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Connector.wrl
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# Connector nodes are used to simulate mechanical docking systems, or any other type of device that
# can dynamically create a rigid link with a similar device.
# The physical connection between two Connectors can be created and destroyed at run time by the robot controller program.
# parent: Solid
Connector {
#fields that inherit from the Solid node:
w3dField SFVec3f translation 0 0 0
w3dField SFRotation rotation 0 0 1 0
w3dField MFNode children [] # shape and solids fixed to that solid
field SFString name "connector" # used by wb_robot_get_device()
field SFString model "" # generic name of the solid (eg: "chair")
field SFString description "" # a short (1 line) of description of the solid
field SFString contactMaterial "default" # see ContactProperties node
field MFNode immersionProperties [] # see ImmersionProperties node
field SFNode boundingObject NULL # for collision detection (if NULL, use children)
field SFNode physics NULL # physical properties (Physics node)
field SFBool locked FALSE # to avoid moving objects with the mouse
field SFFloat translationStep 0.01 # step size used by translation manipulator
field SFFloat rotationStep 0.261799387 # step size used by rotation manipulator
field SFFloat radarCrossSection 0.0 # radar cross section of this solid
field MFColor recognitionColors [] # colors returned for this Solid by Cameras with a Recognition node
#fields specific to the Connector node:
field SFString{"symmetric", "active", "passive"} type "symmetric" # connection type
field SFBool isLocked FALSE # current locked state
field SFBool autoLock FALSE # locks automatically in case of presence (but only when "isLocked")
field SFBool unilateralLock TRUE # for "symmetric" type only: enable unilateral locking
field SFBool unilateralUnlock TRUE # for "symmetric" type only: enable unilateral unlocking
field SFFloat distanceTolerance 0.01 # acceptable error in the distance between both Connectors
field SFFloat axisTolerance 0.2 # acceptable error angle between the two normals vectors
field SFFloat rotationTolerance 0.2 # acceptable error in the rotational alignment
field SFInt32 numberOfRotations 4 # number of possible rotational docking alignments
field SFBool snap TRUE # precisely adjust docking when locked
field SFFloat tensileStrength -1 # max pull force that the connector can withstand before breaking (Newtons)
field SFFloat shearStrength -1 # max shear force that the connector can withstand before breaking (Newtons)
# hidden fields
hiddenField SFVec3f linearVelocity 0 0 0 # (m/s) Solid's initial linear velocity
hiddenField SFVec3f angularVelocity 0 0 0 # (rad/s) Solid's initial angular velocity
}