From 642a3b175f590cab63187876794ac80d2a240fe2 Mon Sep 17 00:00:00 2001 From: Ysobel Date: Thu, 1 Dec 2022 10:16:30 +1100 Subject: [PATCH 01/10] Add robot model --- controllers/referee/teams/NUbots.json | 89 + protos/NUbots/NUgus/LICENSE | 21 + protos/NUbots/NUgus/NUgus.proto | 69 + .../NUbots/NUgus/NUgus_mesh/JerseyBack.proto | 28 + .../NUbots/NUgus/NUgus_mesh/JerseyFront.proto | 28 + .../NUbots/NUgus/NUgus_mesh/NUgusMain.proto | 1658 +++++++++++++++++ .../NUgus/NUgus_mesh/NUgus_headMesh.proto | 34 + .../NUgus_mesh/NUgus_left_ankleMesh.proto | 34 + .../NUgus_mesh/NUgus_left_footMesh.proto | 34 + .../NUgus_mesh/NUgus_left_hip_rollMesh.proto | 34 + .../NUgus_mesh/NUgus_left_hip_yawMesh.proto | 34 + .../NUgus_mesh/NUgus_left_lower_armMesh.proto | 34 + .../NUgus_mesh/NUgus_left_lower_legMesh.proto | 34 + .../NUgus_mesh/NUgus_left_shoulderMesh.proto | 34 + .../NUgus_mesh/NUgus_left_upper_armMesh.proto | 34 + .../NUgus_mesh/NUgus_left_upper_legMesh.proto | 34 + .../NUgus/NUgus_mesh/NUgus_neckMesh.proto | 34 + .../NUgus_mesh/NUgus_right_ankleMesh.proto | 34 + .../NUgus_mesh/NUgus_right_footMesh.proto | 34 + .../NUgus_mesh/NUgus_right_hip_rollMesh.proto | 34 + .../NUgus_mesh/NUgus_right_hip_yawMesh.proto | 34 + .../NUgus_right_lower_armMesh.proto | 34 + .../NUgus_right_lower_legMesh.proto | 34 + .../NUgus_mesh/NUgus_right_shoulderMesh.proto | 34 + .../NUgus_right_upper_armMesh.proto | 34 + .../NUgus_right_upper_legMesh.proto | 34 + .../NUgus/NUgus_mesh/NUgus_torsoMesh.proto | 34 + .../NUgus_textures/NUgus_back_blue_1.jpg | Bin 0 -> 27438 bytes .../NUgus_textures/NUgus_back_blue_2.jpg | Bin 0 -> 42532 bytes .../NUgus_textures/NUgus_back_blue_3.jpg | Bin 0 -> 46596 bytes .../NUgus_textures/NUgus_back_blue_4.jpg | Bin 0 -> 35071 bytes .../NUgus_textures/NUgus_back_blue_5.jpg | Bin 0 -> 38981 bytes .../NUgus/NUgus_textures/NUgus_back_red_1.jpg | Bin 0 -> 24917 bytes .../NUgus/NUgus_textures/NUgus_back_red_2.jpg | Bin 0 -> 39601 bytes .../NUgus/NUgus_textures/NUgus_back_red_3.jpg | Bin 0 -> 43782 bytes .../NUgus/NUgus_textures/NUgus_back_red_4.jpg | Bin 0 -> 32265 bytes .../NUgus/NUgus_textures/NUgus_back_red_5.jpg | Bin 0 -> 36094 bytes .../NUgus/NUgus_textures/NUgus_base_color.jpg | Bin 0 -> 15526 bytes .../NUgus_textures/NUgus_front_blue_1.jpg | Bin 0 -> 24245 bytes .../NUgus_textures/NUgus_front_blue_2.jpg | Bin 0 -> 42615 bytes .../NUgus_textures/NUgus_front_blue_3.jpg | Bin 0 -> 46951 bytes .../NUgus_textures/NUgus_front_blue_4.jpg | Bin 0 -> 35637 bytes .../NUgus_textures/NUgus_front_blue_5.jpg | Bin 0 -> 39183 bytes .../NUgus_textures/NUgus_front_red_1.jpg | Bin 0 -> 23687 bytes .../NUgus_textures/NUgus_front_red_2.jpg | Bin 0 -> 39657 bytes .../NUgus_textures/NUgus_front_red_3.jpg | Bin 0 -> 43455 bytes .../NUgus_textures/NUgus_front_red_4.jpg | Bin 0 -> 32846 bytes .../NUgus_textures/NUgus_front_red_5.jpg | Bin 0 -> 36331 bytes .../NUgus_textures/NUgus_lower_arm_blue.jpg | Bin 0 -> 24906 bytes .../NUgus_textures/NUgus_lower_arm_red.jpg | Bin 0 -> 24498 bytes .../NUgus_textures/NUgus_lower_leg_blue.jpg | Bin 0 -> 24439 bytes .../NUgus_textures/NUgus_lower_leg_red.jpg | Bin 0 -> 25448 bytes .../NUgus_textures/NUgus_upper_arm_blue.jpg | Bin 0 -> 19987 bytes .../NUgus_textures/NUgus_upper_arm_red.jpg | Bin 0 -> 19056 bytes protos/NUbots/NUgus/README.md | 8 + protos/NUbots/NUgus/postures.json | 47 + .../NUbots/documentation/01-documentation.pdf | Bin 0 -> 1897755 bytes .../02-Accelerometer-Datasheet.pdf | Bin 0 -> 696428 bytes .../documentation/03-Gyroscope-Datasheet.pdf | Bin 0 -> 1052279 bytes .../documentation/04-Camera-Specification.pdf | Bin 0 -> 123236 bytes .../documentation/05-Lens-Datasheet.pdf | Bin 0 -> 295448 bytes 61 files changed, 2662 insertions(+) create mode 100644 controllers/referee/teams/NUbots.json create mode 100644 protos/NUbots/NUgus/LICENSE create mode 100644 protos/NUbots/NUgus/NUgus.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/JerseyBack.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/JerseyFront.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgusMain.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_headMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_left_ankleMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_left_footMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_left_hip_rollMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_left_hip_yawMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_left_lower_armMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_left_lower_legMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_left_shoulderMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_left_upper_armMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_left_upper_legMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_neckMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_right_ankleMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_right_footMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_right_hip_rollMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_right_hip_yawMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_right_lower_armMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_right_lower_legMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_right_shoulderMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_right_upper_armMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_right_upper_legMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_mesh/NUgus_torsoMesh.proto create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_back_blue_1.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_back_blue_2.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_back_blue_3.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_back_blue_4.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_back_blue_5.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_back_red_1.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_back_red_2.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_back_red_3.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_back_red_4.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_back_red_5.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_base_color.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_front_blue_1.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_front_blue_2.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_front_blue_3.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_front_blue_4.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_front_blue_5.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_front_red_1.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_front_red_2.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_front_red_3.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_front_red_4.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_front_red_5.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_lower_arm_blue.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_lower_arm_red.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_lower_leg_blue.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_lower_leg_red.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_upper_arm_blue.jpg create mode 100644 protos/NUbots/NUgus/NUgus_textures/NUgus_upper_arm_red.jpg create mode 100644 protos/NUbots/NUgus/README.md create mode 100644 protos/NUbots/NUgus/postures.json create mode 100644 protos/NUbots/documentation/01-documentation.pdf create mode 100644 protos/NUbots/documentation/02-Accelerometer-Datasheet.pdf create mode 100644 protos/NUbots/documentation/03-Gyroscope-Datasheet.pdf create mode 100644 protos/NUbots/documentation/04-Camera-Specification.pdf create mode 100644 protos/NUbots/documentation/05-Lens-Datasheet.pdf diff --git a/controllers/referee/teams/NUbots.json b/controllers/referee/teams/NUbots.json new file mode 100644 index 00000000..1838975c --- /dev/null +++ b/controllers/referee/teams/NUbots.json @@ -0,0 +1,89 @@ +{ + "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] + } + } + } +} diff --git a/protos/NUbots/NUgus/LICENSE b/protos/NUbots/NUgus/LICENSE new file mode 100644 index 00000000..b120fedd --- /dev/null +++ b/protos/NUbots/NUgus/LICENSE @@ -0,0 +1,21 @@ +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. diff --git a/protos/NUbots/NUgus/NUgus.proto b/protos/NUbots/NUgus/NUgus.proto new file mode 100644 index 00000000..52adf725 --- /dev/null +++ b/protos/NUbots/NUgus/NUgus.proto @@ -0,0 +1,69 @@ +#VRML_SIM R2021b 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 +PROTO NUgus [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 + field SFString name "NUgus" # 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] +] +{ + 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 + } +} diff --git a/protos/NUbots/NUgus/NUgus_mesh/JerseyBack.proto b/protos/NUbots/NUgus/NUgus_mesh/JerseyBack.proto new file mode 100644 index 00000000..3d61bbff --- /dev/null +++ b/protos/NUbots/NUgus/NUgus_mesh/JerseyBack.proto @@ -0,0 +1,28 @@ + +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 { + point [ + 0.052648 0.006368 0.244846, 0.065766 0.021924 0.237744, 0.050098 0.020231 0.242126, 0.057020 0.030972 0.235918, -0.052648 0.006368 0.244846, -0.074646 -0.000331 0.239925, 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NUgus +# Extracted from: NUgus.urdf +PROTO NUgusMain [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 + field SFString name "NUgus" # 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] +] +{ + Robot { + translation IS translation + rotation IS rotation + controller IS controller + controllerArgs IS controllerArgs + customData IS customData + supervisor IS supervisor + synchronization IS synchronization + selfCollision IS selfCollision + + children [ + %{ + if fields.name.value ~= '' then + -- name is supposed to be something like "red player 2" or "blue player 1" + local words = {} + for word in fields.name.value:gmatch("%w+") do table.insert(words, word) end + local color = words[1] + local number = words[3] + }% + + Transform { + translation 0.000000 0.000000 0.000000 + rotation 0.000000 0.000000 1.000000 1.570790 + children [ + JerseyFront { + jerseyFrontTexture [ + %{='"./NUgus_textures/NUgus_front_' .. color .. '_' .. number .. '.jpg"'}% + ] + } + ] + } + + Transform { + translation 0.000000 0.000000 0.000000 + rotation 0.000000 0.000000 1.000000 1.570790 + children [ + JerseyBack { + jerseyBackTexture [ + %{='"./NUgus_textures/NUgus_back_' .. color .. '_' .. number .. '.jpg"'}% + ] + } + ] + } + + Transform { + translation 0.000000 0.000000 0.000000 + rotation 0.000000 0.000000 1.000000 1.570790 + children [ + DEF torso NUgus_torsoMesh { + robotTexture IS robotTexture + } + ] + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 0 1.000000 0 + anchor 0.005000 -0.115000 0.180000 + dampingConstant IS MX64-damping + staticFriction IS MX64-friction + } + device [ + RotationalMotor { + name "right_shoulder_pitch [shoulder]" + maxVelocity IS MX64-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX64-torque + } + PositionSensor { + name "right_shoulder_pitch_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.005000 -0.115000 0.180000 + rotation -0.577351 -0.577348 0.577351 2.094388 + children [ + DEF right_shoulder NUgus_right_shoulderMesh { + robotTexture IS robotTexture + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 0.000000 -1.000000 0 + anchor -0.015000 0.000000 0.005000 + dampingConstant IS MX64-damping + staticFriction IS MX64-friction + } + device [ + RotationalMotor { + name "right_shoulder_roll" + maxVelocity IS MX64-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX64-torque + } + PositionSensor { + name "right_shoulder_roll_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation -0.015000 0.000000 0.005000 + rotation 1.000000 0.000000 0.000000 1.570790 + children [ + DEF right_upper_arm NUgus_right_upper_armMesh { + robotTexture [ + %{='"../NUgus_textures/NUgus_upper_arm_' .. color .. '.jpg"'}% + ] + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 1.000000 0.000000 0.000000 + anchor 0.010000 -0.190000 0.040000 + dampingConstant IS MX64-damping + staticFriction IS MX64-friction + } + device [ + RotationalMotor { + name "right_elbow_pitch" + maxVelocity IS MX64-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX64-torque + } + PositionSensor { + name "right_elbow_pitch_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.010000 -0.190000 0.040000 + rotation 0.000000 1.000000 0.000000 0.000000 + children [ + DEF right_lower_arm NUgus_right_lower_armMesh { + robotTexture [ + %{='"../NUgus_textures/NUgus_lower_arm_' .. color .. '.jpg"'}% + ] + } + Solid { + name "right_hand [hand]" + translation 0.0 -0.225 0.014 + rotation 0.000000 1.000000 0.000000 0.000000 + } + ] + name "right_lower_arm [arm]" + boundingObject Group { + children [ + Transform { + translation 0.0049999999999999975 -0.052500000000000005 -0.0014999999999999979 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.05 0.155 0.057 + } + ] + } + Transform { + translation 0.0049999999999999975 -0.1775 0.0020000000000000018 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.05 0.095 0.08 + } + ] + } + ] + } + physics Physics { + density -1 + mass 0.260000 + centerOfMass [ 0.053360 -0.000810 0.000600 ] + inertiaMatrix [ + 3.407159e-04 1.769213e-03 1.618059e-03 + 1.182367e-04 -2.883079e-05 4.685687e-06 + ] + } + } + } + ] + name "right_upper_arm [arm]" + boundingObject Group { + children [ + Transform { + translation 0.0075 -0.0625 -0.0014999999999999979 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.065 0.175 0.057 + } + ] + } + Transform { + translation 0.012500000000000004 -0.17500000000000002 -0.017499999999999998 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.075 0.05 0.025 + } + ] + } + Transform { + translation 0.0475 -0.1825 0.0275 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.005 0.065 0.065 + } + ] + } + Transform { + translation -0.0225 -0.1825 0.0275 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.005 0.065 0.065 + } + ] + } + ] + } + physics Physics { + density -1 + mass 0.297000 + centerOfMass [ -0.000470 -0.000480 -0.047850 ] + inertiaMatrix [ + 2.440903e-03 2.283834e-03 5.366937e-04 + -3.671369e-06 -1.389145e-04 -1.979533e-05 + ] + } + } + } + ] + name "right_shoulder [arm]" + boundingObject Group { + children [ + Transform { + translation -0.008 0.0375 0.0049999999999999975 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.06 0.015 0.08 + } + ] + } + Transform { + translation -0.005 -0.035 0.005 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.06 0.015 0.08 + } + ] + } + ] + } + physics Physics { + density -1 + mass 0.025434 + centerOfMass [ 0.003490 -0.001680 0.003750 ] + inertiaMatrix [ + 6.360000e-04 4.850000e-04 6.280000e-04 + 2.000000e-06 -3.500000e-05 6.000000e-06 + ] + } + } + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 0 1.000000 0 + anchor 0.005000 0.115000 0.180000 + dampingConstant IS MX64-damping + staticFriction IS MX64-friction + } + device [ + RotationalMotor { + name "left_shoulder_pitch [shoulder]" + maxVelocity IS MX64-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX64-torque + } + PositionSensor { + name "left_shoulder_pitch_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.005000 0.115000 0.180000 + rotation -0.577351 -0.577348 0.577351 2.094388 + children [ + DEF left_shoulder NUgus_left_shoulderMesh { + robotTexture IS robotTexture + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 0 -1.000000 0 + anchor 0.015000 0.000000 0.005000 + dampingConstant IS MX64-damping + staticFriction IS MX64-friction + } + device [ + RotationalMotor { + name "left_shoulder_roll" + maxVelocity IS MX64-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX64-torque + } + PositionSensor { + name "left_shoulder_roll_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.015000 0.000000 0.005000 + rotation 1.000000 0.000000 0.000000 1.570790 + children [ + DEF left_upper_arm NUgus_left_upper_armMesh { + robotTexture [ + %{='"../NUgus_textures/NUgus_upper_arm_' .. color .. '.jpg"'}% + ] + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 1.000000 0.000000 0.000000 + anchor -0.010000 -0.190000 0.039990 + dampingConstant IS MX64-damping + staticFriction IS MX64-friction + } + device [ + RotationalMotor { + name "left_elbow_pitch" + maxVelocity IS MX64-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX64-torque + } + PositionSensor { + name "left_elbow_pitch_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation -0.010000 -0.190000 0.039990 + rotation 0.000000 1.000000 0.000000 0.000000 + children [ + DEF left_lower_arm NUgus_left_lower_armMesh { + robotTexture [ + %{='"../NUgus_textures/NUgus_lower_arm_' .. color .. '.jpg"'}% + ] + } + Solid { + name "left_hand [hand]" + translation 0.0 -0.225 0.014 + rotation 0.000000 1.000000 0.000000 0.000000 + } + ] + name "left_lower_arm [arm]" + boundingObject Group { + children [ + Transform { + translation -0.0049999999999999975 -0.052500000000000005 -0.0014999999999999979 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.05 0.155 0.057 + } + ] + } + Transform { + translation -0.0049999999999999975 -0.1775 0.0020000000000000018 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.05 0.095 0.08 + } + ] + } + ] + } + physics Physics { + density -1 + mass 0.260000 + centerOfMass [ 0.053360 -0.000810 0.000600 ] + inertiaMatrix [ + 3.407159e-04 1.769213e-03 1.618059e-03 + 1.182367e-04 -2.883079e-05 4.685687e-06 + ] + } + } + } + ] + name "left_upper_arm [arm]" + boundingObject Group { + children [ + Transform { + translation -0.0075 -0.0625 -0.0014999999999999979 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.065 0.175 0.057 + } + ] + } + Transform { + translation -0.012500000000000004 -0.17500000000000002 -0.017499999999999998 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.075 0.05 0.025 + } + ] + } + Transform { + translation -0.0475 -0.1825 0.0275 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.005 0.065 0.065 + } + ] + } + Transform { + translation 0.0225 -0.1825 0.0275 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.005 0.065 0.065 + } + ] + } + ] + } + physics Physics { + density -1 + mass 0.297000 + centerOfMass [ -0.000470 0.000480 -0.047850 ] + inertiaMatrix [ + 2.440903e-03 2.283834e-03 5.366937e-04 + -3.671369e-06 -1.389145e-04 -1.979533e-05 + ] + } + } + } + ] + name "left_shoulder [arm]" + boundingObject Group { + children [ + Transform { + translation 0.015 0.0386 0.0049999999999999975 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.06 0.015 0.08 + } + ] + } + Transform { + translation 0.015 -0.0368 0.0049999999999999975 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.06 0.015 0.08 + } + ] + } + ] + } + physics Physics { + density -1 + mass 0.025434 + centerOfMass [ 0.003490 -0.001680 0.003750 ] + inertiaMatrix [ + 6.360000e-04 4.850000e-04 6.280000e-04 + -2.000000e-06 -3.500000e-05 -6.000000e-06 + ] + } + } + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 0.000000 0.000000 1.000000 + anchor 0.000000 -0.055000 0.000000 + dampingConstant IS MX106-damping + staticFriction IS MX106-friction + } + device [ + RotationalMotor { + name "right_hip_yaw" + maxVelocity IS MX106-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX106-torque + } + PositionSensor { + name "right_hip_yaw_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.000000 -0.055000 0.000000 + rotation 0.000000 0.000000 1.000000 1.570790 + children [ + DEF right_hip_yaw NUgus_right_hip_yawMesh { + robotTexture IS robotTexture + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 0.000000 -1.000000 0.000000 + anchor 0.000000 0.000000 -0.060000 + dampingConstant IS MX106-damping + staticFriction IS MX106-friction + } + device [ + RotationalMotor { + name "right_hip_roll [hip]" + maxVelocity IS MX106-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX106-torque + } + PositionSensor { + name "right_hip_roll_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.000000 0.000000 -0.055 + rotation 0.000000 1.000000 0.000000 0.000000 + children [ + DEF right_hip_roll NUgus_right_hip_rollMesh { + robotTexture IS robotTexture + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 1.000000 0.000000 0.000000 + anchor 0.000000 -0.010000 0.010000 + dampingConstant IS MX106-damping + staticFriction IS MX106-friction + } + device [ + RotationalMotor { + name "right_hip_pitch" + maxVelocity IS MX106-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX106-torque + } + PositionSensor { + name "right_hip_pitch_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.000000 -0.010000 0.005 + rotation -1.000000 0.000000 0.000000 0.050000 + children [ + DEF right_upper_leg NUgus_right_upper_legMesh { + robotTexture IS robotTexture + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 1.000000 0.000000 0.000000 + anchor 0.000000 0.009990 -0.199750 + dampingConstant IS MX106-damping + staticFriction IS MX106-friction + } + device [ + RotationalMotor { + name "right_knee_pitch" + maxVelocity IS MX106-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX106-torque + } + PositionSensor { + name "right_knee_pitch_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.000000 0 -0.2 + rotation 1.000000 0.000000 0.000000 0.050000 + children [ + DEF right_lower_leg NUgus_right_lower_legMesh { + robotTexture [ + %{='"../NUgus_textures/NUgus_lower_leg_' .. color .. '.jpg"'}% + ] + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 1.000000 0 0 + anchor 0.000000 0.010000 -0.200000 + dampingConstant IS MX106-damping + staticFriction IS MX106-friction + } + device [ + RotationalMotor { + name "right_ankle_pitch" + maxVelocity IS MX106-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX106-torque + } + PositionSensor { + name "right_ankle_pitch_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.000000 0.010000 -0.200000 + rotation 0.000001 -1.000000 -0.000001 3.141593 + children [ + DEF right_ankle NUgus_right_ankleMesh { + robotTexture IS robotTexture + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 0 -1.000000 0 + anchor 0.000000 0.040000 0.000000 + dampingConstant IS MX106-damping + staticFriction IS MX106-friction + } + device [ + RotationalMotor { + name "right_ankle_roll" + maxVelocity IS MX106-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX106-torque + } + PositionSensor { + name "right_ankle_roll_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.000000 0.040000 0.000000 + rotation -0.000001 1.000000 -0.000001 3.141593 + children [ + DEF right_foot NUgus_right_footMesh { + robotTexture IS robotTexture + } + # Define four touch sensors for the right foot + # Back right touch sensor on right foot + TouchSensor { + # Define translation of touch sensor + translation -0.0575 0.025 -0.061 + children [ + # Define shape for all touch sensors + DEF touch_shape Shape{ + appearance PBRAppearance { + baseColor 0.500000 0.500000 0.500000 + transparency 0.000000 + roughness 1.000000 + metalness 0 + emissiveColor 0.000000 0.000000 0.000000 + baseColorMap ImageTexture { + url IS robotTexture + } + } + } + ] + name "right_touch_sensor_br" + # Bounding object uses geometry from touch_shape + boundingObject DEF touch_box Transform { + translation 0.0 0.0 0.0056 + rotation -1.0 0.0 0.0 -1.54 + children [ + Capsule { + bottom TRUE # {TRUE, FALSE} + height 0.001 # [0, inf) + radius 0.009 # [0, inf) + side TRUE # {TRUE, FALSE} + top FALSE # {TRUE, FALSE} + subdivision 12 # [3, inf) + } + ] + } + # Define physics for all touch sensors + physics DEF touch_physics Physics{ + density -1 + mass 0.02 + centerOfMass 0.0 0.0 0.0 + } + # Sensor Type + # Bumper returns a 1 when collision is detected + type "bumper" + } + # Back left touch sensor on right foot + TouchSensor { + translation 0.041 0.025 -0.061 + children [ + USE touch_shape + ] + name "right_touch_sensor_bl" + boundingObject USE touch_box + physics USE touch_physics + type "bumper" + } + # Front right touch sensor on right foot + TouchSensor { + translation -0.0575 -0.154 -0.061 + children [ + USE touch_shape + ] + name "right_touch_sensor_fr" + boundingObject USE touch_box + physics USE touch_physics + type "bumper" + } + # Front left touch sensor on right foot + TouchSensor { + translation 0.0409 -0.154 -0.061 + children [ + USE touch_shape + ] + name "right_touch_sensor_fl" + boundingObject USE touch_box + physics USE touch_physics + type "bumper" + } + ] + name "right_foot [foot]" + boundingObject Group { + children [ + Transform { + translation -0.0105 0.037 -0.017 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.125 0.0175 0.0585 + } + ] + } + Transform { + translation -0.011 -0.128 -0.02 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.125 0.08 0.05 + } + ] + } + Transform { + translation -0.011 -0.028 -0.035 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.125 0.12 0.01875 + } + ] + } + ] + } + physics Physics { + density -1 + mass 0.205000 + centerOfMass [ 0.030800 0.008770 0.011290 ] + inertiaMatrix [ + 4.692276e-04 1.083619e-03 1.390118e-03 + 1.237290e-05 5.165617e-06 -1.759415e-06 + ] + } + } + } + ] + name "right_ankle" + boundingObject Transform { + translation 0.0 0.02 -0.0175 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.04 0.08 0.065 + } + ] + } + physics Physics { + density -1 + mass 0.306000 + centerOfMass [ -0.015730 0.000510 -0.021970 ] + inertiaMatrix [ + 1.179297e-04 2.167529e-04 2.619357e-04 + 3.750778e-06 3.762394e-06 1.047191e-06 + ] + } + } + } + ] + name "right_lower_leg" + boundingObject Group { + children [ + Transform { + translation 0 0 -0.0575 + rotation 1.0 0.0 0.0 0.1745327073427288 + children [ + Box { + size 0.06 0.065 0.165 + } + ] + } + Transform { + translation -0.0275 0.029500000000000002 -0.1725 + rotation 1.0 0.0 0.0 0.1745327073427288 + children [ + Box { + size 0.005 0.065 0.065 + } + ] + } + Transform { + translation 0.0275 0.029500000000000002 -0.1725 + rotation 1.0 0.0 0.0 0.1745327073427288 + children [ + Box { + size 0.005 0.065 0.065 + } + ] + } + ] + } + physics Physics { + density -1 + mass 0.177000 + centerOfMass [ -0.100000 0.001280 -0.007070 ] + inertiaMatrix [ + 2.629853e-04 1.587092e-03 1.417721e-03 + -8.383225e-06 2.634340e-04 -6.909201e-07 + ] + } + } + } + ] + name "right_upper_leg" + boundingObject Group { + children [ + Transform { + translation 0.0 -0.0132 -0.107 + rotation 1.0 0.0 0.0 -0.2617992992737762 + children [ + Box { + size 0.07 0.037 0.104 + } + ] + } + Transform { + translation -0.0375 0.0218947 -0.0365661 + rotation 1.0 0.0 0.0 -0.2617992992737762 + children [ + Box { + size 0.005 0.065 0.05 + } + ] + } + Transform { + translation 0.037500000000000006 0.0218947 -0.0365661 + rotation 1.0 0.0 0.0 -0.2617992992737762 + children [ + Box { + size 0.005 0.065 0.05 + } + ] + } + ] + } + physics Physics { + density -1 + mass 0.387000 + centerOfMass [ -0.086820 -0.000990 -0.003220 ] + inertiaMatrix [ + 6.967005e-04 2.392788e-03 2.056922e-03 + -9.534768e-06 -4.706246e-04 1.168766e-07 + ] + } + } + } + ] + name "right_hip_roll" + boundingObject Transform { + translation 0.0 0.0025000000000000022 -0.0075 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.035 0.085 0.065 + } + ] + } + physics Physics { + density -1 + mass 0.306000 + centerOfMass [ 0.015730 -0.000030 -0.020710 ] + inertiaMatrix [ + 1.179297e-04 2.167529e-04 2.619357e-04 + 3.750778e-06 -3.762394e-06 -1.047191e-06 + ] + } + } + } + ] + name "right_hip_yaw" + boundingObject Group { + children [ + Transform { + translation 0.005 0.0 -0.015 + rotation 1.0 0.0 0.0 1.5707963267948966 + children [ + Cylinder { + height 0.03 + radius 0.045 + } + ] + } + Transform { + translation 0.0 0.0475 -0.05 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.04 0.005 0.04 + } + ] + } + Transform { + translation 0.0 -0.0475 -0.05 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.04 0.005 0.04 + } + ] + } + ] + } + physics Physics { + density -1 + mass 0.067000 + centerOfMass [ -0.002180 -0.046050 -0.024750 ] + inertiaMatrix [ + 8.822908e-04 1.744669e-03 1.996967e-03 + 1.677450e-06 -7.823405e-06 -2.533161e-05 + ] + } + } + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 0.000000 0.000000 1.000000 + anchor 0.000000 0.055000 0.000000 + dampingConstant IS MX106-damping + staticFriction IS MX106-friction + } + device [ + RotationalMotor { + name "left_hip_yaw" + maxVelocity IS MX106-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX106-torque + } + PositionSensor { + name "left_hip_yaw_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.000000 0.055000 0.000000 + rotation 0.000000 0.000000 1.000000 1.570790 + children [ + DEF left_hip_yaw NUgus_left_hip_yawMesh { + robotTexture IS robotTexture + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 0.000000 -1.000000 0.000000 + anchor 0.000000 0.000000 -0.060000 + dampingConstant IS MX106-damping + staticFriction IS MX106-friction + } + device [ + RotationalMotor { + name "left_hip_roll [hip]" + maxVelocity IS MX106-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX106-torque + } + PositionSensor { + name "left_hip_roll_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.000000 0.000000 -0.055 + rotation 0.000000 1.000000 0.000000 0.000000 + children [ + DEF left_hip_roll NUgus_left_hip_rollMesh { + robotTexture IS robotTexture + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 1.000000 0.000000 0.000000 + anchor 0.000000 -0.010000 0.000000 + dampingConstant IS MX106-damping + staticFriction IS MX106-friction + } + device [ + RotationalMotor { + name "left_hip_pitch" + maxVelocity IS MX106-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX106-torque + } + PositionSensor { + name "left_hip_pitch_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.000000 -0.010000 0.005 + rotation -1.000000 0.000000 0.000000 0.050000 + children [ + DEF left_upper_leg NUgus_left_upper_legMesh { + robotTexture IS robotTexture + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 1.000000 0.000000 0.000000 + anchor 0.000000 0.009490 -0.189760 + dampingConstant IS MX106-damping + staticFriction IS MX106-friction + } + device [ + RotationalMotor { + name "left_knee_pitch" + maxVelocity IS MX106-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX106-torque + } + PositionSensor { + name "left_knee_pitch_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.000000 0 -0.2 + rotation 1.000000 0.000000 0.000000 0.050000 + children [ + DEF left_lower_leg NUgus_left_lower_legMesh { + robotTexture [ + %{='"../NUgus_textures/NUgus_lower_leg_' .. color .. '.jpg"'}% + ] + %{ end }% + } + HingeJointWithBacklash { + gearMass IS gearMass + backlash IS backlash + jointParameters HingeJointParameters { + axis 1.000000 0.00000 0.000000 + anchor 0.000000 0.010000 -0.200000 + dampingConstant IS MX106-damping + staticFriction IS MX106-friction + } + device [ + RotationalMotor { + name "left_ankle_pitch" + maxVelocity IS MX106-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque 10.0 + } + PositionSensor { + name "left_ankle_pitch_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.000000 0.010000 -0.200000 + rotation 0.000001 -1.000000 -0.000001 3.141593 + children [ + DEF left_ankle NUgus_left_ankleMesh { + robotTexture IS robotTexture + } + HingeJointWithBacklash { + gearMass IS gearMass + backlash IS backlash + jointParameters HingeJointParameters { + axis 0 -1.000000 0 + anchor 0.000000 0.040000 0.000000 + dampingConstant IS MX106-damping + staticFriction IS MX106-friction + } + device [ + RotationalMotor { + name "left_ankle_roll" + maxVelocity IS MX106-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX106-torque + } + PositionSensor { + name "left_ankle_roll_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.000000 0.040000 0.000000 + rotation -0.000001 1.000000 -0.000001 3.141593 + children [ + DEF left_foot NUgus_left_footMesh { + robotTexture IS robotTexture + } + # Define four touch sensors for the left foot + # Back right touch sensor on left foot + TouchSensor { + translation -0.041 0.025 -0.061 + children [ + USE touch_shape + ] + name "left_touch_sensor_br" + boundingObject USE touch_box + physics USE touch_physics + type "bumper" + } + # Back left touch sensor on left foot + TouchSensor { + translation 0.057 0.025 -0.061 + children [ + USE touch_shape + ] + name "left_touch_sensor_bl" + boundingObject USE touch_box + physics USE touch_physics + type "bumper" + } + # Front left touch sensor on left foot + TouchSensor { + translation 0.057 -0.154 -0.061 + children [ + USE touch_shape + ] + name "left_touch_sensor_fl" + boundingObject USE touch_box + physics USE touch_physics + type "bumper" + } + # Front right touch sensor on left foot + TouchSensor { + translation -0.041 -0.154 -0.061 + children [ + USE touch_shape + ] + name "left_touch_sensor_fr" + boundingObject USE touch_box + physics USE touch_physics + type "bumper" + } + ] + name "left_foot [foot]" + boundingObject Group { + children [ + Transform { + translation 0.0105 0.037 -0.017 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.125 0.0175 0.0585 + } + ] + } + Transform { + translation 0.011 -0.128 -0.02 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.125 0.08 0.05 + } + ] + } + Transform { + translation 0.011 -0.028 -0.035 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.125 0.12 0.01875 + } + ] + } + ] + } + physics Physics { + density -1 + mass 0.205000 + centerOfMass [ 0.030800 0.008770 0.011290 ] + inertiaMatrix [ + 4.692276e-04 1.083619e-03 1.390118e-03 + -1.237290e-05 5.165617e-06 1.759415e-06 + ] + } + } + } + ] + name "left_ankle" + boundingObject Transform { + translation 0.0 0.02 -0.0175 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.04 0.08 0.065 + } + ] + } + physics Physics { + density -1 + mass 0.306000 + centerOfMass [ -0.015730 0.000510 -0.021970 ] + inertiaMatrix [ + 1.179297e-04 2.167529e-04 2.619357e-04 + -3.750778e-06 3.762394e-06 -1.047191e-06 + ] + } + } + } + ] + name "left_lower_leg" + boundingObject Group { + children [ + Transform { + translation 0 0 -0.0575 + rotation 1.0 0.0 0.0 0.1745327073427288 + children [ + Box { + size 0.06 0.065 0.165 + } + ] + } + Transform { + translation -0.0275 0.029500000000000002 -0.1725 + rotation 1.0 0.0 0.0 0.1745327073427288 + children [ + Box { + size 0.005 0.065 0.065 + } + ] + } + Transform { + translation 0.0275 0.029500000000000002 -0.1725 + rotation 1.0 0.0 0.0 0.1745327073427288 + children [ + Box { + size 0.005 0.065 0.065 + } + ] + } + ] + } + physics Physics { + density -1 + mass 0.177000 + centerOfMass [ -0.100000 0.001280 -0.007070 ] + inertiaMatrix [ + 2.629853e-04 1.587092e-03 1.417721e-03 + 8.383225e-06 2.634340e-04 6.909201e-07 + ] + } + } + } + ] + name "left_upper_leg" + boundingObject Group { + children [ + Transform { + translation 0.0 -0.0132 -0.107 + rotation 1.0 0.0 0.0 -0.2617992992737762 + children [ + Box { + size 0.07 0.037 0.104 + } + ] + } + Transform { + translation -0.0375 0.0218947 -0.0365661 + rotation 1.0 0.0 0.0 -0.2617992992737762 + children [ + Box { + size 0.005 0.065 0.05 + } + ] + } + Transform { + translation 0.037500000000000006 0.0218947 -0.0365661 + rotation 1.0 0.0 0.0 -0.2617992992737762 + children [ + Box { + size 0.005 0.065 0.05 + } + ] + } + ] + } + physics Physics { + density -1 + mass 0.387000 + centerOfMass [ -0.086820 -0.000990 -0.003220 ] + inertiaMatrix [ + 6.967005e-04 2.392788e-03 2.056922e-03 + 9.534768e-06 -4.706246e-04 -1.168766e-07 + ] + } + } + } + ] + name "left_hip_roll" + boundingObject Transform { + translation 0.0 0.0025000000000000022 -0.0075 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.035 0.085 0.065 + } + ] + } + physics Physics { + density -1 + mass 0.306000 + centerOfMass [ 0.015730 0.000030 -0.020710 ] + inertiaMatrix [ + 1.179297e-04 2.167529e-04 2.619357e-04 + 3.750778e-06 -3.762394e-06 -1.047191e-06 + ] + } + } + } + ] + name "left_hip_yaw" + boundingObject Group { + children [ + Transform { + translation -0.005 0.0 -0.015 + rotation 1.0 0.0 0.0 1.5707963267948966 + children [ + Cylinder { + height 0.03 + radius 0.045 + } + ] + } + Transform { + translation 0.0 0.0475 -0.05 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.04 0.005 0.04 + } + ] + } + Transform { + translation 0.0 -0.0475 -0.05 + rotation 0.0 0.0 1.0 0.0 + children [ + Box { + size 0.04 0.005 0.04 + } + ] + } + ] + } + physics Physics { + density -1 + mass 0.067000 + centerOfMass [ -0.002180 0.046050 -0.024750 ] + inertiaMatrix [ + 8.822261e-04 1.744628e-03 1.996990e-03 + -1.705523e-06 -7.854428e-06 2.533179e-05 + ] + } + } + } + HingeJointWithBacklash { + backlash IS backlash + gearMass IS gearMass + jointParameters HingeJointParameters { + axis 0.000000 0.000000 1.000000 + anchor 0.000000 0.000000 0.260000 + dampingConstant IS MX64-damping + staticFriction IS MX64-friction + } + device [ + RotationalMotor { + name "neck_yaw" + maxVelocity IS MX64-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX64-torque + } + PositionSensor { + name "neck_yaw_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.000000 0.000000 0.260000 + rotation 0.000000 0.000000 1.000000 1.570790 + children [ + DEF neck NUgus_neckMesh { + robotTexture IS robotTexture + } + HingeJointWithBacklash { + gearMass IS gearMass + backlash IS backlash + jointParameters HingeJointParameters { + axis 1.000000 0.000000 0.000000 + anchor 0.000000 0.000000 0.000000 + dampingConstant IS MX64-damping + staticFriction IS MX64-friction + } + device [ + RotationalMotor { + name "head_pitch" + maxVelocity IS MX64-vel + minPosition -3.14159265359 + maxPosition 3.14159265359 + maxTorque IS MX64-torque + } + PositionSensor { + name "head_pitch_sensor" + resolution IS DYNAMIXEL-RESOLUTION + } + ] + endPoint Solid { + translation 0.000000 0.000000 0.000000 + rotation 0.000000 1.000000 0.000000 0.000000 + children [ + DEF head NUgus_headMesh { + robotTexture IS robotTexture + } + Transform { + translation 0.000000 0.000000 0.000000 + rotation 0.000000 0.000000 1.000000 -1.570790 + children [ + DEF left_camera Camera { + name "left_camera" + translation 0.0889361 0.0352991 0.0713675 + rotation 0.577322 -0.595552 -0.558585 2.06587 + + # Set parameters from fields + fieldOfView IS fieldOfView + width IS cameraWidth + height IS cameraHeight + noise IS cameraNoise + motionBlur IS cameraMotionBlur + spherical FALSE + + # Allows the robot to detect objects in the world + recognition DEF recognition Recognition { + frameThickness 0 # Remove bounding boxes + segmentation TRUE # Add segmentation + } + } + DEF right_camera Camera { + name "right_camera" + translation 0.0889361 -0.0352991 0.0713675 + rotation 0.577322 -0.595552 -0.558585 2.06587 + + # Set parameters from fields + fieldOfView IS fieldOfView + width IS cameraWidth + height IS cameraHeight + noise IS cameraNoise + motionBlur IS cameraMotionBlur + + # We are using a rectilinear lens because there is no true spherical lens + spherical FALSE + + # Set the recognition parameters from the left camera + recognition USE recognition + } + ] + } + ] + name "head" + boundingObject Transform { + translation 0.0 0.0 0.069 + rotation 0.0 0.0 1.0 0.0 + children [ + Sphere { + radius 0.088 + } + ] + } + physics Physics { + density -1 + mass 0.419000 + centerOfMass [ -0.054820 -0.000100 0.001170 ] + inertiaMatrix [ + 5.229543e-03 4.273822e-03 3.333632e-03 + 8.068689e-07 -7.854194e-05 2.263322e-07 + ] + } + } + } + ] + name "neck" + boundingObject Transform { + translation -0.002854 -0.000008 -0.017064 + rotation -0.000000 -0.000000 -1.000000 1.570796 + children [ + Box { + size 0.040829 0.050604 0.062673 + } + ] + } + physics Physics { + density -1 + mass 0.135000 + centerOfMass [ -0.006030 -0.001600 0.241150 ] + inertiaMatrix [ + 4.111124e-04 3.431749e-04 2.333899e-04 + 1.344483e-10 -3.646935e-10 -1.246022e-05 + ] + } + } + } + Transform { + # Accelerometer and Gyro are positioned 0.2m above torso base + translation 0.000000 0.000000 0.2 + children [ + #(See Section 1. of docs/Robot_Model_RoboCup_2021 for details on noise) + # Axis: x forward, y left, z up + # Units are [m/s^2] + # The acelerometer measures the reaction forces over 3 axes in [m/s^2], thus, + # at rest the accelerometer should read +9.81 [m/s^2] in the z axis. + # Range is -39.24 to 39.24 [m/s^2] + # Return value (2nd column of LUT) is offset by 100 + Accelerometer { + name "accelerometer" + xAxis TRUE + yAxis TRUE + zAxis TRUE + # Calculation used: (size of range)/4095 + resolution 0.01916 + lookupTable [ + -39.24 60.76 0.000704 + 39.24 139.24 0.000307 + ] + } + # 'L3G4200D' Gyro + # (See Section 1. of docs/Robot_Model_RoboCup_2021 for details on noise) + # Axis: x forward, y left, z up + # Units are [rad/s] + # Range is -8.72665 to 8.72665 [rad/s] + # Return value (2nd column of LUT) is offset by 100 + Gyro { + name "gyroscope" + xAxis TRUE + yAxis TRUE + zAxis TRUE + # Calculation used: (size of range)/4095 + resolution 0.0042621 + lookupTable [ + -8.72665 91.238 0.0001151 + 8.72665 108.762 0.000096541 + ] + } + ] + } + ] + name IS name + boundingObject Transform { + translation -0.001241 0.000021 0.115538 + rotation 0.010690 0.999943 0.000078 3.127061 + children [ + Box { + size 0.140936 0.154 0.229 + } + ] + } + physics Physics { + density -1 + mass 2.539000 + centerOfMass [ 0.005000 0.008880 0.102150 ] + inertiaMatrix [ + 1.665729e-02 4.225235e-03 5.550778e-02 + 1.545186e-03 4.938658e-03 1.202753e-03 + ] + } + } +} diff --git a/protos/NUbots/NUgus/NUgus_mesh/NUgus_headMesh.proto b/protos/NUbots/NUgus/NUgus_mesh/NUgus_headMesh.proto new file mode 100644 index 00000000..0eb004a8 --- /dev/null +++ b/protos/NUbots/NUgus/NUgus_mesh/NUgus_headMesh.proto @@ -0,0 +1,34 @@ +#VRML_SIM R2021b utf8 +# license: Apache License 2.0 +# license url: http://www.apache.org/licenses/LICENSE-2.0 +# tags: hidden +# Extracted from: NUgus.urdf + +PROTO NUgus_headMesh [ + field MFString robotTexture "./NUgus_textures/NUgus_base_color.jpg" +] +{ + Shape { + appearance PBRAppearance { + baseColor 0.500000 0.500000 0.500000 + transparency 0.000000 + roughness 1.000000 + metalness 0 + emissiveColor 0.000000 0.000000 0.000000 + baseColorMap ImageTexture { + url IS robotTexture + } + } + geometry DEF head IndexedFaceSet { + coord Coordinate { + point [ + 0.012432 -0.074485 0.073716, 0.013917 -0.076646 0.077986, 0.005650 -0.079269 0.076928, 0.005028 -0.077061 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Apache License 2.0 +# license url: http://www.apache.org/licenses/LICENSE-2.0 +# tags: hidden +# Extracted from: NUgus.urdf + +PROTO NUgus_left_ankleMesh [ + field MFString robotTexture "./NUgus_textures/NUgus_base_color.jpg" +] +{ + Shape { + appearance PBRAppearance { + baseColor 0.500000 0.500000 0.500000 + transparency 0.000000 + roughness 1.000000 + metalness 0 + emissiveColor 0.000000 0.000000 0.000000 + baseColorMap ImageTexture { + url IS robotTexture + } + } + geometry DEF left_ankle IndexedFaceSet { + coord Coordinate { + point [ + -0.026581 -0.003387 0.001184, -0.026581 -0.002889 0.002161, -0.030640 -0.002889 0.002161, -0.030640 -0.003387 0.001184, -0.026581 -0.002115 0.002935, -0.030640 -0.002115 0.002935, -0.026581 -0.001138 0.003433, -0.030640 -0.001138 0.003433, -0.026581 -0.000056 0.003604, -0.030640 -0.000056 0.003604, -0.026581 0.001026 0.003433, -0.030640 0.001026 0.003433, -0.026581 0.002002 0.002935, -0.030640 0.002002 0.002935, -0.026581 0.002777 0.002161, 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url: http://www.apache.org/licenses/LICENSE-2.0 +# tags: hidden +# Extracted from: NUgus.urdf + +PROTO NUgus_left_lower_legMesh [ + field MFString robotTexture "./NUgus_textures/NUgus_base_color.jpg" +] +{ + Shape { + appearance PBRAppearance { + baseColor 0.500000 0.500000 0.500000 + transparency 0.000000 + roughness 1.000000 + metalness 0 + emissiveColor 0.000000 0.000000 0.000000 + baseColorMap ImageTexture { + url IS robotTexture + } + } + geometry DEF left_lower_leg IndexedFaceSet { + coord Coordinate { + point [ + 0.007300 -0.022563 -0.082755, 0.013331 -0.021040 -0.083038, 0.014954 -0.025615 -0.062160, 0.008395 -0.027185 -0.062614, -0.019177 -0.023023 -0.060584, -0.017861 -0.018086 -0.082502, -0.010860 -0.021074 -0.083082, -0.012307 -0.025773 -0.061932, 0.001171 -0.027704 -0.063084, 0.001170 -0.022920 -0.083358, 0.019210 -0.028905 -0.041629, 0.009627 -0.030803 -0.042977, -0.024455 -0.026502 -0.039243, -0.016855 -0.028945 -0.041451, 0.021703 -0.031204 -0.022676, 0.010882 -0.033058 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utf8 +# license: Apache License 2.0 +# license url: http://www.apache.org/licenses/LICENSE-2.0 +# tags: hidden +# Extracted from: NUgus.urdf + +PROTO NUgus_left_upper_armMesh [ + field MFString robotTexture "./NUgus_textures/NUgus_base_color.jpg" +] +{ + Shape { + appearance PBRAppearance { + baseColor 0.500000 0.500000 0.500000 + transparency 0.000000 + roughness 1.000000 + metalness 0 + emissiveColor 0.000000 0.000000 0.000000 + baseColorMap ImageTexture { + url IS robotTexture + } + } + geometry DEF left_upper_arm IndexedFaceSet { + coord Coordinate { + point [ + -0.053592 -0.189957 0.004911, -0.056394 -0.190578 0.016546, -0.051878 -0.177688 0.017470, -0.051061 -0.177443 0.005112, -0.056152 -0.190502 0.029821, -0.052112 -0.177749 0.030666, -0.050984 -0.217506 0.019001, -0.051961 -0.221133 0.032039, -0.056369 -0.207252 0.029236, -0.055256 -0.206005 0.017429, -0.051366 -0.203184 0.006584, -0.047730 -0.213325 0.008004, -0.050376 -0.219879 0.043223, -0.053980 -0.207042 0.043376, 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b/protos/NUbots/NUgus/NUgus_mesh/NUgus_left_upper_legMesh.proto @@ -0,0 +1,34 @@ +#VRML_SIM R2021b utf8 +# license: Apache License 2.0 +# license url: http://www.apache.org/licenses/LICENSE-2.0 +# tags: hidden +# Extracted from: NUgus.urdf + +PROTO NUgus_left_upper_legMesh [ + field MFString robotTexture "./NUgus_textures/NUgus_base_color.jpg" +] +{ + Shape { + appearance PBRAppearance { + baseColor 0.500000 0.500000 0.500000 + transparency 0.000000 + roughness 1.000000 + metalness 0 + emissiveColor 0.000000 0.000000 0.000000 + baseColorMap ImageTexture { + url IS robotTexture + } + } + geometry DEF left_upper_leg IndexedFaceSet { + coord Coordinate { + point [ + -0.041985 -0.002494 -0.077105, -0.038107 -0.012247 -0.101168, -0.035266 -0.026617 -0.096118, -0.038485 -0.019718 -0.069474, -0.040537 -0.014686 -0.053313, -0.041784 -0.010660 -0.041408, -0.045253 0.008291 -0.046590, -0.043969 0.003185 -0.060657, -0.042524 -0.005397 -0.019820, -0.046356 0.014761 -0.029035, -0.046626 0.004585 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tags: hidden +# Extracted from: NUgus.urdf + +PROTO NUgus_right_ankleMesh [ + field MFString robotTexture "./NUgus_textures/NUgus_base_color.jpg" +] +{ + Shape { + appearance PBRAppearance { + baseColor 0.500000 0.500000 0.500000 + transparency 0.000000 + roughness 1.000000 + metalness 0 + emissiveColor 0.000000 0.000000 0.000000 + baseColorMap ImageTexture { + url IS robotTexture + } + } + geometry DEF right_ankle IndexedFaceSet { + coord Coordinate { + point [ + 0.026581 -0.003387 0.001184, 0.030640 -0.003387 0.001184, 0.030640 -0.002889 0.002161, 0.026581 -0.002889 0.002161, 0.030640 -0.002115 0.002935, 0.026581 -0.002115 0.002935, 0.030640 -0.001138 0.003433, 0.026581 -0.001138 0.003433, 0.030640 -0.000056 0.003604, 0.026581 -0.000056 0.003604, 0.030640 0.001026 0.003433, 0.026581 0.001026 0.003433, 0.030640 0.002002 0.002935, 0.026581 0.002002 0.002935, 0.030640 0.002777 0.002161, 0.026581 0.002777 0.002161, 0.030640 0.003274 0.001184, 0.026581 0.003274 0.001184, 0.030640 0.003446 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a/protos/NUbots/NUgus/NUgus_mesh/NUgus_right_shoulderMesh.proto b/protos/NUbots/NUgus/NUgus_mesh/NUgus_right_shoulderMesh.proto new file mode 100644 index 00000000..4ce5eedd --- /dev/null +++ b/protos/NUbots/NUgus/NUgus_mesh/NUgus_right_shoulderMesh.proto @@ -0,0 +1,34 @@ +#VRML_SIM R2021b utf8 +# license: Apache License 2.0 +# license url: http://www.apache.org/licenses/LICENSE-2.0 +# tags: hidden +# Extracted from: NUgus.urdf + +PROTO NUgus_right_shoulderMesh [ + field MFString robotTexture "./NUgus_textures/NUgus_base_color.jpg" +] +{ + Shape { + appearance PBRAppearance { + baseColor 0.500000 0.500000 0.500000 + transparency 0.000000 + roughness 1.000000 + metalness 0 + emissiveColor 0.000000 0.000000 0.000000 + baseColorMap ImageTexture { + url IS robotTexture + } + } + geometry DEF right_shoulder IndexedFaceSet { + coord Coordinate { + point [ + -0.007148 -0.043143 0.012453, -0.007640 -0.044285 0.005427, -0.003426 -0.044664 0.003556, -0.003067 -0.044088 0.010253, -0.007565 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b/protos/NUbots/NUgus/NUgus_mesh/NUgus_torsoMesh.proto new file mode 100644 index 00000000..4b198082 --- /dev/null +++ b/protos/NUbots/NUgus/NUgus_mesh/NUgus_torsoMesh.proto @@ -0,0 +1,34 @@ +#VRML_SIM R2021b utf8 +# license: Apache License 2.0 +# license url: http://www.apache.org/licenses/LICENSE-2.0 +# tags: hidden +# Extracted from: NUgus.urdf + +PROTO NUgus_torsoMesh [ + field MFString robotTexture "./NUgus_textures/NUgus_base_color.jpg" +] +{ + Shape { + appearance PBRAppearance { + baseColor 0.500000 0.500000 0.500000 + transparency 0.000000 + roughness 1.000000 + metalness 0 + emissiveColor 0.000000 0.000000 0.000000 + baseColorMap ImageTexture { + url IS robotTexture + } + } + geometry DEF torso IndexedFaceSet { + coord Coordinate { + point [ + 0.021321 -0.065805 0.092266, 0.000000 -0.067214 0.110428, 0.000000 -0.060116 0.003400, 0.018187 -0.059553 0.002879, 0.043034 -0.062154 0.057270, -0.043034 -0.062154 0.057270, -0.018187 -0.059553 0.002879, -0.021321 -0.065805 0.092266, 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