tutorial_newRobot.wbt

#VRML_SIM R2021a utf8
WorldInfo {
  basicTimeStep 16
  coordinateSystem "NUE"
}
Viewpoint {
  orientation -0.8243078435122807 0.5397717649819606 0.17077183858116712 0.6954421150272775
  position 0.343414969335557 0.5744927522127401 0.8429757935942632
}
TexturedBackground {
}
TexturedBackgroundLight {
}
Floor {
  size 1 1
}
WoodenBox {
  translation 0.39 0.01 0
  name "wooden box(1)"
  size 0.2 0.02 0.8
}
WoodenBox {
  translation -0.29 0.01 0
  name "wooden box(2)"
  size 0.4 0.02 0.8
}
DEF Wall_1 Solid {
  translation 0 0.05 0.5
  children [
    DEF BOX_WALL Shape {
      appearance PBRAppearance {
        roughness 1
        metalness 0
      }
      geometry Box {
        size 1 0.1 0.02
      }
    }
  ]
  name "solid(1)"
  boundingObject USE BOX_WALL
}
DEF Wall_2 Solid {
  translation 0 0.05 -0.5
  children [
    DEF BOX_WALL Shape {
      appearance PBRAppearance {
        roughness 1
        metalness 0
      }
      geometry Box {
        size 1 0.1 0.02
      }
    }
  ]
  name "solid(2)"
  boundingObject USE BOX_WALL
}
DEF Wall_3 Solid {
  translation 0.5 0.05 0
  rotation 0 1 0 -1.5707996938995747
  children [
    DEF BOX_WALL Shape {
      appearance PBRAppearance {
        roughness 1
        metalness 0
      }
      geometry Box {
        size 1 0.1 0.02
      }
    }
  ]
  name "solid(3)"
  boundingObject USE BOX_WALL
}
DEF Wall_4 Solid {
  translation -0.5 0.05 0
  rotation 0 1 0 -1.5707996938995747
  children [
    DEF BOX_WALL Shape {
      appearance PBRAppearance {
        roughness 1
        metalness 0
      }
      geometry Box {
        size 1 0.1 0.02
      }
    }
  ]
  name "solid(4)"
  boundingObject USE BOX_WALL
}
Robot {
  translation -0.4 0.095 0
  children [
    GPS {
      name "GPS"
    }
    InertialUnit {
      translation 0 0.05 0
      children [
        DEF IMU Shape {
          appearance PBRAppearance {
            baseColor 1 0.2 0.6
            roughness 1
            metalness 0
          }
          geometry Sphere {
            radius 0.01
            subdivision 2
          }
        }
      ]
      name "IMU"
      boundingObject USE IMU
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        axis 0 0 1
        anchor 0.04 -0.05 0.06
      }
      device [
        PositionSensor {
          name "wheel_sensR"
        }
        RotationalMotor {
          name "wheel1"
        }
      ]
      endPoint Solid {
        translation 0.04 -0.05 0.06
        rotation 1 0 0 1.5707996938995747
        children [
          DEF Wheel Shape {
            appearance PBRAppearance {
              baseColor 0.4 0.2 1
              roughness 1
              metalness 0
            }
            geometry Cylinder {
              height 0.02
              radius 0.02
            }
          }
        ]
        boundingObject USE Wheel
        physics DEF Wheel_Physics Physics {
          density -1
          mass 1
        }
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        axis 0 0 1
        anchor -0.04 -0.05 0.06
      }
      device [
        RotationalMotor {
          name "wheel2"
        }
      ]
      endPoint Solid {
        translation -0.04 -0.05 0.06
        rotation 1 0 0 1.5707996938995747
        children [
          DEF Wheel Shape {
            appearance PBRAppearance {
              baseColor 0.4 0.2 1
              roughness 1
              metalness 0
            }
            geometry Cylinder {
              height 0.02
              radius 0.02
            }
          }
        ]
        name "solid(1)"
        boundingObject USE Wheel
        physics DEF Wheel_Physics Physics {
          density -1
          mass 1
        }
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        axis 0 0 1
        anchor 0.04 -0.05 -0.06
      }
      device [
        PositionSensor {
          name "wheel_sensL"
        }
        RotationalMotor {
          name "wheel3"
        }
      ]
      endPoint Solid {
        translation 0.04 -0.05 -0.06
        rotation 1 0 0 1.5707996938995747
        children [
          DEF Wheel Shape {
            appearance PBRAppearance {
              baseColor 0.4 0.2 1
              roughness 1
              metalness 0
            }
            geometry Cylinder {
              height 0.02
              radius 0.02
            }
          }
        ]
        name "solid(2)"
        boundingObject USE Wheel
        physics DEF Wheel_Physics Physics {
          density -1
          mass 1
        }
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        axis 0 0 1
        anchor -0.04 -0.05 -0.06
      }
      device [
        RotationalMotor {
          name "wheel4"
        }
      ]
      endPoint Solid {
        translation -0.04 -0.05 -0.06
        rotation 1 0 0 1.5707996938995747
        children [
          DEF Wheel Shape {
            appearance PBRAppearance {
              baseColor 0.4 0.2 1
              roughness 1
              metalness 0
            }
            geometry Cylinder {
              height 0.02
              radius 0.02
            }
          }
        ]
        name "solid(3)"
        boundingObject USE Wheel
        physics DEF Wheel_Physics Physics {
          density -1
          mass 1
        }
      }
    }
    Lidar {
      translation 0.051 0 0.05
      rotation 0 1 0 -1.5707996938995747
      children [
        DEF lidar_shape Shape {
          appearance PBRAppearance {
            baseColor 0.4 1 0.4
            roughness 1
            metalness 0
          }
          geometry Box {
            size 0.02 0.02 0.01
          }
        }
      ]
      name "lidar_sensR"
      boundingObject USE lidar_shape
      tiltAngle -0.5
      horizontalResolution 11
      fieldOfView 0.5
      verticalFieldOfView 0.25
    }
    Lidar {
      translation 0.051 0 -0.05
      rotation 0 1 0 -1.5707996938995747
      children [
        DEF lidar_shape Shape {
          appearance PBRAppearance {
            baseColor 0.4 1 0.4
            roughness 1
            metalness 0
          }
          geometry Box {
            size 0.02 0.02 0.01
          }
        }
      ]
      name "lidar_sensL"
      boundingObject USE lidar_shape
      tiltAngle -0.5
      horizontalResolution 11
      fieldOfView 0.5
      verticalFieldOfView 0.25
    }
    DistanceSensor {
      translation 0.051 0 0
      children [
        DEF SensorShape Shape {
          appearance PBRAppearance {
            baseColor 1 0.5 0
            roughness 1
            metalness 0
          }
          geometry Box {
            size 0.01 0.01 0.01
          }
        }
      ]
      name "dist_sens"
      boundingObject USE SensorShape
    }
    DEF RobotBody Shape {
      appearance PBRAppearance {
        baseColor 0.6 0.7 1
        roughness 1
        metalness 0
      }
      geometry Box {
        size 0.1 0.1 0.1
      }
    }
  ]
  boundingObject USE RobotBody
  physics Physics {
    density -1
    mass 5
  }
  controller "sensor_test"
}