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Sample6dofRobot.wrl
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#VRML V2.0 utf8
# Produced by EusLisp 9.00(e6031bb 8939ea3 63139) for Linux64 created on W540-nozawa(Sat Jul 19 16:26:23 JST 2014)
# Date: Wed Jul 30 13:40:36 2014
PROTO Joint [
exposedField SFVec3f center 0 0 0
exposedField MFNode children []
exposedField MFFloat llimit []
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 dh [0 0 0 0]
exposedField SFString jointType ""
exposedField SFInt32 jointId -1
exposedField SFVec3f jointAxis 0 0 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 SFRotation orientation 0 0 1 0
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 #
#exposedField MFNode children [] # for me
]
{
Transform {
rotation IS rotation
translation IS translation
#children IS children # for me
}
}
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
}
}
NavigationInfo {
avatarSize 0.5
headlight TRUE
type ["EXAMINE", "ANY"]
}
Viewpoint {
position 3 0 0.835
orientation 0.5770 0.5775 0.5775 2.0935
}
DEF Sample6dofRobot Humanoid {
humanoidBody [
DEF WAIST Joint {
jointType "fixed"
dh [0 0 0 0]
translation 0.000000 0.000000 0.250000
rotation 0.0 0.0 1.0 0
children [
DEF link0_S Segment {
centerOfMass 0.0 0.0 0.0
mass 1.0
momentsOfInertia [ 1.000000e-06 0.0 0.0 0.0 1.000000e-06 0.0 0.0 0.0 1.000000e-06 ]
children [
Shape {
appearance Appearance {
material Material {
}
}
geometry DEF link0-FACES IndexedFaceSet {
creaseAngle 0.8
ccw TRUE
solid TRUE
colorPerVertex FALSE
color Color {
color [
0.996094 0.414062 0.414062,
]
}
coord DEF link0-COORD Coordinate {
point[
0.250000 0.005000 -0.005000,
0.250000 0.005000 0.005000,
0.250000 -0.005000 -0.005000,
0.250000 -0.005000 0.005000,
-0.250000 0.005000 -0.005000,
-0.250000 -0.005000 -0.005000,
-0.250000 -0.005000 0.005000,
-0.250000 0.005000 0.005000,
]
}
coordIndex [
3, 1, 7, -1,
7, 6, 3, -1,
5, 4, 0, -1,
0, 2, 5, -1,
7, 1, 0, -1,
0, 4, 7, -1,
1, 3, 2, -1,
2, 0, 1, -1,
3, 6, 5, -1,
5, 2, 3, -1,
6, 7, 4, -1,
4, 5, 6, -1,
]
colorIndex [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
]
}
}
]
} #Segment
DEF link1 Joint {
jointType "slide"
dh [0 0 0 0]
jointId 0
jointAxis 1.0 0.0 0.0
ulimit [0.25]
llimit [-0.25]
translation 0.000000 0.000000 0.000000
rotation 0.0 0.0 1.0 0
children [
DEF link1_S Segment {
centerOfMass 0.0 0.0 0.0
mass 1.0
momentsOfInertia [ 1.000000e-06 0.0 0.0 0.0 1.000000e-06 0.0 0.0 0.0 1.000000e-06 ]
children [
Shape {
appearance Appearance {
material Material {
}
}
geometry DEF link1-FACES IndexedFaceSet {
creaseAngle 0.8
ccw TRUE
solid TRUE
colorPerVertex FALSE
color Color {
color [
0.304688 0.929688 0.578125,
]
}
coord DEF link1-COORD Coordinate {
point[
0.005000 0.250000 -0.005000,
0.005000 0.250000 0.005000,
0.005000 -0.250000 -0.005000,
0.005000 -0.250000 0.005000,
-0.005000 0.250000 -0.005000,
-0.005000 -0.250000 -0.005000,
-0.005000 -0.250000 0.005000,
-0.005000 0.250000 0.005000,
]
}
coordIndex [
3, 1, 7, -1,
7, 6, 3, -1,
5, 4, 0, -1,
0, 2, 5, -1,
7, 1, 0, -1,
0, 4, 7, -1,
1, 3, 2, -1,
2, 0, 1, -1,
3, 6, 5, -1,
5, 2, 3, -1,
6, 7, 4, -1,
4, 5, 6, -1,
]
colorIndex [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
]
}
}
]
} #Segment
DEF link2 Joint {
jointType "slide"
dh [0 0 0 0]
jointId 1
jointAxis 0.0 1.0 0.0
ulimit [0.25]
llimit [-0.25]
translation 0.000000 0.000000 0.000000
rotation 0.0 0.0 1.0 0
children [
DEF link2_S Segment {
centerOfMass 0.0 0.0 0.0
mass 1.0
momentsOfInertia [ 1.000000e-06 0.0 0.0 0.0 1.000000e-06 0.0 0.0 0.0 1.000000e-06 ]
children [
Shape {
appearance Appearance {
material Material {
}
}
geometry DEF link2-FACES IndexedFaceSet {
creaseAngle 0.8
ccw TRUE
solid TRUE
colorPerVertex FALSE
color Color {
color [
0.476562 0.402344 0.929688,
]
}
coord DEF link2-COORD Coordinate {
point[
0.005000 0.005000 -0.250000,
0.005000 0.005000 0.250000,
0.005000 -0.005000 -0.250000,
0.005000 -0.005000 0.250000,
-0.005000 0.005000 -0.250000,
-0.005000 -0.005000 -0.250000,
-0.005000 -0.005000 0.250000,
-0.005000 0.005000 0.250000,
]
}
coordIndex [
3, 1, 7, -1,
7, 6, 3, -1,
5, 4, 0, -1,
0, 2, 5, -1,
7, 1, 0, -1,
0, 4, 7, -1,
1, 3, 2, -1,
2, 0, 1, -1,
3, 6, 5, -1,
5, 2, 3, -1,
6, 7, 4, -1,
4, 5, 6, -1,
]
colorIndex [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
]
}
}
]
} #Segment
DEF link3 Joint {
jointType "slide"
dh [0 0 0 0]
jointId 2
jointAxis 0.0 0.0 1.0
ulimit [0.25]
llimit [-0.25]
translation 0.000000 0.000000 0.000000
rotation 0.0 0.0 1.0 0
children [
DEF link3_S Segment {
centerOfMass 0.0 0.0 0.0
mass 1.0
momentsOfInertia [ 1.000000e-06 0.0 0.0 0.0 1.000000e-06 0.0 0.0 0.0 1.000000e-06 ]
children [
Shape {
appearance Appearance {
material Material {
}
}
geometry DEF link3-FACES IndexedFaceSet {
creaseAngle 0.8
ccw TRUE
solid TRUE
colorPerVertex FALSE
color Color {
color [
0.0 0.0 0.0,
]
}
coord DEF link3-COORD Coordinate {
point[
0.000500 0.000500 -0.000500,
0.000500 0.000500 0.000500,
0.000500 -0.000500 -0.000500,
0.000500 -0.000500 0.000500,
-0.000500 0.000500 -0.000500,
-0.000500 -0.000500 -0.000500,
-0.000500 -0.000500 0.000500,
-0.000500 0.000500 0.000500,
]
}
coordIndex [
3, 1, 7, -1,
7, 6, 3, -1,
5, 4, 0, -1,
0, 2, 5, -1,
7, 1, 0, -1,
0, 4, 7, -1,
1, 3, 2, -1,
2, 0, 1, -1,
3, 6, 5, -1,
5, 2, 3, -1,
6, 7, 4, -1,
4, 5, 6, -1,
]
colorIndex [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
]
}
}
]
} #Segment
DEF link4 Joint {
jointType "rotate"
dh [0 0 0 0]
jointId 3
jointAxis 0.0 0.0 1.0
ulimit [6.28319]
llimit [-6.28319]
translation 0.000000 0.000000 0.000000
rotation 0.0 0.0 1.0 0
children [
DEF link4_S Segment {
centerOfMass 0.0 0.0 0.0
mass 1.0
momentsOfInertia [ 1.000000e-06 0.0 0.0 0.0 1.000000e-06 0.0 0.0 0.0 1.000000e-06 ]
children [
Shape {
appearance Appearance {
material Material {
}
}
geometry DEF link4-FACES IndexedFaceSet {
creaseAngle 0.8
ccw TRUE
solid TRUE
colorPerVertex FALSE
color Color {
color [
0.0 0.0 0.0,
]
}
coord DEF link4-COORD Coordinate {
point[
0.000500 0.000500 -0.000500,
0.000500 0.000500 0.000500,
0.000500 -0.000500 -0.000500,
0.000500 -0.000500 0.000500,
-0.000500 0.000500 -0.000500,
-0.000500 -0.000500 -0.000500,
-0.000500 -0.000500 0.000500,
-0.000500 0.000500 0.000500,
]
}
coordIndex [
3, 1, 7, -1,
7, 6, 3, -1,
5, 4, 0, -1,
0, 2, 5, -1,
7, 1, 0, -1,
0, 4, 7, -1,
1, 3, 2, -1,
2, 0, 1, -1,
3, 6, 5, -1,
5, 2, 3, -1,
6, 7, 4, -1,
4, 5, 6, -1,
]
colorIndex [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
]
}
}
]
} #Segment
DEF link5 Joint {
jointType "rotate"
dh [0 0 0 0]
jointId 4
jointAxis 0.0 1.0 0.0
ulimit [6.28319]
llimit [-6.28319]
translation 0.000000 0.000000 0.000000
rotation 0.0 0.0 1.0 0
children [
DEF link5_S Segment {
centerOfMass 0.0 0.0 0.0
mass 1.0
momentsOfInertia [ 1.000000e-06 0.0 0.0 0.0 1.000000e-06 0.0 0.0 0.0 1.000000e-06 ]
children [
Shape {
appearance Appearance {
material Material {
}
}
geometry DEF link5-FACES IndexedFaceSet {
creaseAngle 0.8
ccw TRUE
solid TRUE
colorPerVertex FALSE
color Color {
color [
0.0 0.0 0.0,
]
}
coord DEF link5-COORD Coordinate {
point[
0.000500 0.000500 -0.000500,
0.000500 0.000500 0.000500,
0.000500 -0.000500 -0.000500,
0.000500 -0.000500 0.000500,
-0.000500 0.000500 -0.000500,
-0.000500 -0.000500 -0.000500,
-0.000500 -0.000500 0.000500,
-0.000500 0.000500 0.000500,
]
}
coordIndex [
3, 1, 7, -1,
7, 6, 3, -1,
5, 4, 0, -1,
0, 2, 5, -1,
7, 1, 0, -1,
0, 4, 7, -1,
1, 3, 2, -1,
2, 0, 1, -1,
3, 6, 5, -1,
5, 2, 3, -1,
6, 7, 4, -1,
4, 5, 6, -1,
]
colorIndex [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
]
}
}
]
} #Segment
DEF link6 Joint {
jointType "rotate"
dh [0 0 0 0]
jointId 5
jointAxis 1.0 0.0 0.0
ulimit [6.28319]
llimit [-6.28319]
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