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チェッカーボードがはってある箱モデルのexample #285

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チェッカーボードがはってある箱モデルのexample #285

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Binary file added jvrc_models/models/checkerboard_3x6.png
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Binary file added jvrc_models/models/checkerboard_4x5.png
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356 changes: 356 additions & 0 deletions jvrc_models/models/checkerboard_box.wrl
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#VRML V2.0 utf8

PROTO Joint [
exposedField SFVec3f center 0 0 0
exposedField MFNode children []
exposedField MFFloat llimit []
exposedField MFFloat lvlimit []
exposedField SFRotation limitOrientation 0 0 1 0
exposedField SFString name ""
exposedField SFRotation rotation 0 0 1 0
exposedField SFVec3f scale 1 1 1
exposedField SFRotation scaleOrientation 0 0 1 0
exposedField MFFloat stiffness [ 0 0 0 ]
exposedField SFVec3f translation 0 0 0
exposedField MFFloat ulimit []
exposedField MFFloat uvlimit []
exposedField SFString jointType ""
exposedField SFInt32 jointId -1
exposedField SFVec3f jointAxis 0 0 1

exposedField SFFloat gearRatio 1
exposedField SFFloat rotorInertia 0
exposedField SFFloat rotorResistor 0
exposedField SFFloat torqueConst 1
exposedField SFFloat encoderPulse 1
]
{
Transform {
center IS center
children IS children
rotation IS rotation
scale IS scale
scaleOrientation IS scaleOrientation
translation IS translation
}
}

PROTO Segment [
field SFVec3f bboxCenter 0 0 0
field SFVec3f bboxSize -1 -1 -1
exposedField SFVec3f centerOfMass 0 0 0
exposedField MFNode children [ ]
exposedField SFNode coord NULL
exposedField MFNode displacers [ ]
exposedField SFFloat mass 0
exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ]
exposedField SFString name ""
eventIn MFNode addChildren
eventIn MFNode removeChildren
]
{
Group {
addChildren IS addChildren
bboxCenter IS bboxCenter
bboxSize IS bboxSize
children IS children
removeChildren IS removeChildren
}
}

PROTO Humanoid [
field SFVec3f bboxCenter 0 0 0
field SFVec3f bboxSize -1 -1 -1
exposedField SFVec3f center 0 0 0
exposedField MFNode humanoidBody [ ]
exposedField MFString info [ ]
exposedField MFNode joints [ ]
exposedField SFString name ""
exposedField SFRotation rotation 0 0 1 0
exposedField SFVec3f scale 1 1 1
exposedField SFRotation scaleOrientation 0 0 1 0
exposedField MFNode segments [ ]
exposedField MFNode sites [ ]
exposedField SFVec3f translation 0 0 0
exposedField SFString version "1.1"
exposedField MFNode viewpoints [ ]
]
{
Transform {
bboxCenter IS bboxCenter
bboxSize IS bboxSize
center IS center
rotation IS rotation
scale IS scale
scaleOrientation IS scaleOrientation
translation IS translation
children [
Group {
children IS viewpoints
}
Group {
children IS humanoidBody
}
]
}
}

PROTO VisionSensor [
exposedField SFVec3f translation 0 0 0
exposedField SFRotation rotation 0 0 1 0
exposedField MFNode children [ ]
exposedField SFFloat fieldOfView 0.785398
exposedField SFString name ""
exposedField SFFloat frontClipDistance 0.01
exposedField SFFloat backClipDistance 10.0
exposedField SFString type "NONE"
exposedField SFInt32 sensorId -1
exposedField SFInt32 width 320
exposedField SFInt32 height 240
]
{
Transform {
rotation IS rotation
translation IS translation
children IS children
}
}


PROTO ForceSensor [
exposedField SFVec3f maxForce -1 -1 -1
exposedField SFVec3f maxTorque -1 -1 -1
exposedField SFVec3f translation 0 0 0
exposedField SFRotation rotation 0 0 1 0
exposedField SFInt32 sensorId -1
]
{
Transform {
translation IS translation
rotation IS rotation
}
}

PROTO Gyro [
exposedField SFVec3f maxAngularVelocity -1 -1 -1
exposedField SFVec3f translation 0 0 0
exposedField SFRotation rotation 0 0 1 0
exposedField SFInt32 sensorId -1
]
{
Transform {
translation IS translation
rotation IS rotation
}
}

PROTO AccelerationSensor [
exposedField SFVec3f maxAcceleration -1 -1 -1
exposedField SFVec3f translation 0 0 0
exposedField SFRotation rotation 0 0 1 0
exposedField SFInt32 sensorId -1
]
{
Transform {
translation IS translation
rotation IS rotation
}
}

PROTO PressureSensor [
exposedField SFFloat maxPressure -1
exposedField SFVec3f translation 0 0 0
exposedField SFRotation rotation 0 0 1 0
exposedField SFInt32 sensorId -1
]
{
Transform {
translation IS translation
rotation IS rotation
}
}

PROTO PhotoInterrupter [
exposedField SFVec3f transmitter 0 0 0
exposedField SFVec3f receiver 0 0 0
exposedField SFInt32 sensorId -1
]
{
Transform{
children [
Transform{
translation IS transmitter
}
Transform{
translation IS receiver
}
]
}
}

PROTO CylinderSensorZ [
exposedField SFFloat maxAngle -1
exposedField SFFloat minAngle 0
exposedField MFNode children [ ]
]
{
Transform{
rotation 1 0 0 1.5708
children [
DEF SensorY CylinderSensor{
maxAngle IS maxAngle
minAngle IS minAngle
}
DEF AxisY Transform{
children [
Transform{
rotation 1 0 0 -1.5708
children IS children
}
]
}
]
}
ROUTE SensorY.rotation_changed TO AxisY.set_rotation
}

PROTO CylinderSensorY [
exposedField SFFloat maxAngle -1
exposedField SFFloat minAngle 0
exposedField MFNode children [ ]
]
{
Transform{
rotation 0 1 0 1.5708
children [
DEF SensorX CylinderSensor{
maxAngle IS maxAngle
minAngle IS minAngle
}
DEF AxisX Transform{
children [
Transform{
rotation 0 1 0 -1.5708
children IS children
}
]
}
]
}
ROUTE SensorX.rotation_changed TO AxisX.set_rotation
}

PROTO CylinderSensorX [
exposedField SFFloat maxAngle -1
exposedField SFFloat minAngle 0
exposedField MFNode children [ ]
]
{
Transform{
rotation 0 0 1 -1.5708
children [
DEF SensorZ CylinderSensor{
maxAngle IS maxAngle
minAngle IS minAngle
}
DEF AxisZ Transform{
children [
Transform{
rotation 0 0 1 1.5708
children IS children
}
]
}
]
}
ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation
}

NavigationInfo {
avatarSize 0.5
headlight TRUE
type ["EXAMINE", "ANY"]
}

Background {
skyColor 0.4 0.6 0.4
}

Viewpoint {
position 3 0 0.835
orientation 0.5770 0.5775 0.5775 2.0935
}

DEF shigematsu_box Humanoid {
humanoidBody [
DEF WAIST Joint {
jointType "free" ##
translation 0 0 0
rotation 0 1 0 0
children [
DEF BODY Segment {
mass 1.0
momentsOfInertia [0.2 0 0 0 0.2 0 0 0 0.2]
children [ ### geometry
Transform {
scale 1.0 1.0 1.0
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 0 0.9 0.0
}
}
geometry Box {
size 0.4 0.4 0.4
}
} # Shape
]
}
Transform {
translation 0 0 0.2
children [
Shape {
appearance Appearance {
texture ImageTexture {
url "checkerboard_3x6.png"
repeatS FALSE
repeatT FALSE
}
}
geometry Box {
size 0.2 0.35 0.01
}
} # Shape
]
}
Transform {
translation -0.2 0 0
children [
Shape {
appearance Appearance {
texture ImageTexture {
url "checkerboard_4x5.png"
repeatS FALSE
repeatT FALSE
}
}
geometry Box {
size 0.01 0.3 0.25
}
} # Shape
]
}
]
}
]
}
]
joints [
USE WAIST
]
name "shigematsu_box"
segments [
USE BODY
]
}