eurobot.wbt

#VRML_SIM R2023b utf8

EXTERNPROTO "../protos/OpponentBox.proto"
EXTERNPROTO "../protos/Judge.proto"
EXTERNPROTO "../protos/StaticObjects.proto"
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"

WorldInfo {
  basicTimeStep 10
  contactProperties [
    ContactProperties {
      material1 "floor"
      material2 "wheel"
      coulombFriction [
        100
      ]
    }
    ContactProperties {
      coulombFriction [
        0.1
      ]
    }
  ]
}
Viewpoint {
  orientation 0.4819430059392584 -0.005549339884766831 -0.8761849940812015 3.1538728487414
  position 2.988041384032802 0.28050982519477397 4.535328706366026
}
TexturedBackground {
}
TexturedBackgroundLight {
}
StaticObjects {
}
DEF ROBOT_OPPONENT_BIG OpponentBox {
  name "opponent_box_big"
  translation -0.775 1.195 0
  rotation 0 0 1 0
}
DEF ROBOT_OPPONENT_SMALL OpponentBox {
  name "opponent_box_small"
  translation 0.72 1.16 0
  rotation 0 0 1 -1.571595307179586
  arucoNumber 2
}
DEF JUDGE Judge {
}
Robot {
  translation -0.1 1.50976 1.05
  rotation 0.4472158700299192 0.4472128700307911 -0.7745957748866213 1.82349
  children [
    JetBotRaspberryPiCamera {
      rotation 0 1 0 0
      name "RasPi0"
      fieldOfView 2.15
      width 1920
      height 1080
    }
  ]
  name "camera_central"
  controller "<extern>"
}
DEF ROBOT_SMALL GenericRobot {
  name "robot_small"
  translation -0.75 -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
  arucoNumber 7
  baseSlot [
    Solid {
      translation 0.1 0 0.08
      children [
        HingeJoint {
          jointParameters HingeJointParameters {
            axis 0 0 1
          }
          device [
            RotationalMotor {
              name "m6"
              controlPID 1000 0 0
              maxTorque 1000
            }
            PositionSensor {
            }
          ]
          endPoint Solid {
            translation 0 0.06 0
            children [
              Shape {
                appearance PBRAppearance {
                  baseColor 0.666667 0 0
                  metalness 0.2
                }
                geometry Box {
                  size 0.02 0.1 0.02
                }
              }
            ]
          }
        }
      ]
    }
  ]
}