.UP: 53 | roverHelper.movement.forward(robot, MAX_WHEEL_VELOCITY) 54 | if key == keyboard.LEFT: 55 | roverHelper.movement.left(robot, MAX_WHEEL_VELOCITY) 56 | if key == keyboard.DOWN: 57 | roverHelper.movement.backward(robot, MAX_WHEEL_VELOCITY) 58 | if key == keyboard.RIGHT: 59 | roverHelper.movement.right(robot, MAX_WHEEL_VELOCITY) 60 | if key == keyboard.END: 61 | roverHelper.movement.brake(robot, MAX_WHEEL_VELOCITY) 62 | 63 | gpsLocation = gps.getValues() 64 | compassValues = compass.getValues() 65 | 66 | xRover, yRover = gps.getValues()[2], gps.getValues()[0] 67 | emitter.send((str(xRover) + ", " + str(yRover)).encode('utf-8')) 68 | 69 | robotHeading = M_PI - numpy.arctan2(compassValues[0], compassValues[2]) 70 | waypointX, waypointY = waypoints[str(waypointCounter)][0], waypoints[str(waypointCounter)][1] 71 | waypointHeading = numpy.arctan2(yRover - waypointY, xRover - waypointX) + M_PI / 2.0 72 | if waypointHeading < 0: 73 | waypointHeading = waypointHeading + 2 * M_PI 74 | 75 | steering = (robotHeading - waypointHeading) / M_PI 76 | steering = numpy.clip(steering, -1.0, 1.0) 77 | 78 | print(waypointHeading) 79 | 80 | if numpy.isnan(steering) == False: 81 | roverHelper.lineFollow(robot, MAX_WHEEL_VELOCITY, steering) 82 | 83 | roverWaypointDistance = numpy.sqrt((xRover - waypointX) * (xRover - waypointX) + (yRover - waypointY) * (yRover - waypointY)) 84 | 85 | if roverWaypointDistance < float(params["waypoint_reached_tolerance"]): 86 | waypointCounter = (waypointCounter + 1) % numberOfWaypoints -------------------------------------------------------------------------------- /controllers/pioneerController/roverHelper.py: -------------------------------------------------------------------------------- 1 | import numpy 2 | 3 | def getMotorAll(robot): 4 | frontLeftMotor = robot.getMotor('front left wheel') 5 | frontRightMotor = robot.getMotor('front right wheel') 6 | backLeftMotor = robot.getMotor('back left wheel') 7 | backRightMotor = robot.getMotor('back right wheel') 8 | return [frontLeftMotor, frontRightMotor, backLeftMotor, backRightMotor] 9 | 10 | def motorsSpeed(robot, v1, v2, v3, v4): 11 | [frontLeftMotor, frontRightMotor, backLeftMotor, backRightMotor] = getMotorAll(robot) 12 | frontLeftMotor.setVelocity(v1) 13 | frontRightMotor.setVelocity(v2) 14 | backLeftMotor.setVelocity(v3) 15 | backRightMotor.setVelocity(v4) 16 | return 17 | 18 | def lineFollow(robot, MAX_WHEEL_VELOCITY, k): 19 | [frontLeftMotor, frontRightMotor, backLeftMotor, backRightMotor] = getMotorAll(robot) 20 | vLeft = (1 - abs(k) + k) * MAX_WHEEL_VELOCITY 21 | vRight = (1 - abs(k) - k) * MAX_WHEEL_VELOCITY 22 | frontLeftMotor.setVelocity(vLeft) 23 | frontRightMotor.setVelocity(vRight) 24 | backLeftMotor.setVelocity(vLeft) 25 | backRightMotor.setVelocity(vRight) 26 | return 27 | 28 | class movement: 29 | 30 | def forward(robot, MAX_WHEEL_VELOCITY): 31 | motorsSpeed(robot, MAX_WHEEL_VELOCITY, MAX_WHEEL_VELOCITY, MAX_WHEEL_VELOCITY, MAX_WHEEL_VELOCITY) 32 | return 33 | 34 | def backward(robot, MAX_WHEEL_VELOCITY): 35 | motorsSpeed(robot, -MAX_WHEEL_VELOCITY, -MAX_WHEEL_VELOCITY, -MAX_WHEEL_VELOCITY, -MAX_WHEEL_VELOCITY) 36 | return 37 | 38 | def left(robot, MAX_WHEEL_VELOCITY): 39 | motorsSpeed(robot, -MAX_WHEEL_VELOCITY, MAX_WHEEL_VELOCITY, -MAX_WHEEL_VELOCITY, MAX_WHEEL_VELOCITY) 40 | return 41 | 42 | def right(robot, MAX_WHEEL_VELOCITY): 43 | motorsSpeed(robot, MAX_WHEEL_VELOCITY, -MAX_WHEEL_VELOCITY, MAX_WHEEL_VELOCITY, -MAX_WHEEL_VELOCITY) 44 | return 45 | 46 | def brake(robot, MAX_WHEEL_VELOCITY): 47 | motorsSpeed(robot, 0, 0, 0, 0) 48 | return 49 | 50 | def initialiseMotors(robot, MAX_WHEEL_VELOCITY): 51 | [frontLeftMotor, frontRightMotor, backLeftMotor, backRightMotor] = getMotorAll(robot) 52 | frontLeftMotor.setPosition(float('inf')) 53 | frontRightMotor.setPosition(float('inf')) 54 | backLeftMotor.setPosition(float('inf')) 55 | backRightMotor.setPosition(float('inf')) 56 | 57 | movement.brake(robot, MAX_WHEEL_VELOCITY) 58 | return -------------------------------------------------------------------------------- /docs/doc_image.jpeg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PrasadNR/Webots-Quadcopter-Python-SITL/f36b17dfd95006192d66a453d9fcdafb47662dc3/docs/doc_image.jpeg -------------------------------------------------------------------------------- /pathCSV/rover_waypoint_generator.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | import csv 3 | 4 | global clickCoordinates 5 | clickCoordinates = list() 6 | 7 | def click_point(event, x, y, flags, param): 8 | if event == cv2.EVENT_LBUTTONDOWN: 9 | clickCoordinates.append((x, y)) 10 | 11 | image = cv2.imread("../protos/textures/rover_circuit.jpg") 12 | cv2.namedWindow("image") 13 | cv2.setMouseCallback("image", click_point) 14 | 15 | while True: 16 | cv2.imshow("image", image) 17 | key = cv2.waitKey(1) 18 | if key == ord(" "): 19 | break 20 | 21 | with open('waypoints.csv', 'w', newline='') as f: 22 | writer = csv.writer(f) 23 | writer.writerow(["waypointID", "coordinateX", "coordinateY"]) 24 | for coordinateID, eachClickCoordinatePair in enumerate(clickCoordinates): 25 | writer.writerow([coordinateID, eachClickCoordinatePair[0], eachClickCoordinatePair[1]]) -------------------------------------------------------------------------------- /pathCSV/waypoints.csv: -------------------------------------------------------------------------------- 1 | waypointID,coordinateX,coordinateY 2 | 0,482,225 3 | 1,452,229 4 | 2,410,229 5 | 3,319,200 6 | 4,259,190 7 | 5,222,203 8 | 6,217,220 9 | 7,263,280 10 | 8,278,306 11 | 9,262,323 12 | 10,147,388 13 | 11,146,412 14 | 12,171,420 15 | 13,215,412 16 | 14,435,415 17 | 15,595,418 18 | 16,718,400 19 | 17,854,399 20 | 18,892,374 21 | 19,902,321 22 | 20,887,254 23 | 21,864,245 24 | 22,839,253 25 | 23,780,296 26 | 24,733,324 27 | 25,645,324 28 | 26,614,295 29 | 27,604,236 30 | 28,773,84 31 | 29,771,64 32 | 30,755,57 33 | 31,732,64 34 | 32,677,108 35 | 33,638,113 36 | 34,608,135 37 | 35,580,146 38 | 36,539,196 39 | 37,509,218 40 | -------------------------------------------------------------------------------- /protos/.CircleArena.cache: -------------------------------------------------------------------------------- 1 | Webots Proto Cache File version 1.4 2 | protoFileHash: b34898ba565301099b90e689ceaa13b9 3 | containsDevices: 0 4 | baseType: Solid 5 | slotType: 6 | parameters: translation,rotation,name,radius,contactMaterial,floorAppearance,floorTileSize,wallThickness,wallHeight,wallAppearance,subdivision,floorTextureUrl,wallTextureUrl,wallTileSize 7 | tags: static 8 | license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 9 | licenseUrl: https://cyberbotics.com/webots_assets_license 10 | documentationUrl: 11 | info: A\sconfigurable\scircle\sarena\scomposed\sof\sfloor\ssurrounded\sby\swall.\n 12 | -------------------------------------------------------------------------------- /protos/.Floor.cache: -------------------------------------------------------------------------------- 1 | Webots Proto Cache File version 1.4 2 | protoFileHash: 4057c5bb99ab9330c7854f70f35ce788 3 | containsDevices: 0 4 | baseType: Solid 5 | slotType: 6 | parameters: translation,rotation,name,contactMaterial,size,tileSize,appearance,texture 7 | tags: static 8 | license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 9 | licenseUrl: https://cyberbotics.com/webots_assets_license 10 | documentationUrl: 11 | info: Configurable\sstandard\sflat\sfloor.\n 12 | -------------------------------------------------------------------------------- /protos/.Pioneer3DistanceSensor.cache: -------------------------------------------------------------------------------- 1 | Webots Proto Cache File version 1.4 2 | protoFileHash: c50dbf1d22b0c708f88fc46c4b5f1e01 3 | containsDevices: 1 4 | baseType: DistanceSensor 5 | slotType: 6 | parameters: translation,rotation,name,type 7 | tags: 8 | license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 9 | licenseUrl: https://cyberbotics.com/webots_assets_license 10 | documentationUrl: 11 | info: Distance\ssensor\sof\sthe\sPioneer\s3AT\srobot.\n 12 | -------------------------------------------------------------------------------- /protos/.Pioneer3Gripper.cache: -------------------------------------------------------------------------------- 1 | Webots Proto Cache File version 1.4 2 | protoFileHash: b82fa35c62cd1daec78e1700d90d04a0 3 | containsDevices: 1 4 | baseType: Solid 5 | slotType: 6 | parameters: translation,name 7 | tags: 8 | license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 9 | licenseUrl: https://cyberbotics.com/webots_assets_license 10 | documentationUrl: 11 | info: Physics-based\smodel\sof\sthe\sPioneer\sgripper\s(Adept\sMobile\sRobotics)\n 12 | -------------------------------------------------------------------------------- /protos/.Pioneer3at.cache: -------------------------------------------------------------------------------- 1 | Webots Proto Cache File version 1.4 2 | protoFileHash: 438f5a6be6d43f033d988b4275885f3b 3 | containsDevices: 1 4 | baseType: Robot 5 | slotType: 6 | parameters: translation,rotation,name,controller,controllerArgs,customData,supervisor,synchronization,extensionSlot 7 | tags: 8 | license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 9 | licenseUrl: https://cyberbotics.com/webots_assets_license 10 | documentationUrl: https://www.cyberbotics.com/doc/guide/pioneer-3at 11 | info: Pioneer\s3AT\srobot\s(Adept\sMobileRobots)\sis\san\sall\sterrain\sfour\swheels\sdrive\srobot.\n 12 | -------------------------------------------------------------------------------- /protos/.Pioneer3dx.cache: -------------------------------------------------------------------------------- 1 | Webots Proto Cache File version 1.4 2 | protoFileHash: fe8538695035c9cee6a7eeeceff71988 3 | containsDevices: 1 4 | baseType: Robot 5 | slotType: 6 | parameters: translation,rotation,name,controller,controllerArgs,customData,supervisor,synchronization,extensionSlot 7 | tags: 8 | license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 9 | licenseUrl: https://cyberbotics.com/webots_assets_license 10 | documentationUrl: https://www.cyberbotics.com/doc/guide/pioneer-3dx 11 | info: The\sPioneer\s3-DX\srobot\s(Adept\sMobileRobots)\sis\san\sall-purpose\sbase,\sused\sfor\sresearch\sand\sapplications\sinvolving\smapping,\steleoperation,\slocalization,\smonitoring,\sreconnaissance\sand\sother\sbehaviors.\n 12 | -------------------------------------------------------------------------------- /protos/.RectangleArena.cache: -------------------------------------------------------------------------------- 1 | Webots Proto Cache File version 1.4 2 | protoFileHash: ce6509592b6a95b47ec579a7e7f439d9 3 | containsDevices: 0 4 | baseType: Solid 5 | slotType: 6 | parameters: translation,rotation,name,contactMaterial,floorSize,floorTileSize,floorAppearance,wallThickness,wallHeight,wallAppearance,floorTextureUrl,wallTextureUrl,wallColor,wallTileSize 7 | tags: static 8 | license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 9 | licenseUrl: https://cyberbotics.com/webots_assets_license 10 | documentationUrl: 11 | info: A\sconfigurable\srectangle\sarena\scomposed\sof\sa\sfloor\ssurrounded\sby\swalls.\n 12 | -------------------------------------------------------------------------------- /protos/.SandyGround.cache: -------------------------------------------------------------------------------- 1 | Webots Proto Cache File version 1.4 2 | protoFileHash: 46af411fc55179b6b9bd8f1581aef07e 3 | containsDevices: 0 4 | baseType: PBRAppearance 5 | slotType: 6 | parameters: colorOverride,textureTransform,IBLStrength 7 | tags: 8 | license: Apache License 2.0 9 | licenseUrl: http://www.apache.org/licenses/LICENSE-2.0 10 | documentationUrl: 11 | info: A\ssandy\sground\smaterial.\sThe\scolor\scan\sbe\sselected\susing\sthe\s`colorOverride`\sfield.\sUseful\swith\sthe\sUnevenTerrain\sPROTO.\n 12 | -------------------------------------------------------------------------------- /protos/.UnevenTerrain.cache: -------------------------------------------------------------------------------- 1 | Webots Proto Cache File version 1.4 2 | protoFileHash: 7d9b2002f95626c59ac8680da2dc49cb 3 | containsDevices: 0 4 | baseType: Solid 5 | slotType: 6 | parameters: translation,rotation,name,size,xDimension,zDimension,appearance,textureScale,randomSeed,flatCenter,flatBounds,perlinNOctaves,texture 7 | tags: 8 | license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 9 | licenseUrl: https://cyberbotics.com/webots_assets_license 10 | documentationUrl: 11 | info: Randomly\sgenerated\suneven\sterrain\sbased\son\sPerlin\snoise.\n 12 | -------------------------------------------------------------------------------- /protos/CircleArena.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2019b utf8 2 | # license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 3 | # license url: https://cyberbotics.com/webots_assets_license 4 | # tags: static 5 | # A configurable circle arena composed of floor surrounded by wall. 6 | 7 | PROTO CircleArena [ 8 | field SFVec3f translation 0 0 0 9 | field SFRotation rotation 0 1 0 0 10 | field SFString name "circle arena" 11 | field SFFloat radius 1.0 # Defines the radius of the arena. 12 | field SFString contactMaterial "default" # Is `Solid.contactMaterial`. 13 | field SFNode floorAppearance ChequeredParquetry {} # Defines the appearance of the floor. 14 | field SFVec2f floorTileSize 0.5 0.5 # Defines the size of the texture used for the floor. 15 | field SFFloat wallThickness 0.01 # Defines the thickness of the wall. 16 | field SFFloat wallHeight 0.1 # Defines the height of the wall. 17 | field SFNode wallAppearance BrushedAluminium {} # Defines the appearance of the wall. 18 | field SFInt32 subdivision 48 # Defines the subdivision of the wall cylinder. 19 | 20 | # Deprecated in R2019a 21 | hiddenField MFString floorTextureUrl "textures/checkered_parquetry.jpg" 22 | hiddenField MFString wallTextureUrl "textures/metal.jpg" 23 | # Deprecated in R2019-rev2 24 | hiddenField SFVec2f wallTileSize 0.5 0.5 25 | 26 | ] 27 | { 28 | %{ 29 | local wbgeometry = require('wbgeometry') 30 | 31 | if fields.floorTextureUrl.value[0] ~= fields.floorTextureUrl.defaultValue[0] then 32 | io.stderr:write("The 'floorTextureUrl' field is deprecated, using the new 'floorAppearance' field instead.\n") 33 | end 34 | 35 | if fields.wallTextureUrl.value[0] ~= fields.wallTextureUrl.defaultValue[0] then 36 | io.stderr:write("The 'wallTextureUrl' field is deprecated, using the new 'wallAppearance' field instead.\n") 37 | end 38 | 39 | if (fields.wallTileSize.value.x ~= fields.wallTileSize.defaultValue.x or 40 | fields.wallTileSize.value.y ~= fields.wallTileSize.defaultValue.y) then 41 | io.stderr:write("The 'wallTileSize' field is deprecated, using the new 'wallAppearance' field instead.\n") 42 | end 43 | 44 | local subdivision = fields.subdivision.value 45 | if subdivision <= 8 then 46 | io.stderr:write("'subdivision' must be greater than 8\n") 47 | subdivision = 8 48 | end 49 | 50 | local radius = fields.radius.value 51 | if radius <= 0.0 then 52 | io.stderr:write("'radius' must be positive\n") 53 | radius = fields.radius.defaultValue 54 | end 55 | 56 | local wallThickness = fields.wallThickness.value 57 | if wallThickness <= 0 then 58 | io.stderr:write("'wallThickness' must be positive\n") 59 | wallThickness = fields.wallThickness.defaultValue 60 | end 61 | 62 | local wallHeight = fields.wallHeight.value 63 | if wallHeight <= 0 then 64 | io.stderr:write("'wallHeight' must be positive\n") 65 | wallHeight = fields.wallHeight.defaultValue 66 | end 67 | 68 | realRadius = radius + wallThickness / 2 69 | 70 | local floorTextureScale = { x = 1; y = 1 } 71 | if fields.floorTileSize.value.x >= 0 and fields.floorTileSize.value.y > 0.0 then -- avoid a zero division and negative values 72 | floorTextureScale.x = fields.floorTileSize.value.x 73 | floorTextureScale.y = fields.floorTileSize.value.y 74 | else 75 | io.stderr:write("'floorTextureScale' must contain positive values\n") 76 | end 77 | }% 78 | Solid { 79 | translation IS translation 80 | rotation IS rotation 81 | children [ 82 | SolidPipe { 83 | translation 0 %{= wallHeight / 2 }% 0 84 | height %{= wallHeight }% 85 | radius %{= radius + wallThickness }% 86 | thickness %{= wallThickness }% 87 | subdivision %{= subdivision }% 88 | contactMaterial IS contactMaterial 89 | appearance IS wallAppearance 90 | } 91 | Shape { 92 | appearance IS floorAppearance 93 | geometry IndexedFaceSet { 94 | %{ local circle = wbgeometry.circle(realRadius, subdivision, 0, 0, 0) }% 95 | coord Coordinate { 96 | point [ 97 | %{ for i, el in ipairs(circle) do }% 98 | %{= el.x }% %{= 0 }% %{= el.y }% 99 | %{ end }% 100 | ] 101 | } 102 | texCoord TextureCoordinate { 103 | point [ 104 | %{ for i, el in ipairs(circle) do }% 105 | %{= el.x / floorTextureScale.x }% %{= el.y / floorTextureScale.y}% 106 | %{ end }% 107 | ] 108 | } 109 | coordIndex [ 110 | %{ for j = subdivision, 0, -1 do }% 111 | %{= j }% 112 | %{ end }% 113 | -1 114 | ] 115 | texCoordIndex [ 116 | %{ for j = subdivision, 0, -1 do }% 117 | %{= j }% 118 | %{ end }% 119 | -1 120 | ] 121 | } 122 | } 123 | ] 124 | name IS name 125 | model "circle arena" 126 | boundingObject Plane { 127 | size %{= 2 * radius }% %{= 2 * radius }% 128 | } 129 | contactMaterial IS contactMaterial 130 | locked TRUE 131 | } 132 | } 133 | -------------------------------------------------------------------------------- /protos/Floor.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2019b utf8 2 | # license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 3 | # license url: https://cyberbotics.com/webots_assets_license 4 | # tags: static 5 | # Configurable standard flat floor. 6 | 7 | PROTO Floor [ 8 | field SFVec3f translation 0 0 0 9 | field SFRotation rotation 0 1 0 0 10 | field SFString name "floor" 11 | field SFString contactMaterial "default" # Is `Solid.contactMaterial`. 12 | field SFVec2f size 10 10 # Defines the size of the floor. 13 | field SFVec2f tileSize 0.5 0.5 # Defines the size of texture used for the floor. 14 | field SFNode appearance SandyGround {} # Defines the appearance of the floor. 15 | 16 | # Deprecated in R2019a 17 | hiddenField MFString texture "textures/rover_circuit.jpg" 18 | ] 19 | { 20 | %{ 21 | local wbmath = require('wbmath') 22 | 23 | local size = fields.size.value 24 | if size.x <= 0 or size.y <= 0 then 25 | size = fields.size.defaultValue 26 | io.stderr:write("'size' must contain positive values\n") 27 | end 28 | 29 | local texture = fields.texture.value[0] 30 | if texture ~= fields.texture.defaultValue[0] then 31 | io.stderr:write("The 'texture' field is deprecated, using the new 'appearance' field instead.\n") 32 | end 33 | 34 | local tileSize = fields.tileSize.value 35 | if tileSize.x <= 0 or tileSize.y <= 0 then -- avoid a zero division and negative values 36 | tileSize = fields.tileSize.defaultValue 37 | io.stderr:write("'tileScale' must contain positive values\n") 38 | end 39 | local textureScale = { x = size.x / tileSize.x, y = size.y / tileSize.y } 40 | }% 41 | Solid { 42 | translation IS translation 43 | rotation IS rotation 44 | children [ 45 | Shape { 46 | appearance IS appearance 47 | geometry IndexedFaceSet { 48 | coord Coordinate { 49 | point [ 50 | %{= -(size.x / 2) }% 0 %{= -(size.y / 2) }% 51 | %{= size.x / 2 }% 0 %{= -(size.y / 2) }% 52 | %{= -(size.x / 2) }% 0 %{= size.y / 2 }% 53 | %{= size.x / 2 }% 0 %{= size.y / 2 }% 54 | ] 55 | } 56 | texCoord TextureCoordinate { 57 | point [ 58 | 0 0 59 | %{= textureScale.x }% 0 60 | 0 %{= textureScale.y }% 61 | %{= textureScale.x }% %{= textureScale.y }% 62 | ] 63 | } 64 | coordIndex [ 65 | 0 2 3 1 -1 66 | ] 67 | texCoordIndex [ 68 | 2 0 1 3 -1 69 | ] 70 | } 71 | } 72 | ] 73 | name IS name 74 | model "floor" 75 | boundingObject Plane { 76 | size IS size 77 | } 78 | contactMaterial IS contactMaterial 79 | locked TRUE 80 | } 81 | } 82 | -------------------------------------------------------------------------------- /protos/Pioneer3DistanceSensor.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2019b utf8 2 | # license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 3 | # license url: https://cyberbotics.com/webots_assets_license 4 | # Distance sensor of the Pioneer 3AT robot. 5 | 6 | PROTO Pioneer3DistanceSensor [ 7 | field SFVec3f translation 0 0.137 0 8 | field SFRotation rotation 0 1 0 0 9 | field SFString name "so" 10 | field SFString type "sonar" 11 | ] 12 | { 13 | DistanceSensor { 14 | translation IS translation 15 | rotation IS rotation 16 | name IS name 17 | model "Pioneer3 distance sensor" 18 | type IS type 19 | children [ 20 | DEF BLACK_BODY_SHAPE Shape { 21 | appearance PBRAppearance { 22 | baseColor 0 0 0 23 | roughness 0.2 24 | metalness 0 25 | } 26 | geometry IndexedFaceSet { 27 | coord Coordinate { 28 | point [ 29 | 0.0027176 -0.0082813 -0.0199851, 0.0027176 -0.0152989 -0.0152947 30 | 0.0027176 -0.0199874 -0.0082758, 0.0027176 -0.021633 3e-06 31 | 0.0027176 -0.0199851 0.0082813, 0.0027176 -0.0152947 0.0152989 32 | 0.0027176 -0.0082758 0.0199874, 0.0027176 3e-06 0.021633 33 | 0.0027176 0.0082813 0.0199851, 0.0027176 0.0152989 0.0152947 34 | 0.0027176 0.0199874 0.0082758, 0.0027176 0.021633 -3e-06 35 | 0.0027176 0.0199851 -0.0082813, 0.0027176 0.0152947 -0.0152989 36 | 0.0027176 0.0082758 -0.0199874, 0.0027176 -3e-06 -0.021633 37 | 3.68e-05 -0.0082813 -0.0199851, 3.68e-05 -0.0152989 -0.0152947 38 | 3.68e-05 -0.0199874 -0.0082758, 3.68e-05 -0.021633 3e-06 39 | 3.68e-05 -0.0199851 0.0082813, 3.68e-05 -0.0152947 0.0152989 40 | 3.68e-05 -0.0082758 0.0199874, 3.68e-05 3e-06 0.021633 41 | 3.68e-05 0.0082813 0.0199851, 3.68e-05 0.0152989 0.0152947 42 | 3.68e-05 0.0199874 0.0082758, 3.68e-05 0.021633 -3e-06 43 | 3.68e-05 0.0199851 -0.0082813, 3.68e-05 0.0152947 -0.0152989 44 | 3.68e-05 0.0082758 -0.0199874, 3.68e-05 -3e-06 -0.021633 45 | 0.0027176 -0.0071569 -0.0172717, 0.0027176 -0.0132217 -0.0132181 46 | 0.0027176 -0.0172736 -0.0071522, 0.0027176 -0.0186958 2.6e-06 47 | 0.0027176 -0.0172717 0.0071569, 0.0027176 -0.0132181 0.0132217 48 | 0.0027176 -0.0071522 0.0172736, 0.0027176 2.6e-06 0.0186958 49 | 0.0027176 0.0071569 0.0172717, 0.0027176 0.0132217 0.0132181 50 | 0.0027176 0.0172736 0.0071522, 0.0027176 0.0186958 -2.6e-06 51 | 0.0027176 0.0172717 -0.0071569, 0.0027176 0.0132181 -0.0132217 52 | 0.0027176 0.0071522 -0.0172736, 0.0027176 -2.6e-06 -0.0186958 53 | 0.0004008 -0.0071569 -0.0172717, 0.0004008 -0.0132217 -0.0132181 54 | 0.0004008 -0.0172736 -0.0071522, 0.0004008 -0.0186958 2.6e-06 55 | 0.0004008 -0.0172717 0.0071569, 0.0004008 -0.0132181 0.0132217 56 | 0.0004008 -0.0071522 0.0172736, 0.0004008 2.6e-06 0.0186958 57 | 0.0004008 0.0071569 0.0172717, 0.0004008 0.0132217 0.0132181 58 | 0.0004008 0.0172736 0.0071522, 0.0004008 0.0186958 -2.6e-06 59 | 0.0004008 0.0172717 -0.0071569, 0.0004008 0.0132181 -0.0132217 60 | 0.0004008 0.0071522 -0.0172736, 0.0004008 -2.6e-06 -0.0186958 61 | ] 62 | } 63 | coordIndex [ 64 | 63 46 62 -1 63 47 46 -1 61 62 46 -1 65 | 61 46 45 -1 60 61 45 -1 60 45 44 -1 66 | 60 44 43 -1 60 43 59 -1 59 43 42 -1 67 | 59 42 58 -1 57 58 42 -1 57 42 41 -1 68 | 56 57 41 -1 56 41 40 -1 56 40 39 -1 69 | 56 39 55 -1 55 39 38 -1 55 38 54 -1 70 | 53 54 38 -1 53 38 37 -1 52 53 37 -1 71 | 52 37 36 -1 52 36 35 -1 52 35 51 -1 72 | 51 35 34 -1 51 34 50 -1 49 50 34 -1 73 | 49 34 33 -1 49 33 32 -1 49 32 48 -1 74 | 15 14 46 -1 15 46 47 -1 13 45 46 -1 75 | 13 46 14 -1 12 44 45 -1 12 45 13 -1 76 | 12 11 43 -1 12 43 44 -1 11 10 42 -1 77 | 11 42 43 -1 9 41 42 -1 9 42 10 -1 78 | 8 40 41 -1 8 41 9 -1 8 7 39 -1 79 | 8 39 40 -1 7 6 38 -1 7 38 39 -1 80 | 5 37 38 -1 5 38 6 -1 4 36 37 -1 81 | 4 37 5 -1 4 3 35 -1 4 35 36 -1 82 | 3 2 34 -1 3 34 35 -1 1 33 34 -1 83 | 1 34 2 -1 1 0 32 -1 1 32 33 -1 84 | 15 47 32 -1 32 0 15 -1 14 15 31 -1 85 | 14 31 30 -1 14 30 29 -1 14 29 13 -1 86 | 13 29 28 -1 13 28 12 -1 11 12 28 -1 87 | 11 28 27 -1 10 11 27 -1 10 27 26 -1 88 | 10 26 25 -1 10 25 9 -1 9 25 24 -1 89 | 9 24 8 -1 7 8 24 -1 7 24 23 -1 90 | 6 7 23 -1 6 23 22 -1 6 22 21 -1 91 | 6 21 5 -1 5 21 20 -1 5 20 4 -1 92 | 3 4 20 -1 3 20 19 -1 2 3 19 -1 93 | 2 19 18 -1 2 18 17 -1 2 17 1 -1 94 | 0 1 17 -1 0 17 16 -1 0 16 31 -1 95 | 0 31 15 -1 47 48 32 -1 47 63 48 -1 96 | ] 97 | creaseAngle 1 98 | } 99 | } 100 | DEF BOTTOM_DISC_SHAPE Shape { 101 | appearance PBRAppearance { 102 | baseColorMap ImageTexture { 103 | url [ 104 | "textures/honeycomb_base_color.jpg" 105 | ] 106 | } 107 | normalMap ImageTexture { 108 | url [ 109 | "textures/honeycomb_normal.jpg" 110 | ] 111 | } 112 | roughness 0.4 113 | } 114 | geometry IndexedFaceSet { 115 | coord DEF coord_BOTTOM_DISC Coordinate { 116 | point [ 117 | 0.0001602 3.59e-05 0.0196526, 0.0001602 -0.0075108 0.0181533 118 | 0.0001602 -0.0139092 0.0138801, 0.0001602 -0.0181854 0.0074836 119 | 0.0001602 0.0075819 0.0181497, 0.0001602 0.0139783 0.0138736 120 | 0.0001602 0.0182515 0.0074751, 0.0001602 0.0197508 -7.15e-05 121 | 0.0001602 0.018248 -0.0076175, 0.0001602 0.0139718 -0.014014 122 | 0.0001602 0.0075734 -0.0182871, 0.0001602 2.67e-05 -0.0197864 123 | 0.0001602 -0.0075193 -0.0182836, 0.0001602 -0.0139157 -0.0140075 124 | 0.0001602 -0.0181889 -0.007609, 0.0001602 -0.0196882 -6.23e-05 125 | ] 126 | } 127 | texCoord TextureCoordinate { 128 | point [ 129 | 0.404999 0.9776, 0.229461 0.90489, 0.09511 0.770539 130 | 0.404999 0.9776, 0.09511 0.770539, 0.0223996 0.595001 131 | 0.595 0.9776, 0.404999 0.9776, 0.0223996 0.595001 132 | 0.595 0.9776, 0.0223996 0.595001, 0.0223995 0.405 133 | 0.770539 0.90489, 0.595 0.9776, 0.0223995 0.405 134 | 0.0223995 0.405, 0.0951098 0.229461, 0.770539 0.90489 135 | 0.770539 0.90489, 0.0951098 0.229461, 0.90489 0.770539 136 | 0.90489 0.770539, 0.0951098 0.229461, 0.229461 0.09511 137 | 0.9776 0.595001, 0.90489 0.770539, 0.229461 0.09511 138 | 0.9776 0.595001, 0.229461 0.09511, 0.405 0.0223995 139 | 0.9776 0.405, 0.9776 0.595001, 0.405 0.0223995 140 | 0.9776 0.405, 0.405 0.0223995, 0.595001 0.0223997 141 | 0.90489 0.229462, 0.9776 0.405, 0.595001 0.0223997 142 | 0.90489 0.229462, 0.595001 0.0223997, 0.770539 0.0951104 143 | ] 144 | } 145 | coordIndex [ 146 | 8 7 6 -1 8 6 5 -1 9 8 5 -1 147 | 9 5 4 -1 10 9 4 -1 4 0 10 -1 148 | 10 0 11 -1 11 0 1 -1 12 11 1 -1 149 | 12 1 2 -1 13 12 2 -1 13 2 3 -1 150 | 14 13 3 -1 14 3 15 -1 151 | ] 152 | texCoordIndex [ 153 | 0 1 2 -1 3 4 5 -1 6 7 8 -1 154 | 9 10 11 -1 12 13 14 -1 15 16 17 -1 155 | 18 19 20 -1 21 22 23 -1 24 25 26 -1 156 | 27 28 29 -1 30 31 32 -1 33 34 35 -1 157 | 36 37 38 -1 39 40 41 -1 158 | ] 159 | creaseAngle 1 160 | } 161 | } 162 | DEF SONAR_GLASS_SHAPE Shape { 163 | appearance PBRAppearance { 164 | metalness 0 165 | transparency 0.8 166 | } 167 | geometry IndexedFaceSet { 168 | coord Coordinate { 169 | point [ 170 | 0.0022441 -0.0078844 -0.017925, 0.0022441 -0.014335 -0.0136148 171 | 0.0022441 -0.0186452 -0.0071641, 0.0022441 -0.0201588 0.0004449 172 | 0.0022441 -0.0186452 0.008054, 0.0022441 -0.014335 0.0145046 173 | 0.0022441 -0.0078844 0.0188148, 0.0022441 -0.0002753 0.0203284 174 | 0.0022441 0.0073338 0.0188148, 0.0022441 0.0137844 0.0145046 175 | 0.0022441 0.0180946 0.008054, 0.0022441 0.0196081 0.0004449 176 | 0.0022441 0.0180946 -0.0071642, 0.0022441 0.0137844 -0.0136148 177 | 0.0022441 0.0073337 -0.017925, 0.0022441 -0.0002753 -0.0194385 178 | ] 179 | } 180 | coordIndex [ 181 | 12 11 10 -1 12 10 9 -1 13 12 9 -1 182 | 13 9 8 -1 14 13 8 -1 14 8 7 -1 183 | 15 14 7 -1 15 7 6 -1 0 15 6 -1 184 | 0 6 5 -1 1 0 5 -1 1 5 4 -1 185 | 2 1 4 -1 2 4 3 -1 186 | ] 187 | creaseAngle 1 188 | } 189 | } 190 | ] 191 | lookupTable [ 192 | 0 1024 0.01, 193 | 5 0 0.01 194 | ] 195 | } 196 | } 197 | -------------------------------------------------------------------------------- /protos/Pioneer3Gripper.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2019b utf8 2 | # license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 3 | # license url: https://cyberbotics.com/webots_assets_license 4 | # Physics-based model of the Pioneer gripper (Adept Mobile Robotics) 5 | 6 | PROTO Pioneer3Gripper [ 7 | field SFVec3f translation 0 0 0 8 | field SFString name "Pioneer3 gripper" 9 | ] 10 | { 11 | DEF GRIPPER_BASE Solid { 12 | translation IS translation 13 | children [ 14 | DEF LIFT_SLIDER SliderJoint { 15 | jointParameters JointParameters { 16 | axis 0 -1 0 17 | } 18 | device LinearMotor { 19 | name "lift motor" 20 | minPosition -0.05 21 | maxPosition 0.05 22 | } 23 | endPoint DEF LIFT Solid { 24 | translation 0 0 -0.0425 25 | children [ 26 | DEF LEFT_FINGER_SLIDER SliderJoint { 27 | jointParameters JointParameters { 28 | axis -1 0 0 29 | } 30 | device LinearMotor { 31 | name "left finger motor" 32 | maxPosition 0.1 33 | } 34 | endPoint DEF LEFT_FINGER Solid { 35 | translation -0.022 0 -0.02 36 | children [ 37 | Group { 38 | children [ 39 | Transform { 40 | translation 0 0.0015 -0.003 41 | children [ 42 | Shape { 43 | appearance DEF METAL_APPEARANCE PBRAppearance { 44 | roughness 0.2 45 | baseColorMap ImageTexture { 46 | url [ 47 | "textures/metal.jpg" 48 | ] 49 | } 50 | } 51 | geometry Box { 52 | size 0.018 0.031 0.036 53 | } 54 | } 55 | ] 56 | } 57 | DEF LEFT_FINGER_TRANSFORM Transform { 58 | translation 0.0015 -0.006 -0.069 59 | children [ 60 | Shape { 61 | appearance DEF BLACK_APPEARANCE PBRAppearance { 62 | baseColor 0.0705882 0.0705882 0.0705882 63 | metalness 0 64 | roughness 0.4 65 | } 66 | geometry Box { 67 | size 0.015 0.035 0.095 68 | } 69 | } 70 | ] 71 | } 72 | ] 73 | } 74 | ] 75 | name "left finger" 76 | physics DEF LEFT_FINGER_PHYSICS Physics { 77 | } 78 | boundingObject USE LEFT_FINGER_TRANSFORM 79 | } 80 | } 81 | DEF RIGHT_FINGER_SLIDER SliderJoint { 82 | jointParameters JointParameters { 83 | axis 1 0 0 84 | } 85 | device LinearMotor { 86 | name "right finger motor" 87 | maxPosition 0.1 88 | } 89 | endPoint DEF RIGHT_FINGER Solid { 90 | translation 0.022 0 -0.02 91 | children [ 92 | Group { 93 | children [ 94 | Transform { 95 | translation 0 0.0015 -0.003 96 | children [ 97 | Shape { 98 | appearance USE METAL_APPEARANCE 99 | geometry Box { 100 | size 0.018 0.031 0.036 101 | } 102 | } 103 | ] 104 | } 105 | DEF RIGHT_FINGER_TRANSFORM Transform { 106 | translation -0.0015 -0.006 -0.069 107 | children [ 108 | Shape { 109 | appearance USE BLACK_APPEARANCE 110 | geometry Box { 111 | size 0.015 0.035 0.095 112 | } 113 | } 114 | ] 115 | } 116 | ] 117 | } 118 | ] 119 | name "right finger" 120 | physics USE LEFT_FINGER_PHYSICS 121 | boundingObject USE RIGHT_FINGER_TRANSFORM 122 | } 123 | } 124 | Transform { 125 | translation 0 -0.126 0.135 126 | children [ 127 | Group { 128 | children [ 129 | Transform { 130 | translation 0 0.1478 -0.154 131 | children [ 132 | DEF UPPER_BOX Shape { 133 | appearance USE BLACK_APPEARANCE 134 | geometry Box { 135 | size 0.315 0.01 0.043419 136 | } 137 | } 138 | ] 139 | } 140 | Transform { 141 | translation 0 0.1072 -0.154 142 | children [ 143 | USE UPPER_BOX 144 | ] 145 | } 146 | Transform { 147 | translation -0.155 0.1275 -0.154 148 | children [ 149 | DEF LEFT_BOX Shape { 150 | appearance USE BLACK_APPEARANCE 151 | geometry Box { 152 | size 0.007 0.05 0.042227 153 | } 154 | } 155 | ] 156 | } 157 | Transform { 158 | translation 0.155 0.1275 -0.154 159 | children [ 160 | USE LEFT_BOX 161 | ] 162 | } 163 | Transform { 164 | translation 0 0.126 -0.158 165 | children [ 166 | DEF CENTER_BOX Shape { 167 | appearance USE BLACK_APPEARANCE 168 | geometry Box { 169 | size 0.027 0.0341 0.035 170 | } 171 | } 172 | ] 173 | } 174 | Transform { 175 | translation 0 0.132 -0.154 176 | rotation 0 0 1 1.5708 177 | children [ 178 | DEF UPPER_CYLINDER Shape { 179 | appearance USE METAL_APPEARANCE 180 | geometry Cylinder { 181 | height 0.3 182 | radius 0.00225 183 | } 184 | } 185 | ] 186 | } 187 | Transform { 188 | translation 0 0.118 -0.154 189 | rotation 0 0 1 1.5708 190 | children [ 191 | Shape { 192 | appearance USE METAL_APPEARANCE 193 | geometry Cylinder { 194 | height 0.3 195 | radius 0.00125 196 | } 197 | } 198 | ] 199 | } 200 | Transform { 201 | translation -0.041 0.155 -0.148 202 | children [ 203 | Shape { 204 | appearance USE BLACK_APPEARANCE 205 | geometry Box { 206 | size 0.0141907 0.006 0.04 207 | } 208 | } 209 | ] 210 | } 211 | Transform { 212 | translation -0.036 0.145 -0.116 213 | children [ 214 | Shape { 215 | appearance USE METAL_APPEARANCE 216 | geometry Box { 217 | size 0.027 0.03 0.03 218 | } 219 | } 220 | ] 221 | } 222 | Transform { 223 | translation 0.041 0.155 -0.148 224 | children [ 225 | Shape { 226 | appearance USE BLACK_APPEARANCE 227 | geometry Box { 228 | size 0.0141907 0.006 0.04 229 | } 230 | } 231 | ] 232 | } 233 | Transform { 234 | translation 0.036 0.145 -0.116 235 | children [ 236 | Shape { 237 | appearance USE METAL_APPEARANCE 238 | geometry Box { 239 | size 0.027 0.03 0.03 240 | } 241 | } 242 | ] 243 | } 244 | ] 245 | } 246 | ] 247 | } 248 | ] 249 | boundingObject Transform { 250 | translation 0 0.0015 -0.019 251 | children [ 252 | Shape { 253 | appearance USE METAL_APPEARANCE 254 | geometry Box { 255 | size 0.315 0.05 0.045 256 | } 257 | } 258 | ] 259 | } 260 | physics DEF LIFT_PHYSICS Physics { 261 | } 262 | } 263 | } 264 | Transform { 265 | translation 0 -0.126 0.135 266 | children [ 267 | DEF BASE_SHAPE_GROUP Group { 268 | children [ 269 | Transform { 270 | translation 0 0.176 -0.154 271 | children [ 272 | DEF UPPER_BOX Shape { 273 | appearance USE BLACK_APPEARANCE 274 | geometry Box { 275 | size 0.141092 0.0170038 0.043419 276 | } 277 | } 278 | ] 279 | } 280 | Transform { 281 | translation 0 0.075 -0.154 282 | children [ 283 | USE UPPER_BOX 284 | ] 285 | } 286 | Transform { 287 | translation -0.06 0.126 -0.158 288 | children [ 289 | DEF LEFT_BOX Shape { 290 | appearance USE BLACK_APPEARANCE 291 | geometry Box { 292 | size 0.02 0.0875 0.035 293 | } 294 | } 295 | ] 296 | } 297 | Transform { 298 | translation 0.06 0.126 -0.158 299 | children [ 300 | USE LEFT_BOX 301 | ] 302 | } 303 | Transform { 304 | translation 0 0.126 -0.158 305 | children [ 306 | DEF CENTER_BOX Shape { 307 | appearance USE BLACK_APPEARANCE 308 | geometry Box { 309 | size 0.044 0.1 0.0315 310 | } 311 | } 312 | ] 313 | } 314 | Transform { 315 | translation -0.037 0.126 -0.158 316 | children [ 317 | DEF LEFT_CYLINDER Shape { 318 | appearance USE METAL_APPEARANCE 319 | geometry Cylinder { 320 | height 0.1 321 | radius 0.003 322 | } 323 | } 324 | ] 325 | } 326 | Transform { 327 | translation 0.037 0.126 -0.158 328 | children [ 329 | USE LEFT_CYLINDER 330 | ] 331 | } 332 | ] 333 | } 334 | ] 335 | } 336 | ] 337 | name IS name 338 | model "Pioneer3 gripper" 339 | boundingObject Transform { 340 | translation 0 0 -0.019 341 | children [ 342 | Box { 343 | size 0.141 0.117 0.043 344 | } 345 | ] 346 | } 347 | physics DEF BASE_PHYSICS Physics { 348 | } 349 | } 350 | } 351 | -------------------------------------------------------------------------------- /protos/Pioneer3dx.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2019b utf8 2 | # license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 3 | # license url: https://cyberbotics.com/webots_assets_license 4 | # documentation url: https://www.cyberbotics.com/doc/guide/pioneer-3dx 5 | # The Pioneer 3-DX robot (Adept MobileRobots) is an all-purpose base, used for research and applications involving mapping, teleoperation, localization, monitoring, reconnaissance and other behaviors. 6 | 7 | PROTO Pioneer3dx [ 8 | field SFVec3f translation 0 0.0975 0 # Is `Transform.translation`. 9 | field SFRotation rotation 0 1 0 0 # Is `Transform.rotation`. 10 | field SFString name "Pioneer 3-DX" # Is `Solid.name`. 11 | field SFString controller "pioneer3dx_collision_avoidance" # Is `Robot.controller`. 12 | field SFString controllerArgs "" # Is `Robot.controllerArgs`. 13 | field SFString customData "" # Is `Robot.customData`. 14 | field SFBool supervisor FALSE # Is `Robot.supervisor`. 15 | field SFBool synchronization TRUE # Is `Robot.synchronization`. 16 | field MFNode extensionSlot [] # Extends the robot with new nodes in the extension slot. 17 | ] 18 | { 19 | Robot { 20 | translation IS translation 21 | rotation IS rotation 22 | children [ 23 | DEF BODY Transform { 24 | rotation 1 0 0 0 25 | children [ 26 | DEF BAR Transform { 27 | translation 0.0001812 0.0403308 0.231994 28 | rotation 1 0 0 0 29 | children [ 30 | DEF BAR_SHAPE Shape { 31 | appearance PBRAppearance { 32 | baseColor 0 0 0 33 | metalness 0 34 | roughness 0.3 35 | } 36 | geometry IndexedFaceSet { 37 | coord DEF coord_barIFS Coordinate { 38 | point [ 39 | 0.0584591 -0.0043278 0.0147324, 0.0574447 -0.0022654 0.0116106 0.0573106 0.0015867 0.0111979, 0.0581577 0.0043279 0.0138048 0.0593482 0.0038938 0.0174684, 0.0599853 0.0006115 0.0194299 0.0595898 -0.0030475 0.0182122, 0.0630086 -0.0030475 0.016456 0.0637612 0.0006115 0.0174918, 0.0625489 0.0038938 0.0158233 0.0602847 0.0043279 0.0127069, 0.0586736 0.0015867 0.0104892 0.0589285 -0.0022654 0.0108403, 0.0608579 -0.0043278 0.0134958 0.0627572 -0.0043278 0.0115786, 0.0601018 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-1 712 713 714 715 -1 716 717 718 719 -1 720 721 722 723 -1 724 725 726 727 -1 728 729 730 731 -1 732 733 734 735 -1 736 737 738 739 -1 740 741 742 743 -1 744 745 746 747 -1 748 749 750 751 -1 752 753 754 755 -1 756 757 758 759 -1 760 761 762 763 -1 764 765 766 767 -1 701 | ] 702 | creaseAngle 1 703 | } 704 | } 705 | ] 706 | name "left wheel" 707 | boundingObject DEF BOUNDING_WHEEL Group { 708 | children [ 709 | Transform { 710 | rotation 0 0 1 1.5708 711 | children [ 712 | Cylinder { 713 | height 0.01 714 | radius 0.0975 715 | subdivision 32 716 | } 717 | ] 718 | } 719 | Transform { 720 | rotation 0 0 1 1.5708 721 | children [ 722 | Cylinder { 723 | height 0.048 724 | radius 0.07 725 | subdivision 24 726 | } 727 | ] 728 | } 729 | ] 730 | } 731 | physics Physics { 732 | } 733 | } 734 | } 735 | DEF LOWER_YELLOW_LED LED { 736 | translation -0.130063 0.0922878 0.0531755 737 | rotation 1 0 0 0 738 | children [ 739 | DEF YELLOW_LED_SHAPE Shape { 740 | appearance PBRAppearance { 741 | baseColor 0.973226 0.749467 0.19481 742 | transparency 0.395718 743 | metalness 0 744 | roughness 0.3 745 | } 746 | geometry USE LED_SHAPE 747 | } 748 | ] 749 | name "lower yellow led" 750 | color [ 751 | 0.976471 0.980392 0.603922 752 | ] 753 | } 754 | DEF RED_LED_1 LED { 755 | translation -0.130137 0.0802345 0.0924989 756 | rotation 1 0 0 0 757 | children [ 758 | DEF RED_LED_SHAPE Group { 759 | children [ 760 | Shape { 761 | appearance PBRAppearance { 762 | baseColor 1 0 0 763 | metalness 0 764 | roughness 0.3 765 | transparency 0.395718 766 | } 767 | geometry USE LED_SHAPE 768 | } 769 | PointLight { 770 | attenuation 0 0 1 771 | color 0 0 0 772 | intensity 0.003 773 | location -0.02 0 0 774 | } 775 | ] 776 | } 777 | ] 778 | name "red led 1" 779 | color [ 780 | 0.913725 0.247059 0.247059 781 | ] 782 | } 783 | DEF RED_LED_2 LED { 784 | translation -0.130137 0.0802345 0.0635791 785 | rotation 1 0 0 0 786 | children [ 787 | DEF RED_LED_SHAPE Group { 788 | children [ 789 | Shape { 790 | appearance PBRAppearance { 791 | baseColor 1 0 0 792 | metalness 0 793 | roughness 0.3 794 | transparency 0.395718 795 | } 796 | geometry USE LED_SHAPE 797 | } 798 | ] 799 | } 800 | ] 801 | name "red led 2" 802 | color [ 803 | 0.913725 0.247059 0.247059 804 | ] 805 | } 806 | DEF RED_LED_3 LED { 807 | translation -0.130097 0.0802345 0.0531009 808 | rotation 1 0 0 0 809 | children [ 810 | DEF RED_LED_SHAPE Group { 811 | children [ 812 | Shape { 813 | appearance PBRAppearance { 814 | baseColor 1 0 0 815 | metalness 0 816 | roughness 0.3 817 | transparency 0.395718 818 | } 819 | geometry USE LED_SHAPE 820 | } 821 | ] 822 | } 823 | ] 824 | name "red led 3" 825 | color [ 826 | 0.913725 0.247059 0.247059 827 | ] 828 | } 829 | DEF RIGHT_WHEEL HingeJoint { 830 | device [ 831 | RotationalMotor { 832 | name "right wheel" 833 | maxVelocity 12.3 834 | } 835 | PositionSensor { 836 | name "right wheel sensor" 837 | } 838 | ] 839 | jointParameters HingeJointParameters { 840 | axis -1 0 0 841 | anchor 0.165032 -0.0001156 0 842 | } 843 | endPoint Solid { 844 | translation 0.165032 -0.0001156 0 845 | rotation -1 0 0 0 846 | children [ 847 | DEF RIGHT_BLACK_CYLINDER_SHAPE Shape { 848 | appearance PBRAppearance { 849 | baseColor 0 0.0051864 0 850 | metalness 0 851 | roughness 0.3 852 | } 853 | geometry IndexedFaceSet { 854 | coord DEF coord_RIGHT_BLACK_CYLINDER Coordinate { 855 | point [ 856 | 0.024245 0.0067816 -0.0017403, 0.024245 0.0067431 0.0018836 0.024245 0.0048978 0.0050029, 0.024245 0.0017403 0.0067816 0.024245 -0.0018837 0.0067431, 0.024245 -0.0050029 0.0048979 0.024245 -0.0067816 0.0017402, 0.024245 -0.0067431 -0.0018837 0.024245 -0.0048978 -0.0050029, 0.024245 -0.0017403 -0.0067816 0.024245 0.0018837 -0.0067431, 0.024245 0.0050029 -0.0048979 0.0220984 0.0067816 -0.0017403, 0.0220984 0.0067434 0.0018838 0.0220984 0.004898 0.0050029, 0.0220984 0.0017402 0.0067815 0.0220984 -0.0018837 0.0067431, 0.0220984 -0.0050029 0.0048979 0.0220984 -0.0067815 0.0017403, 0.0220984 -0.0067431 -0.0018837 0.0220984 -0.0048978 -0.0050029, 0.0220984 -0.0017403 -0.0067816 0.0220984 0.0018837 -0.0067431, 0.0220984 0.0050029 -0.0048979 0.024245 0 0 857 | ] 858 | } 859 | coordIndex [ 860 | 24 0 1 -1 24 1 2 -1 24 2 3 -1 24 3 4 -1 24 4 5 -1 24 5 6 -1 24 6 7 -1 24 7 8 -1 24 8 9 -1 24 9 10 -1 24 10 11 -1 11 0 24 -1 12 0 11 -1 12 11 23 -1 10 22 23 -1 10 23 11 -1 9 21 22 -1 9 22 10 -1 8 20 21 -1 8 21 9 -1 7 19 20 -1 7 20 8 -1 6 18 19 -1 6 19 7 -1 5 17 18 -1 5 18 6 -1 4 16 17 -1 4 17 5 -1 3 15 16 -1 3 16 4 -1 2 14 15 -1 2 15 3 -1 1 13 14 -1 1 14 2 -1 0 12 1 -1 12 13 1 -1 861 | ] 862 | creaseAngle 1 863 | } 864 | } 865 | DEF RIGHT_BOLT_SHAPE Shape { 866 | appearance PBRAppearance { 867 | baseColor 0.689949 0.689949 0.689949 868 | roughness 0.3 869 | } 870 | geometry IndexedFaceSet { 871 | coord DEF coord_rightBolt Coordinate { 872 | point [ 873 | 0.0230439 3.56e-05 -0.003356, 0.0230439 -0.0028885 -0.0017088 0.0230439 -0.0029241 0.0016472, 0.0230439 -3.56e-05 0.003356 0.0230439 0.0028886 0.0017088, 0.0230439 0.0029242 -0.0016472 0.0249875 3.56e-05 -0.003356, 0.0249875 -0.0028885 -0.0017088 0.0249875 -0.0029241 0.0016472, 0.0249875 -3.56e-05 0.003356 0.0249875 0.0028886 0.0017088, 0.0249875 0.0029242 -0.0016472 0.0249875 0 0 874 | ] 875 | } 876 | coordIndex [ 877 | 12 7 6 -1 12 8 7 -1 12 9 8 -1 12 10 9 -1 12 11 10 -1 12 6 11 -1 6 0 5 -1 6 5 11 -1 4 10 11 -1 4 11 5 -1 3 9 10 -1 3 10 4 -1 2 8 9 -1 2 9 3 -1 1 7 8 -1 1 8 2 -1 0 6 7 -1 0 7 1 -1 878 | ] 879 | creaseAngle 1 880 | } 881 | } 882 | USE RIM_SHAPE 883 | USE TIRE_SHAPE 884 | ] 885 | name "right wheel" 886 | boundingObject USE BOUNDING_WHEEL 887 | physics Physics { 888 | } 889 | } 890 | } 891 | DEF SO_0 Pioneer3DistanceSensor { 892 | translation -0.140208 0.114 -0.0610447 893 | rotation 0 1 0 3.14159 894 | name "so0" 895 | } 896 | DEF SO_1 Pioneer3DistanceSensor { 897 | translation -0.122255 0.114 -0.110288 898 | rotation 0 1 0 2.44346 899 | name "so1" 900 | } 901 | DEF SO_10 Pioneer3DistanceSensor { 902 | translation 0.07738 0.114 0.239181 903 | rotation 0 -1 0 1.0472 904 | name "so10" 905 | } 906 | DEF SO_11 Pioneer3DistanceSensor { 907 | translation 0.0258761 0.114 0.257812 908 | rotation 0 -1 0 1.39626 909 | name "so11" 910 | } 911 | DEF SO_12 Pioneer3DistanceSensor { 912 | translation -0.0289131 0.114 0.257812 913 | rotation 0 -1 0 1.74533 914 | name "so12" 915 | } 916 | DEF SO_13 Pioneer3DistanceSensor { 917 | translation -0.0803968 0.114 0.239181 918 | rotation 0 -1 0 2.0944 919 | name "so13" 920 | } 921 | DEF SO_14 Pioneer3DistanceSensor { 922 | translation -0.122403 0.114 0.204065 923 | rotation 0 -1 0 2.44346 924 | name "so14" 925 | } 926 | DEF SO_15 Pioneer3DistanceSensor { 927 | translation -0.140311 0.114 0.154945 928 | rotation 0 -1 0 3.14159 929 | name "so15" 930 | } 931 | DEF SO_2 Pioneer3DistanceSensor { 932 | translation -0.0801434 0.114 -0.145492 933 | rotation 0 1 0 2.0944 934 | name "so2" 935 | } 936 | DEF SO_3 Pioneer3DistanceSensor { 937 | translation -0.0285304 0.114 -0.16417 938 | rotation 0 1 0 1.74533 939 | name "so3" 940 | } 941 | DEF SO_4 Pioneer3DistanceSensor { 942 | translation 0.026383 0.114 -0.16417 943 | rotation 0 1 0 1.39626 944 | name "so4" 945 | } 946 | DEF SO_5 Pioneer3DistanceSensor { 947 | translation 0.0780296 0.114 -0.145492 948 | rotation 0 1 0 1.0472 949 | name "so5" 950 | } 951 | DEF SO_6 Pioneer3DistanceSensor { 952 | translation 0.120142 0.114 -0.110288 953 | rotation 0 1 0 0.698132 954 | name "so6" 955 | } 956 | DEF SO_7 Pioneer3DistanceSensor { 957 | translation 0.138094 0.114 -0.0610446 958 | name "so7" 959 | } 960 | DEF SO_8 Pioneer3DistanceSensor { 961 | translation 0.137294 0.114 0.154945 962 | name "so8" 963 | } 964 | DEF SO_9 Pioneer3DistanceSensor { 965 | translation 0.119387 0.114 0.204065 966 | rotation 0 -1 0 0.698132 967 | name "so9" 968 | } 969 | DEF UPPER_YELLOW_LED LED { 970 | translation -0.130135 0.105728 0.0530564 971 | rotation 1 0 0 0 972 | children [ 973 | USE YELLOW_LED_SHAPE 974 | ] 975 | name "yellow led" 976 | color [ 977 | 0.929412 0.933333 0.615686 978 | ] 979 | } 980 | DEF WHITE_LED LED { 981 | translation -0.130106 0.0802345 0.072656 982 | rotation 1 0 0 0 983 | children [ 984 | DEF WHITE_LED_SHAPE Shape { 985 | appearance PBRAppearance { 986 | metalness 0 987 | roughness 0.3 988 | transparency 0.395718 989 | } 990 | geometry USE LED_SHAPE 991 | } 992 | ] 993 | name "white led" 994 | color [ 995 | 1 1 1 996 | ] 997 | } 998 | Group { 999 | children IS extensionSlot 1000 | } 1001 | ] 1002 | name IS name 1003 | model "Adept Pioneer 3-DX" 1004 | boundingObject Group { 1005 | children [ 1006 | DEF TOP_FRONT_CYLINDER Transform { 1007 | translation 0 0.142 0.021 1008 | children [ 1009 | Cylinder { 1010 | height 0.007 1011 | radius 0.2 1012 | subdivision 24 1013 | } 1014 | ] 1015 | } 1016 | DEF TOP_BACK_CYLINDER Transform { 1017 | translation 0 0.142 0.087 1018 | children [ 1019 | Cylinder { 1020 | height 0.007 1021 | radius 0.18 1022 | subdivision 24 1023 | } 1024 | ] 1025 | } 1026 | DEF FRONT_RING Transform { 1027 | translation 0 0.112 0.114 1028 | children [ 1029 | Cylinder { 1030 | height 0.05 1031 | radius 0.15 1032 | subdivision 24 1033 | } 1034 | ] 1035 | } 1036 | DEF BACK_RING Transform { 1037 | translation 0 0.112 -0.023 1038 | children [ 1039 | Cylinder { 1040 | height 0.05 1041 | radius 0.15 1042 | subdivision 24 1043 | } 1044 | ] 1045 | } 1046 | DEF LARGE_BOX Transform { 1047 | translation 0 0.0285 0.04 1048 | children [ 1049 | Box { 1050 | size 0.2 0.115 0.341 1051 | } 1052 | ] 1053 | } 1054 | DEF BAR_BOX Transform { 1055 | translation 0 0.0415 0.234 1056 | children [ 1057 | Box { 1058 | size 0.1356 0.007 0.039 1059 | } 1060 | ] 1061 | } 1062 | DEF SIDES Transform { 1063 | translation 0 0.0285 0.0427 1064 | children [ 1065 | Box { 1066 | size 0.261 0.115 0.274 1067 | } 1068 | ] 1069 | } 1070 | DEF BACK_LEFT_CORNER Transform { 1071 | translation -0.1029 0.0285 0.1825 1072 | rotation 0 1 0 0.79 1073 | children [ 1074 | Box { 1075 | size 0.037 0.115 0.044 1076 | } 1077 | ] 1078 | } 1079 | DEF BACK_RIGHT_CORNER Transform { 1080 | translation 0.1029 0.0285 0.1825 1081 | rotation 0 1 0 -0.79 1082 | children [ 1083 | Box { 1084 | size 0.037 0.115 0.044 1085 | } 1086 | ] 1087 | } 1088 | DEF FRONT_LEFT_CORNER Transform { 1089 | translation -0.1019 0.0285 -0.1005 1090 | rotation 0 1 0 -0.7 1091 | children [ 1092 | Box { 1093 | size 0.037 0.115 0.047 1094 | } 1095 | ] 1096 | } 1097 | DEF FRONT_RIGHT_CORNER Transform { 1098 | translation 0.1019 0.0285 -0.1005 1099 | rotation 0 1 0 0.7 1100 | children [ 1101 | Box { 1102 | size 0.037 0.115 0.047 1103 | } 1104 | ] 1105 | } 1106 | ] 1107 | } 1108 | physics Physics { 1109 | density -1 1110 | mass 6.73 1111 | centerOfMass [ 1112 | 0 0.06 0.06 1113 | ] 1114 | } 1115 | controller IS controller 1116 | controllerArgs IS controllerArgs 1117 | customData IS customData 1118 | supervisor IS supervisor 1119 | synchronization IS synchronization 1120 | } 1121 | } 1122 | -------------------------------------------------------------------------------- /protos/RectangleArena.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2019b utf8 2 | # license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 3 | # license url: https://cyberbotics.com/webots_assets_license 4 | # tags: static 5 | # A configurable rectangle arena composed of a floor surrounded by walls. 6 | 7 | PROTO RectangleArena [ 8 | field SFVec3f translation 0 0 0 9 | field SFRotation rotation 0 1 0 0 10 | field SFString name "rectangle arena" 11 | field SFString contactMaterial "default" # Is `Solid.contactMaterial`. 12 | field SFVec2f floorSize 1 1 # Defines the size of the floor. 13 | field SFVec2f floorTileSize 0.5 0.5 # Defines the size of the texture used for the floor. 14 | field SFNode floorAppearance ChequeredParquetry {} # Defines the appearance of the floor. 15 | field SFFloat wallThickness 0.01 # Defines the thickness of the walls. 16 | field SFFloat wallHeight 0.1 # Defines the height of the walls. 17 | field SFNode wallAppearance BrushedAluminium {} # Defines the appearance of the wall. 18 | 19 | # Deprecated in R2019a 20 | hiddenField MFString floorTextureUrl "textures/checkered_parquetry.jpg" 21 | hiddenField MFString wallTextureUrl "textures/metal.jpg" 22 | # Deprecated in R2019a-rev2 23 | hiddenField SFColor wallColor 0.8 0.8 0.8 24 | hiddenField SFVec2f wallTileSize 0.5 0.5 25 | ] 26 | { 27 | %{ 28 | 29 | local wbcore = require("wbcore") 30 | local floorSize = fields.floorSize.value 31 | if floorSize.x <= 0.0 or floorSize.y <= 0.0 then 32 | io.stderr:write("'floorSize' must contain positive values\n") 33 | floorSize = fields.floorSize.defaultValue 34 | end 35 | 36 | if fields.floorTextureUrl.value[0] ~= fields.floorTextureUrl.defaultValue[0] then 37 | io.stderr:write("The 'floorTextureUrl' field is deprecated, using the new 'floorAppearance' field instead.\n") 38 | end 39 | 40 | if fields.wallTextureUrl.value[0] ~= fields.wallTextureUrl.defaultValue[0] then 41 | io.stderr:write("The 'wallTextureUrl' field is deprecated, using the new 'wallAppearance' field instead.\n") 42 | end 43 | 44 | if (fields.wallColor.value.r ~= fields.wallColor.defaultValue.r or 45 | fields.wallColor.value.g ~= fields.wallColor.defaultValue.g or 46 | fields.wallColor.value.b ~= fields.wallColor.defaultValue.b) then 47 | io.stderr:write("The 'wallColor' field is deprecated, using the new 'wallAppearance' field instead.\n") 48 | end 49 | 50 | local wallTileSize = fields.wallTileSize.value; 51 | if (wallTileSize.x ~= fields.wallTileSize.defaultValue.x or wallTileSize.y ~= fields.wallTileSize.defaultValue.y) then 52 | io.stderr:write("The 'wallTileSize' field is deprecated, using the new 'wallApperance' field instead.\n") 53 | end 54 | 55 | local wallThickness = fields.wallThickness.value 56 | if wallThickness <= 0 then 57 | io.stderr:write("'wallThickness' must be positive\n") 58 | wallThickness = fields.wallThickness.defaultValue 59 | end 60 | 61 | local wallHeight = fields.wallHeight.value 62 | if wallHeight <= 0 then 63 | io.stderr:write("'wallHeight' must be positive\n") 64 | wallHeight = fields.wallHeight.defaultValue 65 | end 66 | }% 67 | Solid { 68 | translation IS translation 69 | rotation IS rotation 70 | children [ 71 | Floor { 72 | size %{= floorSize.x }% %{= floorSize.y }% 73 | tileSize IS floorTileSize 74 | appearance IS floorAppearance 75 | contactMaterial IS contactMaterial 76 | } 77 | SolidBox { 78 | translation %{= floorSize.x / 2 + wallThickness / 2 }% %{= wallHeight / 2 }% 0 79 | name "wall" 80 | size %{= wallThickness }% %{= wallHeight }% %{= floorSize.y }% 81 | appearance IS wallAppearance 82 | contactMaterial IS contactMaterial 83 | } 84 | SolidBox { 85 | translation %{= -(floorSize.x / 2 + wallThickness / 2) }% %{= wallHeight / 2 }% 0 86 | name "wall#2" 87 | size %{= wallThickness }% %{= wallHeight }% %{= floorSize.y }% 88 | appearance IS wallAppearance 89 | contactMaterial IS contactMaterial 90 | } 91 | SolidBox { 92 | translation 0 %{= wallHeight / 2 }% %{= floorSize.y / 2 + wallThickness / 2 }% 93 | name "wall#3" 94 | size %{= floorSize.x + 2 * wallThickness }% %{= wallHeight }% %{= wallThickness }% 95 | appearance IS wallAppearance 96 | contactMaterial IS contactMaterial 97 | } 98 | SolidBox { 99 | translation 0 %{= wallHeight / 2 }% %{= -(floorSize.y / 2 + wallThickness / 2) }% 100 | name "wall#4" 101 | size %{= floorSize.x + 2 * wallThickness }% %{= wallHeight }% %{= wallThickness }% 102 | appearance IS wallAppearance 103 | contactMaterial IS contactMaterial 104 | } 105 | ] 106 | name IS name 107 | model "rectangle arena" 108 | } 109 | } 110 | -------------------------------------------------------------------------------- /protos/SandyGround.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2019b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # A sandy ground material. The color can be selected using the `colorOverride` field. Useful with the UnevenTerrain PROTO. 5 | 6 | PROTO SandyGround [ 7 | field SFColor colorOverride 1 1 1 # Defines the default color multiplied with the texture color. 8 | field SFNode textureTransform TextureTransform { scale 4 4 } # Defines an optional 2d texture transform. 9 | field SFFloat IBLStrength 1 # Defines the strength of ambient lighting from the Cubemap node. 10 | ] 11 | { 12 | PBRAppearance { 13 | baseColor IS colorOverride 14 | baseColorMap ImageTexture { 15 | url [ 16 | "textures/rover_circuit.jpg" 17 | ] 18 | filtering 5 19 | } 20 | roughnessMap ImageTexture { 21 | url [ 22 | "textures/rover_circuit.jpg" 23 | ] 24 | filtering 5 25 | } 26 | normalMap ImageTexture { 27 | url [ 28 | "textures/rover_circuit.jpg" 29 | ] 30 | filtering 5 31 | } 32 | occlusionMap ImageTexture { 33 | url [ 34 | "textures/rover_circuit.jpg" 35 | ] 36 | filtering 5 37 | } 38 | metalness 0 39 | normalMapFactor 1 40 | IBLStrength IS IBLStrength 41 | textureTransform IS textureTransform 42 | } 43 | } 44 | -------------------------------------------------------------------------------- /protos/UnevenTerrain.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2019b utf8 2 | # license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. 3 | # license url: https://cyberbotics.com/webots_assets_license 4 | # Randomly generated uneven terrain based on Perlin noise. 5 | 6 | PROTO UnevenTerrain [ 7 | field SFVec3f translation 0 0 0 8 | field SFRotation rotation 0 1 0 0 9 | field SFString name "uneven terrain" 10 | field SFVec3f size 50 5 50 # Defines the size of the terrain. 11 | field SFInt32 xDimension 50 # Defines the number of points in the grid height array in the x direction. 12 | field SFInt32 zDimension 50 # Defines the number of points in the grid height array in the y direction. 13 | field SFNode appearance SandyGround {} # Defines the appearance of the terrain. 14 | field SFVec2f textureScale 1.0 1.0 # Defines the size of the textures used for the terrain. 15 | field SFInt32 randomSeed 1 # Defines the seed of the random number generator. A value smaller or equal to 0 sets a random seed. 16 | field SFBool flatCenter FALSE # Defines whether the center of the terrain should be flat. 17 | field SFBool flatBounds FALSE # Defines whether the bounds of the terrain should be flat. 18 | field SFInt32 perlinNOctaves 3 # Defines the number of octaves of the perlin noise. 19 | 20 | # Deprecated in Webots R2019a 21 | hiddenField MFString texture "textures/sand.jpg" 22 | ] 23 | { 24 | %{ 25 | -- Reference: https://stackoverflow.com/a/42543313/2210777 26 | 27 | local wbcore = require('wbcore') 28 | local wbrandom = require('wbrandom') 29 | local os = require('os') 30 | 31 | if fields.randomSeed.value <= 0 then 32 | wbrandom.seed(os.clock() + os.time()) 33 | else 34 | wbrandom.seed(fields.randomSeed.value) 35 | end 36 | 37 | function gaussian2d(x, y, amp, cx, cy, sx, sy) 38 | return amp * math.exp( - ( ( math.pow(x - cx, 2) / (2.0 * math.pow(sx, 2)) ) + (math.pow(y - cy, 2) / (2.0 * math.pow(sy, 2)) ) )) 39 | end 40 | 41 | -- Create 256 shuffled numbers repeated twice. 42 | local perm = {} 43 | for i = 1, 256 do 44 | table.insert(perm, wbrandom.integer(i), i) 45 | end 46 | for i = 1, 256 do 47 | perm[i + 256] = perm[i] 48 | end 49 | 50 | -- Generate 256 directions 51 | local dirs = {} 52 | for a = 0, 255 do 53 | table.insert(dirs, { 54 | math.cos(a * 2.0 * math.pi / 256), 55 | math.sin(a * 2.0 * math.pi / 256) 56 | }) 57 | end 58 | 59 | local function noise(x, y, per) 60 | local function surflet(grid_x, grid_y) 61 | local dist_x, dist_y = math.abs(x - grid_x), math.abs(y - grid_y) 62 | local poly_x = 1 - 6 * dist_x ^ 5 + 15 * dist_x ^ 4 - 10 * dist_x ^ 3 63 | local poly_y = 1 - 6 * dist_y ^ 5 + 15 * dist_y ^ 4 - 10 * dist_y ^ 3 64 | local hashed = perm[(perm[(math.floor(grid_x) % per) + 1] + math.floor(grid_y) % per) + 1] 65 | local grad = (x - grid_x) * dirs[hashed][1] + (y - grid_y) * dirs[hashed][2] 66 | return poly_x * poly_y * grad 67 | end 68 | local int_x, int_y = math.floor(x), math.floor(y) 69 | return surflet(int_x + 0, int_y + 0) + surflet(int_x + 1, int_y + 0) + 70 | surflet(int_x + 0, int_y + 1) + surflet(int_x + 1, int_y + 1) 71 | end 72 | 73 | local function fBm(x, y, per, octs) -- Fractional Brownian motion 74 | local val = 0 75 | for o = 0, octs - 1 do 76 | val = val + (0.5 ^ o * noise(x * 2 ^ o, y * 2 ^ o, per * 2 ^ o)) 77 | end 78 | return val 79 | end 80 | 81 | local perlinSize = 128 82 | local nOctave = fields.perlinNOctaves.value 83 | 84 | local size = fields.size.value 85 | local xDimension = fields.xDimension.value 86 | local zDimension = fields.zDimension.value 87 | 88 | local textureScale = { x = size.x / fields.textureScale.value.x, y = size.z / fields.textureScale.value.y } 89 | }% 90 | Solid { 91 | translation IS translation 92 | rotation IS rotation 93 | children [ 94 | Shape { 95 | appearance IS appearance 96 | geometry IndexedFaceSet { 97 | coord Coordinate { 98 | point [ 99 | %{ for j = 0, zDimension do }% 100 | %{ y = -(size.z / 2) + j * (size.z / zDimension) }% 101 | %{ for i = 0, xDimension do }% 102 | %{ 103 | local height = 1.0 104 | local x = i / xDimension 105 | local z = j / zDimension 106 | if nOctave > 0 then 107 | height = 0.5 * (1.0 + fBm(z, x, perlinSize, nOctave)) 108 | end 109 | if fields.flatCenter.value then 110 | height = height * (1.0 - gaussian2d(x - 0.5, z - 0.5, 1, 0, 0, 0.2, 0.2)) 111 | end 112 | if fields.flatBounds.value then 113 | height = height * gaussian2d(x - 0.5, z - 0.5, 1, 0, 0, 0.2, 0.2) 114 | end 115 | height = height * size.y 116 | }% 117 | %{= -(size.x / 2) + i * (size.x / xDimension) }% %{= height}% %{= y }% 118 | %{ end }% 119 | %{ end }% 120 | ] 121 | } 122 | texCoord TextureCoordinate { 123 | point [ 124 | %{ for j = 0, zDimension do }% 125 | %{ y = (1.0 - j * (1.0 / zDimension) )}% 126 | %{ for i = 0, xDimension do }% 127 | %{= i * (1.0 / xDimension) * textureScale.x }% %{= y * textureScale.y }% 128 | %{ end }% 129 | %{ end }% 130 | ] 131 | } 132 | coordIndex [ 133 | %{ local width = xDimension + 1 }% 134 | %{ for j = 0, zDimension - 1 do }% 135 | %{ for i = 0, xDimension - 1 do }% 136 | %{= i + j * width }% %{= i + (j + 1) * width }% %{= (i + 1) + (j + 1) * width }% %{= (i + 1) + j * width }% -1 137 | %{ end }% 138 | %{ end }% 139 | ] 140 | creaseAngle 1 141 | } 142 | } 143 | ] 144 | name IS name 145 | model "uneven terrain" 146 | boundingObject DEF UNEVEN_TERRAIN_ELEVATION_GRID Transform { 147 | translation %{= - size.x / 2 }% 0 %{= - size.z / 2 }% 148 | children [ 149 | ElevationGrid { 150 | %{ if xDimension > 2 and zDimension > 2 then }% 151 | xDimension IS xDimension 152 | xSpacing %{= size.x / xDimension }% 153 | zDimension IS zDimension 154 | zSpacing %{= size.z / zDimension }% 155 | 156 | height [ 157 | %{ for i=0, xDimension - 1 do }% 158 | %{ for j=0, zDimension - 1 do }% 159 | %{ 160 | local height = 1.0 161 | local x = i / xDimension 162 | local z = j / zDimension 163 | if nOctave > 0 then 164 | height = 0.5 * (1.0 + fBm(x, z, perlinSize, nOctave)) 165 | end 166 | if fields.flatCenter.value then 167 | height = height * (1.0 - gaussian2d(x - 0.5, z - 0.5, 1, 0, 0, 0.2, 0.2)) 168 | end 169 | if fields.flatBounds.value then 170 | height = height * gaussian2d(x - 0.5, z - 0.5, 1, 0, 0, 0.2, 0.2) 171 | end 172 | height = height * size.y 173 | }% 174 | %{= height }% 175 | %{ end }% 176 | %{ end }% 177 | ] 178 | %{ end }% 179 | } 180 | ] 181 | } 182 | } 183 | } 184 | -------------------------------------------------------------------------------- /protos/icons/CircleArena.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PrasadNR/Webots-Quadcopter-Python-SITL/f36b17dfd95006192d66a453d9fcdafb47662dc3/protos/icons/CircleArena.png -------------------------------------------------------------------------------- /protos/icons/Floor.png: -------------------------------------------------------------------------------- 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000000ff000000010000000200000118000005480100000002010000000100 4 | sceneTreePerspectives: 000000ff000000010000000200000267000000fa0100000002010000000200 5 | maximizedDockId: -1 6 | centralWidgetVisible: 1 7 | selectionDisabled: 0 8 | viewpointLocked: 0 9 | orthographicViewHeight: 1 10 | textFiles: -1 11 | renderingDevicePerspectives: Mavic 2 PRO:camera;1;1;0;0 12 | -------------------------------------------------------------------------------- /worlds/.empty.wbproj: -------------------------------------------------------------------------------- 1 | Webots Project File version R2019b 2 | perspectives: 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3-AT:display;1;1;0;0 15 | -------------------------------------------------------------------------------- /worlds/ObjectTracking.wbt: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2019b utf8 2 | WorldInfo { 3 | } 4 | Viewpoint { 5 | orientation -0.9998968088218009 0.003034175486868184 0.01404156284370101 1.2555537990264856 6 | position -7.949513111269061 27.57058278040368 3.586840463428051 7 | } 8 | TexturedBackground { 9 | } 10 | TexturedBackgroundLight { 11 | } 12 | Pioneer3at { 13 | translation -5.1444484422575286e-05 0.107611069497796 -3.2998556360533344 14 | rotation -0.00019720603968113445 0.999999905409869 0.00038767258171790284 2.2000000413131686 15 | controller "pioneerController" 16 | extensionSlot [ 17 | Compass { 18 | } 19 | Emitter { 20 | } 21 | GPS { 22 | } 23 | ] 24 | } 25 | Floor { 26 | size 70 42.4 27 | tileSize 70 42.4 28 | appearance SandyGround { 29 | textureTransform TextureTransform { 30 | } 31 | } 32 | } 33 | Mavic2Pro { 34 | translation 0 0.35 -3.3 35 | rotation 1 0 0 -1.570796327 36 | controller "mavic2proController" 37 | bodySlot [ 38 | Receiver { 39 | } 40 | ] 41 | cameraSlot [ 42 | Camera { 43 | rotation 1 0 0 -1 44 | width 400 45 | height 240 46 | } 47 | ] 48 | } 49 | --------------------------------------------------------------------------------