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Merge pull request #11 from RoboCup-Humanoid-TC/NUbots/main
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NUbots robot model
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@jgueldenstein
jgueldenstein authored Mar 9, 2023
2 parents 35d93b1 + dc6d971 commit 83ed080
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89 changes: 89 additions & 0 deletions controllers/referee/teams/nubots.json
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{
"name": "NUbots",
"players": {
"1": {
"proto": "NUgus",
"dockerTag": "robocup",
"dockerCmd": "webotsrobocup",
"halfTimeStartingPose": {
"translation": [-3.5, -3.31, 0.51],
"rotation": [0, 0, 1, 1.57]
},
"reentryStartingPose": {
"translation": [-3.5, -3.31, 0.51],
"rotation": [0, 0, 1, 1.57]
},
"shootoutStartingPose": {
"translation": [2.7625, 0, 0.525],
"rotation": [0, 0, 1, 0]
},
"goalKeeperStartingPose": {
"translation": [-4.47, 0, 0.51],
"rotation": [0, 0, 1, 0]
}
},
"2": {
"proto": "NUgus",
"dockerTag": "robocup",
"dockerCmd": "webotsrobocup",
"halfTimeStartingPose": {
"translation": [-3.5, 3.31, 0.51],
"rotation": [0, 0, 1, -1.57]
},
"reentryStartingPose": {
"translation": [-3.5, 3.31, 0.51],
"rotation": [0, 0, 1, -1.57]
},
"shootoutStartingPose": {
"translation": [2.7625, 0, 0.525],
"rotation": [0, 0, 1, 0]
},
"goalKeeperStartingPose": {
"translation": [-4.47, 0, 0.51],
"rotation": [0, 0, 1, 0]
}
},
"3": {
"proto": "NUgus",
"dockerTag": "robocup",
"dockerCmd": "webotsrobocup",
"halfTimeStartingPose": {
"translation": [-0.75, -3.31, 0.51],
"rotation": [0, 0, 1, 1.57]
},
"reentryStartingPose": {
"translation": [-0.75, -3.31, 0.51],
"rotation": [0, 0, 1, 1.57]
},
"shootoutStartingPose": {
"translation": [2.7625, 0, 0.525],
"rotation": [0, 0, 1, 0]
},
"goalKeeperStartingPose": {
"translation": [-4.47, 0, 0.51],
"rotation": [0, 0, 1, 0]
}
},
"4": {
"proto": "NUgus",
"dockerTag": "robocup",
"dockerCmd": "webotsrobocup",
"halfTimeStartingPose": {
"translation": [-0.75, 3.31, 0.51],
"rotation": [0, 0, 1, -1.57]
},
"reentryStartingPose": {
"translation": [-0.75, 3.31, 0.51],
"rotation": [0, 0, 1, -1.57]
},
"shootoutStartingPose": {
"translation": [2.7625, 0, 0.525],
"rotation": [0, 0, 1, 0]
},
"goalKeeperStartingPose": {
"translation": [-4.47, 0, 0.51],
"rotation": [0, 0, 1, 0]
}
}
}
}
21 changes: 21 additions & 0 deletions protos/robots/nubots/NUgus/LICENSE
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MIT License

Copyright (c) 2022 NUbots

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
74 changes: 74 additions & 0 deletions protos/robots/nubots/NUgus/NUgus.proto
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#VRML_SIM R2022b utf8
# license: Apache License 2.0
# license url: http://www.apache.org/licenses/LICENSE-2.0
# This is a proto file for Webots for the NUgus
# Extracted from: NUgus.urdf

EXTERNPROTO "NUgus_mesh/NUgusMain.proto"

PROTO NUgus [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
field SFString name "red player 1" # Is `Robot.name`.
field SFString controller "player" # Find in "webots/projects/samples/contests/robocup/controllers/player"
field MFString controllerArgs [] # Is `Robot.controllerArgs`.
field SFString customData "" # Is `Robot.customData`.
field SFBool supervisor FALSE # Is `Robot.supervisor`.
field SFBool synchronization TRUE # Is `Robot.synchronization`.
field SFBool selfCollision TRUE # Is `Robot.selfCollision`.
field MFString robotTexture "../NUgus_textures/NUgus_base_color.jpg"
# MOTOR PARAMETER: See section 2. of docs/Robot_Model_RoboCup_2021 for more information
field SFFloat MX64-torque 7.30
field SFFloat MX64-vel 8.17
field SFFloat MX64-damping 0.65
field SFFloat MX64-friction 1.73
field SFFloat MX106-torque 10.00
field SFFloat MX106-vel 5.76
field SFFloat MX106-damping 1.23
field SFFloat MX106-friction 2.55
field SFFloat backlash 0.01
field SFFloat gearMass 0.001
field SFFloat DYNAMIXEL-RESOLUTION 0.0015
# CAMERA PARAMETERS: See docs for more information
field SFFloat fieldOfView 1.5707 # Approximates PI/2 radians (90 degrees)
field SFInt32 cameraWidth 640 # 640 pixels
field SFInt32 cameraHeight 480 # 480 pixels
field SFFloat cameraLensFocalLength 1.98 # 1.98mm, as from our real cameras (https://www.lensation.de/pdf/BF10M19828S118C.pdf)
field SFFloat cameraNoise 0.000000001 # Not much noise on real cameras
field SFFloat cameraMotionBlur 10 # With over 100fps, real cameras do not have much motion blur
field MFColor recognitionColors [0 0 1]
field SFBool useRecognition FALSE
]
{
NUgusMain {
translation IS translation
rotation IS rotation
name IS name
controller IS controller
controllerArgs IS controllerArgs
customData IS customData
supervisor IS supervisor
synchronization IS synchronization
selfCollision IS selfCollision
robotTexture IS robotTexture
MX64-torque IS MX64-torque
MX64-vel IS MX64-vel
MX64-damping IS MX64-damping
MX64-friction IS MX64-friction
MX106-torque IS MX106-torque
MX106-vel IS MX106-vel
MX106-damping IS MX106-damping
MX106-friction IS MX106-friction
backlash IS backlash
gearMass IS gearMass
DYNAMIXEL-RESOLUTION IS DYNAMIXEL-RESOLUTION
fieldOfView IS fieldOfView
cameraWidth IS cameraWidth
cameraHeight IS cameraHeight
cameraLensFocalLength IS cameraLensFocalLength
cameraNoise IS cameraNoise
cameraMotionBlur IS cameraMotionBlur
recognitionColors IS recognitionColors
useRecognition IS useRecognition
}
}
31 changes: 31 additions & 0 deletions protos/robots/nubots/NUgus/NUgus_mesh/JerseyBack.proto
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#VRML_SIM R2022b utf8
# license: Apache License 2.0
# license url: http://www.apache.org/licenses/LICENSE-2.0
# tags: hidden
PROTO JerseyBack [
field MFString jerseyBackTexture "textures/NUgus_back_red_1.jpg"
field SFColor jerseyBackColor 0.5 0.5 0.5
]
{
Shape {
appearance PBRAppearance {
baseColor IS jerseyBackColor
baseColorMap ImageTexture {
url IS jerseyBackTexture
}
metalness 0
roughness 1
}
geometry IndexedFaceSet {
coord DEF JERSEY_BACK_COORD Coordinate {
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}
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creaseAngle 2
}
}
}
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