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[simspark-cvs] simspark/simulations/parts/ros aibo.ros,NONE,1.1 aibo.rsi,NONE,1.1 blockworld.ros,NONE,1.1 bsmart.ros,NONE,1.1 demo1.ros,NONE,1.1 factory.ros,NONE,1.1 friction.ros,NONE,1.1 surfaces.rsi,NONE,1.1 vehicle.ros,NONE,1.1
Update of /cvsroot/simspark/simspark/simulations/parts/ros In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv30762/ros Added Files: aibo.ros aibo.rsi blockworld.ros bsmart.ros demo1.ros factory.ros friction.ros surfaces.rsi vehicle.ros Log Message: - added rsg and ros example files --- NEW FILE: blockworld.ros --- <Simulation xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="RoSi.xsd"> <AppearanceDefinition name="red"> <Color r="255" g="0" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="dark blue"> <Color r="0" g="0" b="128"/> </AppearanceDefinition> <AppearanceDefinition name="green"> <Color r="0" g="200" b="0"/> <!-- <Alpha a="0.5"/> --> </AppearanceDefinition> <AppearanceDefinition name="yellow"> <Color r="220" g="220" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="orange"> <Color r="250" g="150" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="glass"> <Color r="200" g="200" b="200"/> <Alpha a="0.3"/> </AppearanceDefinition> <AppearanceDefinition name="background"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <Scene name="BlockWorld" description="Weird block world with a pendulum and some sensors."> <Background surface="background"/> <AmbientLightColor r="150" g="150" b="150"/> <DefaultAppearance ref="dark blue"/> <GlobalPhysicalParameters gravity="-0.0005" erp="0.2" cfm="0.0001" defaultRollingFrictionCoefficient="0.0001"/> <SimulationParameters stepLength="0.33" standardLength="0.1" applyDynamicsForceFactor="10.0"/> <Elements> <Box name="Ground" length="2.1" width="2.1" height="0.2"> <Translation x="0" y="0" z="-0.1"/> <Appearance ref="dark blue"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side1" length="2.1" width="0.1" height="0.2"> <Translation x="0.0" y="1.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side2" length="2.1" width="0.1" height="0.2"> <Translation x="0.0" y="-1.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side3" length="0.1" width="2" height="0.2"> <Translation x="1.0" y="0.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side4" length="0.1" width="2" height="0.2"> <Translation x="-1.0" y="0.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="SwingPole1" length="0.1" width="0.1" height="0.4"> <Translation x="0" y="-0.2" z="0.2"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="SwingPole2" length="0.1" width="0.1" height="0.4"> <Translation x="0" y="0.2" z="0.2"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="SwingBar" length="0.1" width="0.5" height="0.1"> <Translation x="0" y="0" z="0.45"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> <Elements> <Hinge name="SwingJoint"> <AnchorPoint x="0.0" y="0.0" z="0.0" /> <Axis x="0.0" y="1.0" z="0.0"/> <Elements> <Movable name="swing"> <Elements> <Box name="Pendulum" length="0.04" width="0.04" height="0.04"> <Translation x="0.1" y="0.0" z="0.25"/> <Appearance ref="orange"/> <PhysicalAttributes> <Mass value="1"/> </PhysicalAttributes> <Elements> <Camera name="cam1"> <Translation x="0.0" y="0.0" z="-0.07"/> <Rotation x="0.0" y="90" z="0.0"/> <Resolution x="100" y="100"/> <OpeningAngles x="90" y="90"/> <Range near="0.01" far="10"/> <PerspectiveProjection/> </Camera> </Elements> </Box> </Elements> </Movable> </Elements> </Hinge> </Elements> </Box> <Movable name="dominostone1"> <Elements> <Box name="Stone1" length="0.02" width="0.08" height="0.2"> <Translation x="0.1" y="0.0" z="0.1"/> <Appearance ref="yellow"/> <PhysicalAttributes> <Mass value="0.1"/> </PhysicalAttributes> </Box> </Elements> </Movable> <Movable name="dominostone2"> <Elements> <Box name="Stone2" length="0.02" width="0.08" height="0.2"> <Translation x="0.25" y="0.0" z="0.1"/> <Appearance ref="yellow"/> <PhysicalAttributes> <Mass value="0.1"/> </PhysicalAttributes> </Box> </Elements> </Movable> <Movable name="dominostone3"> <Elements> <Box name="Stone3" length="0.02" width="0.08" height="0.2"> <Translation x="0.4" y="0.0" z="0.1"/> <Appearance ref="yellow"/> <PhysicalAttributes> <Mass value="0.1"/> </PhysicalAttributes> </Box> </Elements> </Movable> <Movable name="dominostone4"> <Elements> <Box name="Stone4" length="0.02" width="0.08" height="0.2"> <Translation x="0.55" y="0.0" z="0.1"/> <Appearance ref="yellow"/> <PhysicalAttributes> <Mass value="0.1"/> </PhysicalAttributes> </Box> </Elements> </Movable> <Movable name="cylinder1"> <Elements> <Cylinder name="Cylinder" radius="0.04" height="0.2"> <Translation x="-0.4" y="0.57" z="0.04"/> <Rotation x="90" y="0" z="0"/> <Appearance ref="green"/> <PhysicalAttributes> <Mass value="3"/> </PhysicalAttributes> </Cylinder> </Elements> </Movable> <Movable name="seesaw"> <Elements> <Box name="Seesaw" length="0.4" width="0.08" height="0.02"> <Translation x="-0.4" y="0.5" z="0.2"/> <Appearance ref="yellow"/> <PhysicalAttributes> <Mass value="2"/> </PhysicalAttributes> </Box> </Elements> </Movable> <Movable name="ball"> <Elements> <Sphere name="Ball" radius="0.06"> <Translation x="-0.2" y="0.5" z="0.28"/> <Appearance ref="orange"/> <PhysicalAttributes> <Mass value="1"/> </PhysicalAttributes> <Elements> <Camera name="hallo"> <Translation x="0.0" y="0.0" z="-0.07"/> <Rotation x="0.0" y="90" z="0.0"/> <Resolution x="100" y="100"/> <OpeningAngles x="90" y="90"/> <Range near="0.01" far="10"/> <PerspectiveProjection/> </Camera> <DistanceSensor name="halloDistance"> <Translation x="0.0" y="0.0" z="-0.07"/> <Rotation x="0.0" y="90" z="0.0"/> <Resolution x="40" y="1"/> <OpeningAngles x="90" y="2"/> <Range near="0.01" far="10"/> <SphericalProjection/> </DistanceSensor> </Elements> </Sphere> </Elements> </Movable> <Movable name="ball2"> <Elements> <Sphere name="Ball2" radius="0.05"> <Translation x="-0.6" y="0.5" z="0.4"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Sphere> </Elements> </Movable> <Movable name="dominostone5"> <Elements> <Box name="Stone5" length="0.02" width="0.08" height="0.2"> <Translation x="0.1" y="-0.5" z="0.1"/> <Appearance ref="yellow"/> <PhysicalAttributes> <Mass value="0.1"/> </PhysicalAttributes> </Box> </Elements> </Movable> <Movable name="dominostone6"> <Elements> <Box name="Stone6" length="0.02" width="0.08" height="0.2"> <Translation x="0.2" y="-0.5" z="0.1"/> <Appearance ref="yellow"/> <PhysicalAttributes> <Mass value="0.1"/> </PhysicalAttributes> </Box> </Elements> </Movable> <Movable name="dominostone7"> <Elements> <Box name="Stone7" length="0.02" width="0.08" height="0.2"> <Translation x="0.3" y="-0.5" z="0.1"/> <Appearance ref="orange"/> <PhysicalAttributes> <Mass value="0.1"/> </PhysicalAttributes> </Box> </Elements> </Movable> <Movable name="dominostone8"> <Elements> <Box name="Stone8" length="0.02" width="0.08" height="0.2"> <Translation x="0.4" y="-0.5" z="0.1"/> <Appearance ref="yellow"/> <PhysicalAttributes> <Mass value="0.1"/> </PhysicalAttributes> </Box> </Elements> </Movable> <Movable name="cappedcylinder"> <Elements> <CappedCylinder name="CappedCylinder" radius="0.05" height="0.15"> <Translation x="0.3" y="-0.5" z="0.5"/> <Rotation x="0" y="80" z="0"/> <Appearance ref="green"/> <PhysicalAttributes> <Mass value="1"/> </PhysicalAttributes> </CappedCylinder> </Elements> </Movable> </Elements> </Scene> </Simulation> --- NEW FILE: factory.ros --- <Simulation xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="simrobot.xsd"> <AppearanceDefinition name="red"> <Color r="255" g="0" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="dark blue"> <Color r="0" g="0" b="128"/> </AppearanceDefinition> <AppearanceDefinition name="green"> <Color r="0" g="200" b="80"/> </AppearanceDefinition> <AppearanceDefinition name="yellow"> <Color r="220" g="220" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="orange"> <Color r="250" g="150" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="glass"> <Color r="200" g="200" b="200"/> <Alpha a="0.3"/> </AppearanceDefinition> <AppearanceDefinition name="background"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="metal"> <Color r="120" g="120" b="120"/> </AppearanceDefinition> <MaterialDefinition name="Stone"> <FrictionCoefficient otherMaterial="Wood" value="1.0"/> </MaterialDefinition> <MaterialDefinition name="Steel"> <FrictionCoefficient otherMaterial="Wood" value="0.1"/> </MaterialDefinition> <MaterialDefinition name="Wood"/> <VertexList name="SomePoints"> <Vertex name="p1" x="1" y="1" z="1"/> <Vertex name="p2" x="1" y="2" z="1"/> <Vertex name="p3" x="2" y="2" z="1"/> <Vertex name="p4" x="2" y="1" z="1"/> </VertexList> <Scene name="Factory" description="A simple factory demonstration with blocks being sensed and automatically pushed to the right place."> <Background surface="background"/> <AmbientLightColor r="150" g="150" b="150"/> <DefaultAppearance ref="dark blue"/> <GlobalPhysicalParameters gravity="-9.81" erp="0.2" cfm="0.0001" contactSoftnessERP="0.2" contactSoftnessCFM="0.005"/> <SimulationParameters stepLength="0.005" standardLength="0.1" applyDynamicsForceFactor="10.0"/> <Elements> <Box name="Ground" length="2.1" width="2.1" height="0.2"> <Translation x="0" y="0" z="-0.1"/> <Appearance ref="dark blue"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Pole" length="0.1" width="0.1" height="1.0"> <Translation x="0.3" y="-0.6" z="0.5"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> <Elements> <DistanceSensor name="distance1"> <Translation x="-0.06" y="0.0" z="0.04"/> <Rotation x="0.0" y="180.0" z="0.0"/> <Resolution x="1" y="1"/> <OpeningAngles x="1" y="1"/> <Range near="0.0" far="0.6"/> <SphericalProjection/> </DistanceSensor> <DistanceSensor name="distance2"> <Translation x="-0.06" y="0.0" z="0.07"/> <Rotation x="0.0" y="180.0" z="0.0"/> <Resolution x="1" y="1"/> <OpeningAngles x="1" y="1"/> <Range near="0.0" far="0.6"/> <SphericalProjection/> </DistanceSensor> <DistanceSensor name="distance3"> <Translation x="-0.06" y="0.0" z="0.105"/> <Rotation x="0.0" y="180.0" z="0.0"/> <Resolution x="1" y="1"/> <OpeningAngles x="1" y="1"/> <Range near="0.0" far="0.6"/> <SphericalProjection/> </DistanceSensor> </Elements> </Box> <Box name="Side1" length="2.1" width="0.1" height="0.2"> <Translation x="0.0" y="1.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side2" length="2.1" width="0.1" height="0.2"> <Translation x="0.0" y="-1.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side3" length="0.1" width="2" height="0.2"> <Translation x="1.0" y="0.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side4" length="0.1" width="2" height="0.2"> <Translation x="-1.0" y="0.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side4" length="0.1" width="2" height="0.2"> <Translation x="-1.0" y="0.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="part1" length="0.1" width="1.6" height="0.05"> <Translation x="0.15" y="0.0" z="0.5"/> <Appearance ref="metal"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="part2" length="0.1" width="1.6" height="0.05"> <Translation x="-0.15" y="0.0" z="0.5"/> <Appearance ref="metal"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="part3" length="0.2" width="0.4" height="0.05"> <Translation x="0.0" y="-0.6" z="0.5"/> <Appearance ref="metal"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> <Elements> <Hinge name="trapDoor1Hinge"> <AnchorPoint x="0.0" y="0.2" z="0.0" /> <Axis x="1.0" y="0.0" z="0.0"> <Deflection min="-90.0" max="1.0"/> <AngularMotor name ="td1motor" maxVelocity="5.0" maxForce="1000.0"> <PController pControlFactor="10" stopBias="0.0"/> </AngularMotor> </Axis> <Elements> <Bumper name="trapDoor1Sensor"> <Elements> <Box name="trapDoor1" length="0.18" width="0.18" height="0.05"> <Translation x="0.0" y="0.1" z="0.0"/> <Appearance ref="green"/> <Material name="Wood"/> <PhysicalAttributes> <Mass value="1.0"/> </PhysicalAttributes> </Box> </Elements> </Bumper> </Elements> </Hinge> </Elements> </Box> <Box name="part4" length="0.2" width="0.1" height="0.05"> <Translation x="0.0" y="-0.14" z="0.5"/> <Appearance ref="metal"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> <Elements> <Hinge name="trapDoor2Hinge"> <AnchorPoint x="0.0" y="0.05" z="0.0" /> <Axis x="1.0" y="0.0" z="0.0"> <Deflection min="-90.0" max="1.0"/> <AngularMotor name ="td2motor" maxVelocity="5.0" maxForce="1000.0"> <PController pControlFactor="10" stopBias="0.0"/> </AngularMotor> </Axis> <Elements> <Bumper name="trapDoor2Sensor"> <Elements> <Box name="trapDoor2" length="0.18" width="0.18" height="0.05"> <Translation x="0.0" y="0.1" z="0.0"/> <Appearance ref="red"/> <Material name="Wood"/> <PhysicalAttributes> <Mass value="1.0"/> </PhysicalAttributes> </Box> </Elements> </Bumper> </Elements> </Hinge> </Elements> </Box> <Box name="part5" length="0.2" width="0.1" height="0.05"> <Translation x="0.0" y="0.17" z="0.5"/> <Appearance ref="metal"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> <Elements> <Hinge name="trapDoor3Hinge"> <AnchorPoint x="0.0" y="0.05" z="0.0" /> <Axis x="1.0" y="0.0" z="0.0"> <Deflection min="-90.0" max="1.0"/> <AngularMotor name ="td3motor" maxVelocity="5.0" maxForce="1000.0"> <PController pControlFactor="10" stopBias="0.0"/> </AngularMotor> </Axis> <Elements> <Bumper name="trapDoor3Sensor"> <Elements> <Box name="trapDoor3" length="0.18" width="0.18" height="0.05"> <Translation x="0.0" y="0.1" z="0.0"/> <Appearance ref="yellow"/> <Material name="Wood"/> <PhysicalAttributes> <Mass value="1.0"/> </PhysicalAttributes> </Box> </Elements> </Bumper> </Elements> </Hinge> </Elements> </Box> <Box name="part6" length="0.2" width="0.36" height="0.05"> <Translation x="0.0" y="0.62" z="0.5"/> <Appearance ref="metal"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="part7" length="0.4" width="1.6" height="0.05"> <Translation x="0.0" y="0.0" z="0.15"/> <Rotation x="0.0" y="-35.0" z="0.0"/> <Appearance ref="metal"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="part0" length="0.4" width="0.1" height="0.8"> <Translation x="0.0" y="-0.8" z="0.3"/> <Appearance ref="metal"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> <Elements> <Slider name="sliderJoint"> <Axis x="0.0" y="1.0" z=".0"> <Deflection min="0.01" max="1.4"/> <AngularMotor name ="MixMotor" maxVelocity="50.0" maxForce="1000.0"> <PController pControlFactor="15.0" stopBias="0.01"/> </AngularMotor> </Axis> <Elements> <Box name="SlideBox" length="0.2" width="0.04" height="0.08"> <Translation x="0.0" y="0.1" z="0.27"/> <Appearance ref="orange"/> <PhysicalAttributes> <Mass value="1"/> </PhysicalAttributes> </Box> </Elements> </Slider> <Box name="part10" length="0.4" width="0.4" height="0.1"> <Translation x="0.0" y="-0.25" z="0.35"/> <Appearance ref="metal"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> </Elements> </Box> <!--Blocks--> <Movable name="Box1"> <Elements> <Box name="box1" length="0.1" width="0.1" height="0.1"> <Translation x="0.0" y="-0.8" z="1.0"/> <Appearance ref="yellow"/> <Material name="Stone"/> <PhysicalAttributes> <Mass value="0.5"/> </PhysicalAttributes> </Box> </Elements> </Movable> <Movable name="Box2"> <Elements> <Box name="box2" length="0.1" width="0.1" height="0.04"> <Translation x="0.0" y="-0.6" z="0.8"/> <Appearance ref="green"/> <Material name="Stone"/> <PhysicalAttributes> <Mass value="0.5"/> </PhysicalAttributes> </Box> </Elements> </Movable> <Movable name="Box3"> <Elements> <Box name="box3" length="0.1" width="0.1" height="0.06"> <Translation x="0.0" y="-1.0" z="1.0"/> <Appearance ref="red"/> <Material name="Stone"/> <PhysicalAttributes> <Mass value="0.5"/> </PhysicalAttributes> </Box> </Elements> </Movable> </Elements> </Scene> </Simulation> --- NEW FILE: friction.ros --- <Simulation xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="simrobot.xsd"> <AppearanceDefinition name="red"> <Color r="255" g="0" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="dark blue"> <Color r="0" g="0" b="128"/> </AppearanceDefinition> <AppearanceDefinition name="green"> <Color r="0" g="200" b="80"/> </AppearanceDefinition> <AppearanceDefinition name="yellow"> <Color r="220" g="220" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="orange"> <Color r="250" g="150" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="glass"> <Color r="200" g="200" b="200"/> <Alpha a="0.3"/> </AppearanceDefinition> <AppearanceDefinition name="background"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <MaterialDefinition name="Stone"> <FrictionCoefficient otherMaterial="Wood" value="5.3"/> </MaterialDefinition> <MaterialDefinition name="Steel"> <FrictionCoefficient otherMaterial="Wood" value="0.05"/> </MaterialDefinition> <MaterialDefinition name="Wood"/> <VertexList name="SomePoints"> <Vertex name="p1" x="1" y="1" z="1"/> <Vertex name="p2" x="1" y="2" z="1"/> <Vertex name="p3" x="2" y="2" z="1"/> <Vertex name="p4" x="2" y="1" z="1"/> </VertexList> <Scene name="Friction" description="Demonstration of friction."> <Background surface="background"/> <AmbientLightColor r="150" g="150" b="150"/> <DefaultAppearance ref="dark blue"/> <GlobalPhysicalParameters gravity="-9.81" erp="0.2" cfm="0.0001" contactSoftnessERP="0.5" contactSoftnessCFM="0.01"/> <SimulationParameters stepLength="0.0033" standardLength="0.1" applyDynamicsForceFactor="10.0"/> <Elements> <!-- <ComplexShape name="hallo-test"> <VertexList name="SomeOtherPoints"> <Vertex name="p1" x="1" y="1" z="1"/> <Vertex name="p2" x="1" y="2" z="1"/> <Vertex name="p3" x="2" y="2" z="1"/> <Vertex name="p4" x="2" y="1" z="1"/> </VertexList> <GraphicalRepresentation vertexList="SomePoints"> </GraphicalRepresentation> <PhysicalRepresentation></PhysicalRepresentation> </ComplexShape> --> <Box name="Ground" length="2.1" width="2.1" height="0.2"> <Translation x="0" y="0" z="-0.1"/> <Appearance ref="dark blue"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side1" length="2.1" width="0.1" height="0.2"> <Translation x="0.0" y="1.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Cylinder name="Test-Zylinder" height="0.3" radius="0.1"> <Translation x="0.0" y="1.0" z="0.3"/> <Appearance ref="orange"/> </Cylinder> <Box name="Side2" length="2.1" width="0.1" height="0.2"> <Translation x="0.0" y="-1.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side3" length="0.1" width="2" height="0.2"> <Translation x="1.0" y="0.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side4" length="0.1" width="2" height="0.2"> <Translation x="-1.0" y="0.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Corner1" length="0.1" width="0.6" height="0.2"> <Translation x="0.8" y="0.8" z="0.1"/> <Rotation x="0.0" y="0.0" z="45.0" /> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Corner2" length="0.1" width="0.6" height="0.2"> <Translation x="-0.8" y="-0.8" z="0.1"/> <Rotation x="0.0" y="0.0" z="45.0" /> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Corner3" length="0.1" width="0.6" height="0.2"> <Translation x="0.8" y="-0.8" z="0.1"/> <Rotation x="0.0" y="0.0" z="135.0" /> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Corner4" length="0.1" width="0.6" height="0.2"> <Translation x="-0.8" y="0.8" z="0.1"/> <Rotation x="0.0" y="0.0" z="135.0" /> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Schraege" length="1.0" width="0.6" height="0.2"> <Translation x="-0.3" y="0.0" z="0.1"/> <Rotation x="0.0" y="30.0" z="0.0" /> <Appearance ref="green"/> <Material name="Wood"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Movable name="mboxx1"> <Elements> <Box name="bocks1" length="0.1" width="0.1" height="0.05"> <Translation x="-0.4" y="-0.2" z="0.5"/> <Appearance ref="yellow"/> <Material name="Stone"/> <PhysicalAttributes> <Mass value="1.0"/> </PhysicalAttributes> </Box> </Elements> </Movable> <Movable name="mboxx2"> <Elements> <Box name="bocks2" length="0.1" width="0.1" height="0.05"> <Translation x="-0.4" y="0.2" z="0.5"/> <Appearance ref="orange"/> <Material name="Steel"/> <PhysicalAttributes> <Mass value="1.0"/> </PhysicalAttributes> </Box> </Elements> </Movable> <!-- <Movable name="ball8"> <Elements> <Sphere name="Ball8" radius="0.1"> <Translation x="-0.2" y="0.2" z="0.6"/> <Appearance ref="green"/> <PhysicalAttributes> <Mass value="2"/> </PhysicalAttributes> </Sphere> </Elements> </Movable> --> </Elements> </Scene> </Simulation> --- NEW FILE: surfaces.rsi --- <RoSiIncludeFile> <!-- The apearances of all objects: --> <AppearanceDefinition name="green"> <Color r="0" g="200" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="orange"> <Color r="250" g="150" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="background"> <Color r="178" g="178" b="178"/> <!-- <Color r="200" g="200" b="200"/> --> </AppearanceDefinition> <AppearanceDefinition name="white"> <Color r="255" g="255" b="255"/> </AppearanceDefinition> <AppearanceDefinition name="pink"> <Color r="255" g="0" b="255"/> </AppearanceDefinition> <AppearanceDefinition name="sky blue"> <Color r="128" g="204" b="255"/> </AppearanceDefinition> <AppearanceDefinition name="yellow"> <Color r="255" g="255" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="red"> <Color r="153" g="0" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="blue"> <Color r="0" g="0" b="76"/> </AppearanceDefinition> <!-- ***************** ERS-7 surfaces ******************************* --> <AppearanceDefinition name="body01.1"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="body01.2"> <Color r="68" g="68" b="68"/> </AppearanceDefinition> <AppearanceDefinition name="body02.1"> <Color r="73" g="73" b="73"/> </AppearanceDefinition> <AppearanceDefinition name="body03.1"> <Color r="68" g="68" b="68"/> </AppearanceDefinition> <AppearanceDefinition name="body03.2"> <Color r="72" g="72" b="72"/> </AppearanceDefinition> <AppearanceDefinition name="body03.3"> <Color r="5" g="5" b="5"/> </AppearanceDefinition> <AppearanceDefinition name="body04.1"> <Color r="6" g="6" b="6"/> </AppearanceDefinition> <AppearanceDefinition name="body05.1"> <Color r="75" g="75" b="75"/> </AppearanceDefinition> <AppearanceDefinition name="body06.1"> <Color r="68" g="68" b="68"/> </AppearanceDefinition> <AppearanceDefinition name="chops.1"> <Color r="205" g="205" b="205"/> </AppearanceDefinition> <AppearanceDefinition name="chops.2"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="head01.1"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="head02.1"> <Color r="68" g="68" b="68"/> </AppearanceDefinition> <AppearanceDefinition name="head02.2"> <Color r="5" g="5" b="5"/> </AppearanceDefinition> <AppearanceDefinition name="head03.1"> <Color r="26" g="26" b="26"/> </AppearanceDefinition> <AppearanceDefinition name="head04.1"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="head04.2"> <Color r="56" g="63" b="66"/> </AppearanceDefinition> <AppearanceDefinition name="head05.1"> <Color r="135" g="135" b="135"/> </AppearanceDefinition> <AppearanceDefinition name="head05.2"> <Color r="68" g="68" b="68"/> </AppearanceDefinition> <AppearanceDefinition name="head06.1"> <Color r="135" g="135" b="135"/> </AppearanceDefinition> <AppearanceDefinition name="head06.2"> <Color r="68" g="68" b="68"/> </AppearanceDefinition> <AppearanceDefinition name="lear01.1"> <Color r="73" g="73" b="73"/> </AppearanceDefinition> <AppearanceDefinition name="lear01.2"> <Color r="182" g="182" b="182"/> </AppearanceDefinition> <AppearanceDefinition name="lear02.1"> <Color r="221" g="235" b="239"/> </AppearanceDefinition> <AppearanceDefinition name="neck.1"> <Color r="68" g="68" b="68"/> </AppearanceDefinition> <AppearanceDefinition name="rear01.1"> <Color r="73" g="73" b="73"/> </AppearanceDefinition> <AppearanceDefinition name="rear01.2"> <Color r="182" g="182" b="182"/> </AppearanceDefinition> <AppearanceDefinition name="rear02.1"> <Color r="221" g="235" b="239"/> </AppearanceDefinition> <AppearanceDefinition name="larm01.1"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="larm02.1"> <Color r="68" g="68" b="68"/> </AppearanceDefinition> <AppearanceDefinition name="larm02.2"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="larm03.1"> <Color r="163" g="163" b="163"/> </AppearanceDefinition> <AppearanceDefinition name="larm03.2"> <Color r="73" g="73" b="73"/> </AppearanceDefinition> <AppearanceDefinition name="larm03.3"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="larm04.1"> <Color r="140" g="147" b="158"/> </AppearanceDefinition> <AppearanceDefinition name="larm04.2"> <Color r="56" g="63" b="66"/> </AppearanceDefinition> <AppearanceDefinition name="rarm01.1"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="rarm02.1"> <Color r="68" g="68" b="68"/> </AppearanceDefinition> <AppearanceDefinition name="rarm02.2"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="rarm03.1"> <Color r="163" g="163" b="163"/> </AppearanceDefinition> <AppearanceDefinition name="rarm03.2"> <Color r="73" g="73" b="73"/> </AppearanceDefinition> <AppearanceDefinition name="rarm03.3"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="rarm04.1"> <Color r="140" g="147" b="158"/> </AppearanceDefinition> <AppearanceDefinition name="rarm04.2"> <Color r="56" g="63" b="66"/> </AppearanceDefinition> <AppearanceDefinition name="lleg01.1"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="lleg02.1"> <Color r="68" g="68" b="68"/> </AppearanceDefinition> <AppearanceDefinition name="lleg02.2"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="lleg03.1"> <Color r="163" g="163" b="163"/> </AppearanceDefinition> <AppearanceDefinition name="lleg03.2"> <Color r="73" g="73" b="73"/> </AppearanceDefinition> <AppearanceDefinition name="lleg03.3"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="lleg04.1"> <Color r="140" g="147" b="158"/> </AppearanceDefinition> <AppearanceDefinition name="lleg04.2"> <Color r="56" g="63" b="66"/> </AppearanceDefinition> <AppearanceDefinition name="lleg04.3"> <Color r="68" g="68" b="68"/> </AppearanceDefinition> <AppearanceDefinition name="rleg01.1"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="rleg02.1"> <Color r="68" g="68" b="68"/> </AppearanceDefinition> <AppearanceDefinition name="rleg02.2"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="rleg03.1"> <Color r="163" g="163" b="163"/> </AppearanceDefinition> <AppearanceDefinition name="rleg03.2"> <Color r="73" g="73" b="73"/> </AppearanceDefinition> <AppearanceDefinition name="rleg03.3"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="rleg04.1"> <Color r="140" g="147" b="158"/> </AppearanceDefinition> <AppearanceDefinition name="rleg04.2"> <Color r="56" g="63" b="66"/> </AppearanceDefinition> <AppearanceDefinition name="rleg04.3"> <Color r="68" g="68" b="68"/> </AppearanceDefinition> <AppearanceDefinition name="tail01.1"> <Color r="73" g="73" b="73"/> </AppearanceDefinition> <AppearanceDefinition name="tail01.2"> <Color r="68" g="68" b="68"/> </AppearanceDefinition> <AppearanceDefinition name="tail02.1"> <Color r="221" g="235" b="239"/> </AppearanceDefinition> <!-- ***************** ERS-7 LED surfaces *************************** --> <AppearanceDefinition name="dark back led"> <Color r="166" g="166" b="166"/> </AppearanceDefinition> <AppearanceDefinition name="white back led"> <Color r="230" g="230" b="230"/> </AppearanceDefinition> <AppearanceDefinition name="red back led"> <Color r="179" g="0" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="orange back led"> <Color r="204" g="102" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="blue back led"> <Color r="0" g="0" b="179"/> </AppearanceDefinition> <AppearanceDefinition name="red white back led"> <Color r="230" g="153" b="128"/> </AppearanceDefinition> <AppearanceDefinition name="orange white back led"> <Color r="255" g="179" b="128"/> </AppearanceDefinition> <AppearanceDefinition name="blue white back led"> <Color r="128" g="128" b="230"/> </AppearanceDefinition> <AppearanceDefinition name="dark orange led"> <Color r="38" g="31" b="26"/> </AppearanceDefinition> <AppearanceDefinition name="dark blue led"> <Color r="26" g="26" b="51"/> </AppearanceDefinition> <AppearanceDefinition name="yellow head led"> <Color r="204" g="204" b="51"/> </AppearanceDefinition> <AppearanceDefinition name="pink head led"> <Color r="204" g="77" b="204"/> </AppearanceDefinition> <AppearanceDefinition name="turquoise head led"> <Color r="77" g="204" b="204"/> </AppearanceDefinition> <AppearanceDefinition name="green head led"> <Color r="77" g="230" b="77"/> </AppearanceDefinition> </RoSiIncludeFile> --- NEW FILE: demo1.ros --- <Simulation xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="RoSi.xsd"> <AppearanceDefinition name="red"> <Color r="255" g="0" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="dark blue"> <Color r="0" g="0" b="128"/> </AppearanceDefinition> <AppearanceDefinition name="green"> <Color r="0" g="200" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="yellow"> <Color r="220" g="220" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="orange"> <Color r="250" g="150" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="glass"> <Color r="200" g="200" b="200"/> <Alpha a="0.0"/> </AppearanceDefinition> <AppearanceDefinition name="background"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <Scene name="Demo1"> <Background surface="background"/> <AmbientLightColor r="150" g="150" b="150"/> <DefaultAppearance ref="dark blue"/> <GlobalPhysicalParameters gravity="-0.001" erp="0.2" cfm="0.0001"/> <SimulationParameters stepLength="0.33" standardLength="0.1"/> <Elements> <Box name="Ground" length="2.1" width="2.1" height="0.2"> <Translation x="0" y="0" z="-0.1"/> <Appearance ref="dark blue"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side1" length="2.1" width="0.1" height="0.2"> <Translation x="0.0" y="1.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side2" length="2.1" width="0.1" height="0.2"> <Translation x="0.0" y="-1.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side3" length="0.1" width="2" height="0.2"> <Translation x="1.0" y="0.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Box name="Side4" length="0.1" width="2" height="0.2"> <Translation x="-1.0" y="0.0" z="0.1"/> <Appearance ref="red"/> <PhysicalAttributes> <Mass value="10"/> </PhysicalAttributes> </Box> <Movable name="car"> <Elements> <Box name="Vehicle" length="0.2" width="0.2" height="0.1"> <Translation x="0" y="0" z="0.2"/> <Appearance ref="green"/> <PhysicalAttributes> <Mass value="2"/> </PhysicalAttributes> <Elements> <Hinge name="Joint1"> <AnchorPoint x="0.13" y="0.13" z="-0.01" /> <Axis x="1.0" y="0.0" z="0.0"> <VelocityMotor name ="Motor1" maxVelocity="0.05" maxForce="10.0"/> </Axis> <Elements> <Sphere name="Wheel1" radius="0.05"> <Translation x="0.05" y="0.0" z="0"/> <Appearance ref="yellow"/> <PhysicalAttributes> <Mass value="1"/> <CenterOfMass x="0" y="0" z="0"/> </PhysicalAttributes> </Sphere> </Elements> </Hinge> <Hinge name="Joint2"> <AnchorPoint x="-0.13" y="0.13" z="-0.01" /> <Axis x="1.0" y="0.0" z="0.0"> <VelocityMotor name ="Motor2" maxVelocity="0.05" maxForce="10.0"/> </Axis> <Elements> <Sphere name="Wheel2" radius="0.05"> <Translation x="-0.05" y="0.0" z="0"/> <Appearance ref="yellow"/> <PhysicalAttributes> <Mass value="1"/> <CenterOfMass x="0" y="0" z="0"/> </PhysicalAttributes> </Sphere> </Elements> </Hinge> <Hinge name="Joint3"> <AnchorPoint x="0.13" y="-0.13" z="-0.01" /> <Axis x="1.0" y="0.0" z="0.0"> <VelocityMotor name ="Motor3" maxVelocity="0.05" maxForce="10.0"/> </Axis> <Elements> <Sphere name="Wheel3" radius="0.05"> <Translation x="0.05" y="0.1" z="0"/> <Appearance ref="yellow"/> <PhysicalAttributes> <Mass value="1"/> <CenterOfMass x="0" y="0" z="0"/> </PhysicalAttributes> </Sphere> </Elements> </Hinge> <Hinge name="Joint4"> <AnchorPoint x="-0.13" y="-0.13" z="-0.01" /> <Axis x="1.0" y="0.0" z="0.0"> <VelocityMotor name ="Motor4" maxVelocity="0.05" maxForce="10.0"/> </Axis> <Elements> <Sphere name="Wheel4" radius="0.05"> <Translation x="-0.05" y="0.1" z="0"/> <Appearance ref="yellow"/> <PhysicalAttributes> <Mass value="1"/> <CenterOfMass x="0" y="0" z="0"/> </PhysicalAttributes> </Sphere> </Elements> </Hinge> </Elements> </Box> </Elements> </Movable> <Movable name="ball"> <Elements> <Sphere name="Ball1" radius="0.08"> <Translation x="0.3" y="0.0" z="0.5"/> <Appearance ref="orange"/> <PhysicalAttributes> <Mass value="1"/> <CenterOfMass x="0" y="0" z="0"/> </PhysicalAttributes> </Sphere> </Elements> </Movable> </Elements> </Scene> </Simulation> --- NEW FILE: aibo.ros --- <Simulation xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="RoSi.xsd"> <Scene> <Background surface="background"/> <AmbientLightColor r="150" g="150" b="150"/> <DefaultAppearance ref="dark blue"/> <GlobalPhysicalParameters gravity="-0.0005" erp="0.2" cfm="0.0001" defaultRollingFrictionCoefficient="0.0001"/> <SimulationParameters stepLength="0.33" standardLength="0.1" applyDynamicsForceFactor="10.0"/> <Elements> <Use macroName="ERS-7"/> </Elements> </Scene> </Simulation> --- NEW FILE: bsmart.ros --- <Simulation xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="RoSi.xsd"> <!-- The apearances of all objects: --> <AppearanceDefinition name="field green"> <Color r="0" g="200" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="orange"> <Color r="250" g="150" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="yellow"> <Color r="255" g="255" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="green"> <Color r="0" g="255" b="0"/> </AppearanceDefinition> <AppearanceDefinition name="background"> <Color r="200" g="200" b="200"/> </AppearanceDefinition> <AppearanceDefinition name="hide"> <Color r="170" g="170" b="170"/> </AppearanceDefinition> <AppearanceDefinition name="white"> <Color r="255" g="255" b="255"/> </AppearanceDefinition> <AppearanceDefinition name="LightGray"> <Color r="150" g="150" b="150"/> </AppearanceDefinition> <AppearanceDefinition name="VeryDarkGray"> <Color r="20" g="20" b="20"/> </AppearanceDefinition> <AppearanceDefinition name="MediumGray"> <Color r="100" g="100" b="100"/> </AppearanceDefinition> <AppearanceDefinition name="HullColor"> <Color r="0" g="0" b="0"/> </AppearanceDefinition> <MaterialDefinition name="golfball"> <FrictionCoefficient otherMaterial="gummi" value="10"/> </MaterialDefinition> <VertexList name="field coords"> <Vertex name="fieldOwnLeft" x="-2.46" y="1.71" z="0"/> <Vertex name="fieldOwnRight" x="-2.46" y="-1.71" z="0"/> <Vertex name="fieldOpponentLeft" x="2.46" y="1.71" z="0"/> <Vertex name="fieldOpponentRight" x="2.46" y="-1.71" z="0"/> <Vertex name="cornerOwnLeft" x="-2.45" y="1.7" z="0"/> <Vertex name="cornerOwnRight" x="-2.45" y="-1.7" z="0"/> <Vertex name="cornerOpponentLeft" x="2.45" y="1.7" z="0"/> <Vertex name="cornerOpponentRight" x="2.45" y="-1.7" z="0"/> <Vertex name="middleOwnLeft" x="-0.005" y="1.7" z="0"/> <Vertex name="middleOwnRight" x="-0.005" y="-1.7" z="0"/> <Vertex name="middleOpponentLeft" x="0.005" y="1.7" z="0"/> <Vertex name="middleOpponentRight" x="0.005" y="-1.7" z="0"/> <Vertex name="middleCircleA" x="0" y="0.4" z="0"/> <Vertex name="middleCircleB" x="0.069" y="0.394" z="0"/> <Vertex name="middleCircleC" x="0.137" y="0.376" z="0"/> <Vertex name="middleCircleD" x="0.2" y="0.346" z="0"/> <Vertex name="middleCircleE" x="0.257" y="0.306" z="0"/> <Vertex name="middleCircleF" x="0.306" y="0.257" z="0"/> <Vertex name="middleCircleG" x="0.346" y="0.2" z="0"/> <Vertex name="middleCircleH" x="0.376" y="0.137" z="0"/> <Vertex name="middleCircleI" x="0.394" y="0.069" z="0"/> <Vertex name="middleCircleJ" x="0.4" y="0" z="0"/> <Vertex name="middleCirclea" x="0" y="0.39" z="0"/> <Vertex name="middleCircleb" x="0.068" y="0.384" z="0"/> <Vertex name="middleCirclec" x="0.133" y="0.366" z="0"/> <Vertex name="middleCircled" x="0.195" y="0.338" z="0"/> <Vertex name="middleCirclee" x="0.251" y="0.299" z="0"/> <Vertex name="middleCirclef" x="0.299" y="0.251" z="0"/> <Vertex name="middleCircleg" x="0.338" y="0.195" z="0"/> <Vertex name="middleCircleh" x="0.366" y="0.133" z="0"/> <Vertex name="middleCirclei" x="0.384" y="0.068" z="0"/> <Vertex name="middleCirclej" x="0.39" y="0" z="0"/> <Vertex name="penaltyCircleA" x="0" y="0.5" z="0"/> <Vertex name="penaltyCircleB" x="0.087" y="0.492" z="0"/> <Vertex name="penaltyCircleC" x="0.171" y="0.47" z="0"/> <Vertex name="penaltyCircleD" x="0.25" y="0.433" z="0"/> <Vertex name="penaltyCircleE" x="0.321" y="0.383" z="0"/> <Vertex name="penaltyCircleF" x="0.383" y="0.321" z="0"/> <Vertex name="penaltyCircleG" x="0.433" y="0.25" z="0"/> <Vertex name="penaltyCircleH" x="0.47" y="0.171" z="0"/> <Vertex name="penaltyCircleI" x="0.492" y="0.087" z="0"/> <Vertex name="penaltyCircleJ" x="0.5" y="0" z="0"/> <Vertex name="penaltyCirclea" x="0" y="0.49" z="0"/> <Vertex name="penaltyCircleb" x="0.085" y="0.483" z="0"/> <Vertex name="penaltyCirclec" x="0.168" y="0.46" z="0"/> <Vertex name="penaltyCircled" x="0.245" y="0.424" z="0"/> <Vertex name="penaltyCirclee" x="0.315" y="0.375" z="0"/> <Vertex name="penaltyCirclef" x="0.375" y="0.315" z="0"/> <Vertex name="penaltyCircleg" x="0.424" y="0.245" z="0"/> <Vertex name="penaltyCircleh" x="0.46" y="0.168" z="0"/> <Vertex name="penaltyCirclei" x="0.483" y="0.085" z="0"/> <Vertex name="penaltyCirclej" x="0.49" y="0" z="0"/> </VertexList> <!-- The ball --> <Macro name="ball"> <Movable name="ball"> <Elements> <Sphere name="ball" radius="0.0215"> <Appearance ref="orange"/> <Material name="golfball"/> <PhysicalAttributes> <Mass value="0.046"/> </PhysicalAttributes> </Sphere> </Elements> </Movable> </Macro> <!-- The field --> <Macro name="quarter circle 40"> <ComplexShape name="lines"> <Translation x="0" y="0" z="0.0005"/> <Appearance ref="white"/> <GraphicalRepresentation vertexList="field coords"> <Polygon> <Vertex ref="middleCircleA"/> <Vertex ref="middleCircleB"/> <Vertex ref="middleCircleb"/> <Vertex ref="middleCirclea"/> </Polygon> <Polygon> <Vertex ref="middleCircleB"/> <Vertex ref="middleCircleC"/> <Vertex ref="middleCirclec"/> <Vertex ref="middleCircleb"/> </Polygon> <Polygon> <Vertex ref="middleCircleC"/> <Vertex ref="middleCircleD"/> <Vertex ref="middleCircled"/> <Vertex ref="middleCirclec"/> </Polygon> <Polygon> <Vertex ref="middleCircleD"/> <Vertex ref="middleCircleE"/> <Vertex ref="middleCirclee"/> <Vertex ref="middleCircled"/> </Polygon> <Polygon> <Vertex ref="middleCircleE"/> <Vertex ref="middleCircleF"/> <Vertex ref="middleCirclef"/> <Vertex ref="middleCirclee"/> </Polygon> <Polygon> <Vertex ref="middleCircleF"/> <Vertex ref="middleCircleG"/> <Vertex ref="middleCircleg"/> <Vertex ref="middleCirclef"/> </Polygon> <Polygon> <Vertex ref="middleCircleG"/> <Vertex ref="middleCircleH"/> <Vertex ref="middleCircleh"/> <Vertex ref="middleCircleg"/> </Polygon> <Polygon> <Vertex ref="middleCircleH"/> <Vertex ref="middleCircleI"/> <Vertex ref="middleCirclei"/> <Vertex ref="middleCircleh"/> </Polygon> <Polygon> <Vertex ref="middleCircleI"/> <Vertex ref="middleCircleJ"/> <Vertex ref="middleCirclej"/> <Vertex ref="middleCirclei"/> </Polygon> </GraphicalRepresentation> <PhysicalRepresentation/> </ComplexShape> </Macro> <Macro name="quarter circle 50"> <ComplexShape name="lines"> <Translation x="0" y="0" z="0.0005"/> <Appearance ref="white"/> <GraphicalRepresentation vertexList="field coords"> <Polygon> <Vertex ref="penaltyCircleA"/> <Vertex ref="penaltyCircleB"/> <Vertex ref="penaltyCircleb"/> <Vertex ref="penaltyCirclea"/> </Polygon> <Polygon> <Vertex ref="penaltyCircleB"/> <Vertex ref="penaltyCircleC"/> <Vertex ref="penaltyCirclec"/> <Vertex ref="penaltyCircleb"/> </Polygon> <Polygon> <Vertex ref="penaltyCircleC"/> <Vertex ref="penaltyCircleD"/> <Vertex ref="penaltyCircled"/> <Vertex ref="penaltyCirclec"/> </Polygon> <Polygon> <Vertex ref="penaltyCircleD"/> <Vertex ref="penaltyCircleE"/> <Vertex ref="penaltyCirclee"/> <Vertex ref="penaltyCircled"/> </Polygon> <Polygon> <Vertex ref="penaltyCircleE"/> <Vertex ref="penaltyCircleF"/> <Vertex ref="penaltyCirclef"/> <Vertex ref="penaltyCirclee"/> </Polygon> <Polygon> <Vertex ref="penaltyCircleF"/> <Vertex ref="penaltyCircleG"/> <Vertex ref="penaltyCircleg"/> <Vertex ref="penaltyCirclef"/> </Polygon> <Polygon> <Vertex ref="penaltyCircleG"/> <Vertex ref="penaltyCircleH"/> <Vertex ref="penaltyCircleh"/> <Vertex ref="penaltyCircleg"/> </Polygon> <Polygon> <Vertex ref="penaltyCircleH"/> <Vertex ref="penaltyCircleI"/> <Vertex ref="penaltyCirclei"/> <Vertex ref="penaltyCircleh"/> </Polygon> <Polygon> <Vertex ref="penaltyCircleI"/> <Vertex ref="penaltyCircleJ"/> <Vertex ref="penaltyCirclej"/> <Vertex ref="penaltyCirclei"/> </Polygon> </GraphicalRepresentation> <PhysicalRepresentation/> </ComplexShape> </Macro> <Macro name="field half"> <Compound> <Elements> <ComplexShape name="lines"> <Translation x="0" y="0" z="0.0005"/> <Appearance ref="white"/> <GraphicalRepresentation vertexList="field coords"> <Polygon> <Vertex ref="cornerOwnLeft"/> <Vertex ref="fieldOwnLeft"/> <Vertex ref="fieldOwnRight"/> <Vertex ref="cornerOwnRight"/> </Polygon> <Polygon> <Vertex ref="fieldOwnLeft"/> <Vertex ref="cornerOwnLeft"/> <Vertex ref="cornerOpponentLeft"/> <Vertex ref="fieldOpponentLeft"/> </Polygon> </GraphicalRepresentation> <PhysicalRepresentation/> </ComplexShape> <Use macroName="quarter circle 40" instanceName="quarter1"/> <Use macroName="quarter circle 40" instanceName="quarter2"> <Rotation x="0" y="0" z="90"/> </Use> <Use macroName="quarter circle 50" instanceName="quarter3"> <Translation x="-2.45" y="0" z="0"/> <Rotation x="0" y="0" z="-90"/> </Use> <Use macroName="quarter circle 50" instanceName="quarter3"> <Translation x="-2.45" y="0" z="0"/> <Rotation x="0" y="0" z="0"/> </Use> <Box name="side wall" length="5.52" width="0.01" height="0.1"> <Translation x="0" y="2.005" z="0.05"/> <Appearance ref="white"/> </Box> <Box name="goal wall" length="0.01" width="4" height="0.1"> <Translation x="2.755" y="0" z="0.05"/> <Appearance ref="white"/> </Box> </Elements> </Compound> </Macro> <Macro name="goal side"> <Box length="0.18" width="0.01" height="0.15"/> </Macro> <Macro name="goal back"> <Box length="0.01" width="0.72" height="0.15"/> </Macro> <Macro name="goal"> <Compound> <Elements> <Use macroName="goal side" instanceName="goal side 1"> <Translation x="0.09" y="0.355" z="0.075"/> </Use> <Use macroName="goal side" instanceName="goal side 2"> <Translation x="0.09" y="-0.355" z="0.075"/> </Use> <Use macroName="goal back" instanceName="goal back"> <Translation x="0.185" y="0" z="0.075"/> </Use> </Elements> </Compound> </Macro> <Macro name="field"> <Compound> <Elements> 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[truncated message content] |
