From 02fb5f1aceed9d3bef04a2b76057e227e0ac739e Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 26 Aug 2014 20:51:34 +0900 Subject: [PATCH] add sample3dof model for testing file conversion --- sample/model/sample3dof.wrl | 2099 +++++++++++++++++++++++++++++++++++ 1 file changed, 2099 insertions(+) create mode 100644 sample/model/sample3dof.wrl diff --git a/sample/model/sample3dof.wrl b/sample/model/sample3dof.wrl new file mode 100644 index 000000000..c5497ef8d --- /dev/null +++ b/sample/model/sample3dof.wrl @@ -0,0 +1,2099 @@ +#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 + exposedField SFFloat frameRate 30 +] +{ + 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 + } +} +DEF sample3dof Humanoid { + humanoidBody [ + DEF BaseJ Joint { + jointType "free" + jointAxis 0 0 0 + gearRatio 0 + torqueConst 0 + encoderPulse 0 + children [ + DEF Base Segment { + mass 4 + centerOfMass 0 0 0 + momentsOfInertia [2.66667 0 0 0 2.66667 0 0 0 2.66667 ] + children [ + Transform { + scale 1 1 1 + children [ + Shape { + geometry IndexedFaceSet{ + coord Coordinate{ + point[ + 0 -4.44089e-18 -0.01 + 0.03 -4.44089e-18 -0.01 + 0.03 -4.44089e-18 -0.01 + 0 4.44089e-18 0.01 + 0.03 4.44089e-18 0.01 + 0.03 4.44089e-18 0.01 + 0.03 -4.44089e-18 -0.01 + 0.03 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0 0 0.2 ] + children [ + Transform { + scale 1 1 1 + children [ + Shape { + geometry IndexedFaceSet{ + coord Coordinate{ + point[ + 0.16 0.01 0.005 + 0.16 -0.01 0.005 + 0.16 0.01 -0.005 + 0.16 0.01 -0.005 + 0.16 -0.01 0.005 + 0.16 -0.01 -0.005 + 0 0.01 0.005 + 0 0.01 -0.005 + 0 -0.01 0.005 + 0 0.01 -0.005 + 0 -0.01 -0.005 + 0 -0.01 0.005 + 0.16 0.01 0.005 + 0.16 0.01 -0.005 + 0 0.01 0.005 + 0.16 0.01 -0.005 + 0 0.01 -0.005 + 0 0.01 0.005 + 0.16 -0.01 0.005 + 0 -0.01 0.005 + 0.16 -0.01 -0.005 + 0.16 -0.01 -0.005 + 0 -0.01 0.005 + 0 -0.01 -0.005 + 0.16 0.01 0.005 + 0 0.01 0.005 + 0.16 -0.01 0.005 + 0.16 -0.01 0.005 + 0 0.01 0.005 + 0 -0.01 0.005 + 0.16 0.01 -0.005 + 0.16 -0.01 -0.005 + 0 0.01 -0.005 + 0.16 -0.01 -0.005 + 0 -0.01 -0.005 + 0 0.01 -0.005 + ] + } #Coordinates + coordIndex [ + 0,1,2, -1, + 3,4,5, -1, + 6,7,8, -1, + 9,10,11, -1, + 12,13,14, -1, + 15,16,17, -1, + 18,19,20, -1, + 21,22,23, -1, + 24,25,26, -1, + 27,28,29, -1, + 30,31,32, -1, + 33,34,35, -1, + ] + normal Normal{ + vector [ + -1 0 0, + -1 0 0, + -1 0 0, + -1 0 0, + -1 0 0, + -1 0 0, + 1 0 0, + 1 0 0, + 1 0 0, + 1 -0 0, + 1 -0 0, + 1 -0 0, + 0 -1 0, + 0 -1 0, + 0 -1 0, + 0 -1 0, + 0 -1 0, + 0 -1 0, + 0 1 0, + 0 1 0, + 0 1 0, + -0 1 0, + -0 1 0, + -0 1 0, + 0 0 -1, + 0 0 -1, + 0 0 -1, + 0 0 -1, + 0 0 -1, + 0 0 -1, + 0 0 1, + 0 0 1, + 0 0 1, + -0 0 1, + -0 0 1, + -0 0 1, + ] + } #Normal + normalIndex [ + ] + normalPerVertex TRUE + solid FALSE + colorPerVertex FALSE + } #IndexedFaceSet + appearance Appearance{ + material Material{ + ambientIntensity 0.333333 + diffuseColor 1 0 0 + emissiveColor 0 0 0 + shininess 0 + specularColor 0 0 0 + transparency 0 + } #Material + } #Appearance + } #Shape + ] + } #Transform + ] + } #Segment Arm_Joint0_s + DEF Arm_Joint1 Joint { + translation 0.15 0 0 + rotation 5.55112e-17 1 2.77556e-17 1.5708 + jointId 1 + jointType "rotate" + jointAxis 0 1 2.22045e-16 + uvlimit 4 + lvlimit -4 + gearRatio 0 + torqueConst 0 + encoderPulse 0 + children [ + DEF Arm1 Segment { + mass 2 + centerOfMass 0.08 -8.88178e-18 0 + momentsOfInertia [0.05 -2.73691e-49 -8.32667e-18 -2.73691e-49 0.1 -1.54074e-33 -8.32667e-18 -1.54074e-33 0.1 ] + children [ + Transform { + scale 1 1 1 + children [ + Shape { + geometry IndexedFaceSet{ + coord Coordinate{ + point[ + -0.005 0.0075 0.16 + -0.005 -0.0075 0.16 + 0.005 0.0075 0.16 + 0.005 0.0075 0.16 + -0.005 -0.0075 0.16 + 0.005 -0.0075 0.16 + -0.005 0.0075 0 + 0.005 0.0075 0 + -0.005 -0.0075 0 + 0.005 0.0075 0 + 0.005 -0.0075 0 + -0.005 -0.0075 0 + -0.005 0.0075 0.16 + 0.005 0.0075 0.16 + -0.005 0.0075 0 + 0.005 0.0075 0.16 + 0.005 0.0075 0 + -0.005 0.0075 0 + -0.005 -0.0075 0.16 + -0.005 -0.0075 0 + 0.005 -0.0075 0.16 + 0.005 -0.0075 0.16 + -0.005 -0.0075 0 + 0.005 -0.0075 0 + -0.005 0.0075 0.16 + -0.005 0.0075 0 + -0.005 -0.0075 0.16 + -0.005 -0.0075 0.16 + -0.005 0.0075 0 + -0.005 -0.0075 0 + 0.005 0.0075 0.16 + 0.005 -0.0075 0.16 + 0.005 0.0075 0 + 0.005 -0.0075 0.16 + 0.005 -0.0075 0 + 0.005 0.0075 0 + ] + } #Coordinates + coordIndex [ + 0,1,2, -1, + 3,4,5, -1, + 6,7,8, -1, + 9,10,11, -1, + 12,13,14, -1, + 15,16,17, -1, + 18,19,20, -1, + 21,22,23, -1, + 24,25,26, -1, + 27,28,29, -1, + 30,31,32, -1, + 33,34,35, -1, + ] + normal Normal{ + vector [ + 0 0 -1, + 0 0 -1, + 0 0 -1, + 0 0 -1, + 0 0 -1, + 0 0 -1, + 0 -0 1, + 0 -0 1, + 0 -0 1, + 0 0 1, + 0 0 1, + 0 0 1, + 0 -1 0, + 0 -1 0, + 0 -1 0, + 0 -1 0, + 0 -1 0, + 0 -1 0, + 0 1 -0, + 0 1 -0, + 0 1 -0, + 0 1 0, + 0 1 0, + 0 1 0, + 1 0 0, + 1 0 0, + 1 0 0, + 1 0 -0, + 1 0 -0, + 1 0 -0, + -1 0 0, + -1 0 0, + -1 0 0, + -1 0 0, + -1 0 0, + -1 0 0, + ] + } #Normal + normalIndex [ + ] + normalPerVertex TRUE + solid FALSE + colorPerVertex FALSE + } #IndexedFaceSet + appearance Appearance{ + material Material{ + ambientIntensity 0.333333 + diffuseColor 0 1 0 + emissiveColor 0 0 0 + shininess 0 + specularColor 0 0 0 + transparency 0 + } #Material + } #Appearance + } #Shape + ] + } #Transform + ] + } #Segment Arm_Joint1_s + DEF Arm_Joint2 Joint { + translation 0 0 0.15 + rotation 1 -5.55112e-17 2.77556e-17 1.5708 + jointId 2 + jointType "rotate" + jointAxis 1 0 2.22045e-16 + uvlimit 2 + lvlimit -2 + gearRatio 0 + torqueConst 0 + encoderPulse 0 + children [ + DEF Arm2 Segment { + mass 1 + centerOfMass 0.04 0 4.44089e-18 + momentsOfInertia [0.02 5.55112e-19 -5.55112e-19 5.55112e-19 0.05 5.55112e-18 -5.55112e-19 5.55112e-18 0.05 ] + children [ + Transform { + scale 1 1 1 + children [ + Shape { + geometry IndexedFaceSet{ + coord Coordinate{ + point[ + 0.005 0.08 0.005 + 0.005 0 0.005 + 0.005 0.08 -0.005 + 0.005 0.08 -0.005 + 0.005 0 0.005 + 0.005 0 -0.005 + -0.005 0.08 0.005 + -0.005 0.08 -0.005 + -0.005 0 0.005 + -0.005 0.08 -0.005 + -0.005 0 -0.005 + -0.005 0 0.005 + 0.005 0.08 0.005 + 0.005 0.08 -0.005 + -0.005 0.08 0.005 + 0.005 0.08 -0.005 + -0.005 0.08 -0.005 + -0.005 0.08 0.005 + 0.005 0 0.005 + -0.005 0 0.005 + 0.005 0 -0.005 + 0.005 0 -0.005 + -0.005 0 0.005 + -0.005 0 -0.005 + 0.005 0.08 0.005 + -0.005 0.08 0.005 + 0.005 0 0.005 + 0.005 0 0.005 + -0.005 0.08 0.005 + -0.005 0 0.005 + 0.005 0.08 -0.005 + 0.005 0 -0.005 + -0.005 0.08 -0.005 + 0.005 0 -0.005 + -0.005 0 -0.005 + -0.005 0.08 -0.005 + ] + } #Coordinates + coordIndex [ + 0,1,2, -1, + 3,4,5, -1, + 6,7,8, -1, + 9,10,11, -1, + 12,13,14, -1, + 15,16,17, -1, + 18,19,20, -1, + 21,22,23, -1, + 24,25,26, -1, + 27,28,29, -1, + 30,31,32, -1, + 33,34,35, -1, + ] + normal Normal{ + vector [ + -1 0 0, + -1 0 0, + -1 0 0, + -1 0 0, + -1 0 0, + -1 0 0, + 1 0 0, + 1 0 0, + 1 0 0, + 1 -0 0, + 1 -0 0, + 1 -0 0, + 0 -1 0, + 0 -1 0, + 0 -1 0, + 0 -1 0, + 0 -1 0, + 0 -1 0, + 0 1 0, + 0 1 0, + 0 1 0, + -0 1 0, + -0 1 0, + -0 1 0, + 0 0 -1, + 0 0 -1, + 0 0 -1, + 0 0 -1, + 0 0 -1, + 0 0 -1, + 0 0 1, + 0 0 1, + 0 0 1, + -0 0 1, + -0 0 1, + -0 0 1, + ] + } #Normal + normalIndex [ + ] + normalPerVertex TRUE + solid FALSE + colorPerVertex FALSE + } #IndexedFaceSet + appearance Appearance{ + material Material{ + ambientIntensity 0.333333 + diffuseColor 0 0 1 + emissiveColor 0 0 0 + shininess 0 + specularColor 0 0 0 + transparency 0 + } #Material + } #Appearance + } #Shape + ] + } #Transform + ] + } #Segment Arm_Joint2_s + ] + } #JointArm_Joint2 + ] + } #JointArm_Joint1 + ] + } #JointArm_Joint0 + ] + } #JointBase + ] + joints [ + USE BaseJ, + USE Arm_Joint0, + USE Arm_Joint1, + USE Arm_Joint2, + ] + segments [ + USE Base, + USE Arm0, + USE Arm1, + USE Arm2, + ] + name "sample3dof" + info [ + ] +}