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k-okada/Sample6dofRobot.wrl

Last active April 15, 2021 08:27
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ROBOT=6dof ./pym.py Sample6dofRobot.wrl
Raw
link6.wrl
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llimit [-6.28319]
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rotation 0.0 0.0 1.0 0
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
]
}
}
Shape {
appearance Appearance {
material Material {
}
}
geometry DEF link6-FACES IndexedFaceSet {
creaseAngle 0.8
ccw TRUE
solid TRUE
colorPerVertex FALSE
color Color {
color [
0.0 0.0 0.996094,
]
}
coord DEF link6-COORD Coordinate {
point[
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colorIndex [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
]
}
}
Shape {
appearance Appearance {
material Material {
}
}
geometry DEF link6-FACES IndexedFaceSet {
creaseAngle 0.8
ccw TRUE
solid TRUE
colorPerVertex FALSE
color Color {
color [
0.0 0.0 0.996094,
]
}
coord DEF link6-COORD Coordinate {
point[
0.014434 -0.008333 0.140000,
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0.008333 0.014434 0.140000,
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colorIndex [
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]
}
}
]
} #Segment
]
} #link6
Raw
pym.py
#!/usr/bin/env python
## pym - revised by cxw42@github - devwrench.com
## Based on pym 1.2, by Robert F. Tobler, 10-Mar-2002
##
import sys
import os
import string
import time
start_time = time.clock()
class PymException(Exception): pass
class PymEndOfFile(PymException): pass # For use by text being processed
class PymExit(PymException): pass # ditto
class PymProcessingError(PymException): pass
# For reporting errors that pym detects in the input.
# Default values of system variables
PYM_PATH = []
PYM_PREFIX_MAP = { '/': ("/","END_") } # This translates a prefix so that
# special macro names can be used:
# e.g <[/KEY]> => <[END_KEY]>
# Prefixes must be recognizable by
# their 1st character (key in map).
PYM_EXPRESSION = ["<[","]>"]
# The default environment
ENVIRONMENT = {
"PYM_EXPRESSION": PYM_EXPRESSION,
"PYM_PREFIX_MAP": PYM_PREFIX_MAP,
"PYM_PATH": PYM_PATH,
"PymException": PymException, ## mirror the exceptions in pym
"PymEndOfFile": PymEndOfFile, ## environment
"PymExit": PymExit,
}
def pym_die(message, loc):
""" Convenience function for reporting fatal parsing errors. """
raise PymProcessingError(
"%s in '%s' at %d."%(message, loc[0], loc[1])
)
# end pym_die
def pym_expand_expressions(text, env, loc, out):
""" Expand inline expressions in _text_ in environment _env_.
Append the result to list _out_. """
(begin,end) = PYM_EXPRESSION # TODO get PYM_* from _env_ instead
prefix_map = PYM_PREFIX_MAP
begin_len = len(begin)
end_len = len(end)
if len(text) <= begin_len + end_len:
out.append(text)
else:
pos = 0
start = string.find(text, begin, pos)
# TODO check for ]> without preceding <[ ?
while (start >= 0):
stop = string.find(text, end, start+begin_len)
if stop < 0: pym_die("unterminated python macro", loc)
out.append(text[pos:start])
exp = string.strip(text[start+begin_len:stop])
prefix = prefix_map.get(exp[0])
try:
if prefix:
len_pr = len(prefix[0])
if len(exp) >= len_pr and exp[:len_pr] == prefix[0]:
value = eval(prefix[1]+exp[len_pr:], env, env)
else:
pym_die("illegal prefix '%s'" % exp[:len_pr], loc)
else:
value = eval(exp, env, env)
except PymException: raise
except NameError: raise # doesn't have lineno
except KeyError: raise # ditto
except ImportError: raise # ..
except AttributeError: raise # ditto
except TypeError: raise # ditto
except Exception, error:
error.filename = loc[0]
error.lineno = error.lineno + loc[1] + \
len(string.split(text[0:start],'\n'))
raise
pym_expand_expressions(str(value), env, loc, out)
pos = stop+end_len
start = string.find(text, begin, pos)
#end while start>0
out.append(text[pos:])
# end pym_expand_expressions()
def pym_dump_file_contents(filename, out):
""" Append the contents of _filename_ to list _out_. """
file = open(filename,"r")
out.append(file.read())
file.close()
# end pym_dump_file_contents()
def pym_expand_file(filename, env, out):
""" Process the contents of _filename_ in environment _env_.
Append the result to list _out_.
A filename of '' means use standard input. """
if filename=="": fd = sys.stdin
else: fd = open(filename,"r")
text = fd.read()
if filename != "": fd.close() # don't close stdin
pym_expand_string(filename, text, env, out)
# end pym_expand_file()
def pym_expand_string(filename, text, env, out, command_char='#'):
""" Process the (possibly multi-line) string _text_ in environment _env_.
Append the result to list _out_. """
# TODO add option to output a leader plus "##<loc>" at each line,
# so the output lines can be automatically mapped to the input lines.
lnum = 1
py_pos = -1
tx_pos = 0 # start of normal text
loc = (filename, 0)
pos = 0
# Whether the current block is being evaluated, based on #if
cond = True
condstack = []
# Whether we have already seen a True result in the current #if..elif..
succeeded = False
succeeded_stack = []
# Process input
lines = string.split(text, '\n')
# Skip shebang, if any
if len(lines[0]) > 2 and lines[0][:2] == '#!':
lines = lines[1:]
lnum = 2
for line in lines: # main loop
end = pos + len(line) + 1
if line and line[0] == command_char: # a command
if tx_pos >= 0: # first, expand any text we've seen so far
tx_start = tx_pos ; tx_pos = -1
try:
if cond and all(condstack):
pym_expand_expressions(text[tx_start:pos],
env, loc, out)
except PymEndOfFile: break
# Now process the command
if string.find(line,"end python") > 0:
if py_pos < 0: pym_die("superfluous end python", loc)
if cond and all(condstack):
# Run the Python code unless it is excluded by an #if test
try:
exec text[py_pos:pos] in env, env
# TODO? in the future, maybe capture output from
# this block and add it to out[]?
# Presently, the _exec_ block cannot add lines to out.
except PymExit: raise
except PymEndOfFile:
py_pos = -1
break
except NameError: raise # doesn't have lineno
except KeyError: raise # ditto
except ImportError: raise # ditto
except AttributeError: raise # ditto
except TypeError: raise # ditto
except Exception, error:
error.filename = loc[0]
error.lineno = error.lineno + loc[1]
raise
py_pos = -1
tx_pos = end
elif string.find(line, "begin python") > 0:
py_pos = end
loc = (filename, lnum)
elif string.find(line, "include") == 1:
namestart = 8
if string.find(line, "include_direct") == 1:
namestart = 15
if cond and all(condstack):
dir_name = os.path.dirname(filename)
# First, try relative to the file we are currently
# processing (_filename_)
include = eval(string.strip(line[namestart:]), env, env)
includefilename = os.path.join(dir_name,include)
if not os.path.isfile(includefilename):
for dir_name in PYM_PATH:
includefilename = os.path.join(dir_name, include)
if os.path.isfile(includefilename): break
# TODO? Fail if the file could not be found?
if namestart == 8: # #include
pym_expand_file(includefilename, env, out)
else: # #include_direct
pym_dump_file_contents(includefilename, out)
#endif conditions are true
tx_pos = end
loc = (filename, lnum)
elif string.find(line, "if") == 1:
condstack.append(cond)
cond = bool(eval(string.strip(line[3:]), env, env))
succeeded_stack.append(succeeded)
succeeded = cond # whether this #if succeeded
tx_pos = end
loc = (filename, lnum)
# TODO die on #elif after #else
elif string.find(line, "elif") == 1:
if len(condstack)==0:
pym_die("#elif without #if", loc)
if succeeded: # Don't run this if an earlier clause won
cond = False
else:
cond = bool(eval(string.strip(line[5:]), env, env))
succeeded = cond
tx_pos = end
loc = (filename, lnum)
elif string.find(line, "else") == 1:
if len(condstack)==0:
pym_die("#else without #if", loc)
cond = not succeeded # true if nothing else matched
succeeded = True
tx_pos = end
loc = (filename, lnum)
elif string.find(line, "endif") == 1:
if len(condstack)==0:
pym_die("#endif without #if", loc)
cond = condstack.pop()
succeeded = succeeded_stack.pop()
tx_pos = end
loc = (filename, lnum)
#endif the line was a command
pos = end
lnum = lnum + 1
# next line
if py_pos >= 0: pym_die("unterminated python code", loc)
len_text = len(text)
if tx_pos >= 0 and tx_pos < len_text:
try:
pym_expand_expressions(text[tx_pos:min(pos,len_text)], env, loc, out)
except PymEndOfFile:
pass
# end pym_expand_string()
def pym_process_text(text, **env_overrides):
""" Preprocesses the complete file _text_ and returns the resulting string.
If _env_overrides_ is provided, applies it to the environment
before processing. """
env = ENVIRONMENT.copy() # each file has its own env
env.update(env_overrides)
out = [] # list of expanded lines
try: # Do the processing
pym_expand_string('', text, env, out)
except PymExit: # PymExit terminates processing of the string.
pass
return ''.join(out)
# Newlines are expressly included in _out_, so we join on ''
# instead of "\n".
# end pym_process_text()
def pym_command_line_main():
file_list = []
if len(sys.argv) > 1: # arg(s) given - parse the command line
file_list = []
incl = False # whether the next argument is an include path
for arg in sys.argv[1:]:
if arg == '-I':
incl = True
continue
if incl:
if (arg[0] != '/'):
arg = os.path.join(os.getcwd(), arg)
PYM_PATH.append(arg)
incl = False
continue
file_list.append(arg)
# next arg
#endif one argument
# Set options
if len(file_list) > 1:
print_file_banners = True
else:
print_file_banners = False
if len(file_list) == 0:
file_list = [""] # stdin
# === Main loop ===
for filepath in file_list:
env = ENVIRONMENT.copy() # each file has its own env
out = [] # list of expanded lines
try: # Do the processing
pym_expand_file(filepath, env, out)
except PymExit: # PymExit terminates processing of that file
pass # even from deeply-nested includes.
# Print the results
if print_file_banners: print('=== %s ==='%filepath)
for text in out:
sys.stdout.write(text)
# next filepath
# end pym_command_line_main()
if __name__ == '__main__':
pym_command_line_main()
# vi: set ts=4 sts=4 sw=4 et ai ff=unix: #
Raw
Sample6dofRobot.wrl
#begin python
import os
env_robot = os.environ["ROBOT"] # expcting '6dof' or otehrs
def JOINTS():
joints = ["WAIST", "link1", "link2", "link3", "link4", "link5"]
if env_robot == '6dof':
joints.append("link6")
return(",\n ".join(map(lambda x: "USE " + x, joints)))
def LINKS():
links = ["link0_S", "link1_S", "link2_S", "link3_S", "link4_S", "link5_S"]
if env_robot == '6dof':
links.append("link6_S")
return(",\n ".join(map(lambda x: "USE " + x, links)))
def LINK_6_DEF():
s = ""
with open("link6.wrl") as f:
s += f.read()
return s
#end python
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
<[LINK_6_DEF()]>
,
]
} #link5
,
]
} #link4
,
]
} #link3
,
]
} #link2
,
]
} #link1
,
]
} #WAIST
] # END of HumanoidBody
joints [
<[JOINTS()]>
]
segments [
<[LINKS()]>
]
}
Raw
Sample6dofRobot.wrl.org

#VRML V2.0 utf8

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] translation 0.000000 0.000000 0.000000 rotation 0.0 0.0 1.0 0 children [ DEF link6_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 [ DEF gsensor AccelerationSensor { sensorId 0 } DEF gyrometer Gyro { sensorId 0 } Shape { appearance Appearance { material Material { } } geometry DEF link6-FACES 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40, 41, 42, -1, 46, 47, 44, -1, 44, 45, 46, -1, 50, 51, 48, -1, 48, 49, 50, -1, 54, 55, 52, -1, 52, 53, 54, -1, 58, 59, 56, -1, 56, 57, 58, -1, 62, 63, 60, -1, 60, 61, 62, -1, 66, 67, 64, -1, 64, 65, 66, -1, 70, 71, 68, -1, 68, 69, 70, -1, ] colorIndex [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, ] } } ] } #Segment ] } #link6 , ] } #link5 , ] } #link4 , ] } #link3 , ] } #link2 , ] } #link1 , ] } #WAIST ] # END of HumanoidBody

joints [ USE WAIST, USE link1, USE link2, USE link3, USE link4, USE link5, USE link6 ]

segments [ USE link0_S, USE link1_S, USE link2_S, USE link3_S, USE link4_S, USE link5_S, USE link6_S ]

}

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