diff --git a/src/Simulateur/config.py b/src/Simulateur/config.py index 53400a8..807edf0 100644 --- a/src/Simulateur/config.py +++ b/src/Simulateur/config.py @@ -1,7 +1,7 @@ # just a file that lets us define some constants that are used in multiple files the simulation from torch.cuda import is_available -n_map = 2 +n_map = 4 n_simulations = 8 n_vehicles = 1 n_stupid_vehicles = 0 diff --git a/src/Simulateur/controllers/controllerWorldSupervisor/checkpointmanager.py b/src/Simulateur/controllers/controllerWorldSupervisor/checkpointmanager.py index 350091a..516af59 100644 --- a/src/Simulateur/controllers/controllerWorldSupervisor/checkpointmanager.py +++ b/src/Simulateur/controllers/controllerWorldSupervisor/checkpointmanager.py @@ -51,9 +51,21 @@ def reset(self, i=None): else: self.next_checkpoint = np.random.randint(0, len(self.checkpoints) - 1) +def create_reverse_track(original_checkpoints): + """ + Crée une liste de checkpoints inversée : + 1. Inverse l'ordre de la liste. + 2. Ajoute PI (180°) à l'angle theta pour que la voiture regarde dans l'autre sens. + """ + reversed_list = [] + # On parcourt la liste originale à l'envers + for cp in reversed(original_checkpoints): + # On crée un nouveau checkpoint avec l'angle opposé + new_theta = (cp.theta + np.pi) % (2 * np.pi) + reversed_list.append(Checkpoint(new_theta, cp.x0, cp.y0)) + return reversed_list -checkpoints = [ - [ # piste0.wbt +piste_0 = [ # piste0.wbt Checkpoint(0, -0.314494, -2.47211), Checkpoint(0, 1.11162, -2.56708), Checkpoint(0.8, 2.54552, -2.27446), @@ -85,8 +97,9 @@ def reset(self, i=None): Checkpoint(-0.8, -4.0021, -2.35518), Checkpoint(-0.3, -2.89371, -2.49154), Checkpoint(0, -2.01029, -2.51669), - ], - [ # piste1.wbt + ] + +piste_1 =[ # piste1.wbt Checkpoint(1.57, 5.52, -2.25), Checkpoint(1.57, 5.52, -1.25), Checkpoint(1.57, 5.52, -0.25), @@ -144,9 +157,11 @@ def reset(self, i=None): Checkpoint(1.05, 5.43, -5.00), Checkpoint(1.57, 5.52, -3.25), Checkpoint(1.57, 5.52, -4.25), - - ], - [ # piste2.wbt - ] -] + +checkpoints = [ + piste_0, + piste_1, + create_reverse_track(piste_0), + create_reverse_track(piste_1), +] \ No newline at end of file diff --git a/src/Simulateur/inverser_couleurs.py b/src/Simulateur/inverser_couleurs.py new file mode 100644 index 0000000..bcb4342 --- /dev/null +++ b/src/Simulateur/inverser_couleurs.py @@ -0,0 +1,73 @@ +import os +import re + +# Fichiers à modifier +FILES_TO_MODIFY = [ + "src/Simulateur/worlds/piste2.wbt", + "src/Simulateur/worlds/piste3.wbt" +] + + +def swap_colors_precise(file_path): + if not os.path.exists(file_path): + print(f"Erreur : Fichier manquant -> {file_path}") + return + + print(f"Traitement de : {file_path}...") + + with open(file_path, 'r') as f: + content = f.read() + + # Liste des champs de couleur à modifier + # (baseColor pour PBR, diffuse/emissive/specular pour Material) + fields = r"(baseColor|diffuseColor|emissiveColor|specularColor|recognitionColors)" + + # --- DÉFINITION DES VALEURS EXACTES À CIBLER --- + + # GROUPE 1 : MATÉRIAUX (Virages) + # Rouge Matériau (0.9 0 0) + regex_mat_red = rf"({fields}\s+(?:\[\s+)?)0\.9\s+0(\.0+)?\s+0(\.0+)?(?!\.)" + # Vert Matériau (0 0.6 0) + regex_mat_green = rf"({fields}\s+(?:\[\s+)?)0(\.0+)?\s+0?\.6[0-9]*\s+0(\.0+)?(?!\.)" + + # GROUPE 2 : PBR (Lignes droites) + # Rouge PBR (1 0 0) + regex_pbr_red = rf"({fields}\s+(?:\[\s+)?)1(\.0+)?\s+0(\.0+)?\s+0(\.0+)?(?!\.)" + # Vert PBR (0 1 0) - Attention à ne pas confondre avec 0 0.6 0 + regex_pbr_green = rf"({fields}\s+(?:\[\s+)?)0(\.0+)?\s+1(\.0+)?\s+0(\.0+)?(?!\.)" + + # --- ÉTAPE 1 : ROUGE -> PLACEHOLDER --- + # On remplace les Rouges par des valeurs temporaires impossibles (99x) + + # 0.9 0 0 -> 991 991 991 + content = re.sub(regex_mat_red, r"\1 991 991 991", content) + # 1 0 0 -> 992 992 992 + content = re.sub(regex_pbr_red, r"\1 992 992 992", content) + + # --- ÉTAPE 2 : VERT -> ROUGE --- + # On remplace les Verts par les valeurs Rouges correspondantes + + # 0 0.6 0 -> 0.9 0 0 + content = re.sub(regex_mat_green, r"\1 0.9 0 0", content) + # 0 1 0 -> 1 0 0 + content = re.sub(regex_pbr_green, r"\1 1 0 0", content) + + # --- ÉTAPE 3 : PLACEHOLDER -> VERT --- + # On remplace les placeholders (anciens rouges) par du Vert + + # Ancien Rouge Matériau (991) -> Vert Matériau (0 0.6 0) + content = content.replace("991 991 991", "0 0.6 0") + # Ancien Rouge PBR (992) -> Vert PBR (0 1 0) + content = content.replace("992 992 992", "0 1 0") + + with open(file_path, 'w') as f: + f.write(content) + + print(f" -> Succès ! Couleurs inversées (Matériaux 0.9/0.6 et PBR 1/1 gérés).") + + +if __name__ == "__main__": + print("--- DÉBUT DE L'INVERSION PRÉCISE ---") + for file_wbt in FILES_TO_MODIFY: + swap_colors_precise(file_wbt) + print("--- FIN ---") \ No newline at end of file diff --git a/src/Simulateur/worlds/piste2.wbt b/src/Simulateur/worlds/piste2.wbt index cbf9bc0..2cd999d 100644 --- a/src/Simulateur/worlds/piste2.wbt +++ b/src/Simulateur/worlds/piste2.wbt @@ -2,51 +2,33 @@ EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackground.proto" EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" -EXTERNPROTO "../protos/TT02_2023b.proto" +IMPORTABLE EXTERNPROTO "../protos/TT02_2023b.proto" WorldInfo { + basicTimeStep 25.0 } Viewpoint { - orientation -0.6021245644968605 0.5602573222968679 0.5688213618019365 2.0391039856436173 - position -1.2381219384536686 4.884418456055939 8.723993964493717 - follow "TT02_2023b_RL" - followType "None" + orientation -0.15612198054631546 0.9765966041367921 -0.1479357968132854 1.0925600380817375 + position -4.358310869136509 0.22057219692934066 6.606172543946735 + followType "Mounted Shot" } TexturedBackground { } TexturedBackgroundLight { } -Solid { - translation 0 0.5 -0.05 - children [ - Shape { - appearance PBRAppearance { - } - geometry Box { - size 15 15 0.1 - } - } - ] - name "sol_piste" - boundingObject Shape { - geometry Box { - size 15 15 0.1 - } - } -} -DEF elements_pistes Group { +Group { children [ Solid { - translation 7 -4 0.185 + translation 4.5 -4 0.185 rotation 0 0 1 -5.307179586466759e-06 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 } } geometry Mesh { @@ -64,16 +46,16 @@ DEF elements_pistes Group { } } Solid { - translation 6.5 -3 0.185 + translation 5.29 -3.75 0.185 rotation 0 0 0.9999999999999999 1.5707953071795862 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0 0.6 0 - emissiveColor 0 0.6 0 - specularColor 0 0.6 0 + diffuseColor 0.9 0 0 + emissiveColor 0.9 0 0 + specularColor 0.9 0 0 } } geometry Mesh { @@ -91,12 +73,12 @@ DEF elements_pistes Group { } } Solid { - translation 7 -1.25 0.1 + translation 5.55 -0.75 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 1 0 0 + baseColor 0 1 0 metalness 0 } geometry Box { @@ -110,12 +92,12 @@ DEF elements_pistes Group { } } Solid { - translation 7 1.5 0.1 + translation 5.53 2 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -129,12 +111,12 @@ DEF elements_pistes Group { } } Solid { - translation 7 -2.1531e-12 0.1 + translation 5.5 0.5 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 1 0 0 + baseColor 0 1 0 metalness 0 } geometry Box { @@ -148,12 +130,12 @@ DEF elements_pistes Group { } } Solid { - translation 7 -2.25 0.1 + translation 5.63 -1.75 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -168,46 +150,38 @@ DEF elements_pistes Group { } ] } -DEF piste_interieure Group { +Group { children [ Solid { - translation 3 0.25 0.185 - rotation 0 0 1 -5.307179586466759e-06 + translation -1 1.75 0.1 + rotation 0 0 1 -1.5707953071795862 children [ Shape { - appearance Appearance { - material Material { - ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 - } + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 } - geometry Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + geometry Box { + size 0.5 0.1 0.2 } } ] - name "virage_rouge(1)" - boundingObject Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + name "droit_50cm(1)" + boundingObject Box { + size 0.5 0.1 0.2 } } Solid { - translation 4 0.25 0.185 - rotation 0 0 1 1.57079 + translation -0.499998 0.5 0.185 + rotation 0 0 1 -5.307179586466759e-06 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0.9 0 0 + emissiveColor 0.9 0 0 + specularColor 0.9 0 0 } } geometry Mesh { @@ -217,7 +191,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(2)" + name "virage_vert(10)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -225,12 +199,12 @@ DEF piste_interieure Group { } } Solid { - translation 1.25 3.75 0.1 - rotation 0 0 1 1.01503e-06 + translation 3.75 5 0.1 + rotation 0 0 1 3.14159 children [ Shape { appearance PBRAppearance { - baseColor 1 0 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -238,18 +212,18 @@ DEF piste_interieure Group { } } ] - name "droit_50cm_rouge(3)" + name "droit_50cm_vert(2)" boundingObject Box { size 0.5 0.1 0.2 } } Solid { - translation 1.25 4.75 0.1 - rotation 0 0 1 1.01503e-06 + translation 2.75 -3.5 0.1 + rotation 0 0 1 3.14159 children [ Shape { appearance PBRAppearance { - baseColor 1 0 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -257,22 +231,22 @@ DEF piste_interieure Group { } } ] - name "droit_50cm_rouge(4)" + name "droit_50cm_vert(1)" boundingObject Box { size 0.5 0.1 0.2 } } Solid { - translation 3.5 1.25 0.185 - rotation 0 0 1 1.57079 + translation 0 0.5 0.185 + rotation 0 0 1 3.14159 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0.9 0 0 + emissiveColor 0.9 0 0 + specularColor 0.9 0 0 } } geometry Mesh { @@ -282,7 +256,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(16)" + name "virage_vert(6)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -290,16 +264,16 @@ DEF piste_interieure Group { } } Solid { - translation 4 4.25 0.185 - rotation 0 0 1 3.14159 + translation 0 0.5 0.185 + rotation 0 0 -1 -1.5707953071795862 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0.9 0 0 + emissiveColor 0.9 0 0 + specularColor 0.9 0 0 } } geometry Mesh { @@ -309,7 +283,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(3)" + name "virage_vert(11)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -317,16 +291,35 @@ DEF piste_interieure Group { } } Solid { - translation 3.5 3.25 0.185 + translation -0.25 0 0.1 rotation 0 0 1 3.14159 + children [ + Shape { + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 + } + geometry Box { + size 0.5 0.1 0.2 + } + } + ] + name "droit_50cm(3)" + boundingObject Box { + size 0.5 0.1 0.2 + } + } + Solid { + translation -3 -1 0.185 + rotation 0 0 1 -5.307179586466759e-06 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 } } geometry Mesh { @@ -336,7 +329,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(14)" + name "virage_vert(7)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -344,16 +337,16 @@ DEF piste_interieure Group { } } Solid { - translation 1 4.25 0.185 - rotation 0 0 1 -1.5707953071795862 + translation 1 2.5 0.185 + rotation 0 0 1 -5.307179586466759e-06 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 } } geometry Mesh { @@ -363,7 +356,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(4)" + name "virage_vert(38)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -371,16 +364,16 @@ DEF piste_interieure Group { } } Solid { - translation 5.19723e-15 3.25 0.185 - rotation 0 0 1 -1.5707953071795862 + translation 2.5 1.5 0.185 + rotation 0 0 1 -5.307179586466759e-06 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 } } geometry Mesh { @@ -390,7 +383,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(6)" + name "virage_vert(25)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -398,16 +391,16 @@ DEF piste_interieure Group { } } Solid { - translation 1 3.25 0.185 - rotation 0 0 1 -1.5707953071795862 + translation 2 1.5 0.185 + rotation 0 0 1 -5.307179586466759e-06 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 } } geometry Mesh { @@ -417,7 +410,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(13)" + name "virage_vert(34)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -425,16 +418,16 @@ DEF piste_interieure Group { } } Solid { - translation 3 0.25 0.185 - rotation 0 0 1 -1.5707953071795862 + translation -4.5 -3 0.185 + rotation 0 0 1 -5.307179586466759e-06 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0.9 0 0 + emissiveColor 0.9 0 0 + specularColor 0.9 0 0 } } geometry Mesh { @@ -444,7 +437,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(15)" + name "virage_vert(3)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -452,16 +445,16 @@ DEF piste_interieure Group { } } Solid { - translation -1 2.25 0.185 - rotation 0 0 1 -1.5707953071795862 + translation -2 -0.500004 0.185 + rotation 0 0 1 -5.307179586466759e-06 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 } } geometry Mesh { @@ -471,7 +464,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(7)" + name "virage_vert(13)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -479,16 +472,16 @@ DEF piste_interieure Group { } } Solid { - translation 5.19723e-15 2.25 0.185 - rotation 0 0 1 -1.5707953071795862 + translation 2.5 -1 0.185 + rotation 0 0 1 1.57079 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 } } geometry Mesh { @@ -498,7 +491,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(11)" + name "virage_vert(16)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -506,16 +499,16 @@ DEF piste_interieure Group { } } Solid { - translation -1 0.25 0.185 - rotation 0 0 1 1.01503e-06 + translation 2 -0.509999 0.185 + rotation 0 0 1 1.57079 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 } } geometry Mesh { @@ -525,7 +518,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(9)" + name "virage_vert(32)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -533,16 +526,16 @@ DEF piste_interieure Group { } } Solid { - translation -1 0.25 0.185 - rotation 0 0 1 1.5708 + translation 2.5 3.5 0.185 + rotation 0 0 1 1.57079 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 } } geometry Mesh { @@ -552,7 +545,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(10)" + name "virage_vert(22)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -560,16 +553,16 @@ DEF piste_interieure Group { } } Solid { - translation -6.74634e-14 4.25 0.185 - rotation 0 0 1 1.5708 + translation 1.5 3.5 0.185 + rotation 0 0 1 1.57079 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 } } geometry Mesh { @@ -579,7 +572,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(5)" + name "virage_vert(31)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -587,16 +580,16 @@ DEF piste_interieure Group { } } Solid { - translation -1 3.25 0.185 - rotation 0 0 1 1.5708 + translation -3 2 0.185 + rotation 0 0 1 -1.5708053071795867 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 } } geometry Mesh { @@ -606,7 +599,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(8)" + name "virage_vert(8)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -614,16 +607,16 @@ DEF piste_interieure Group { } } Solid { - translation 6.74634e-14 3.25 0.185 - rotation 0 0 1 1.5708 + translation 2.5 2.5 0.185 + rotation 0 0 1 -1.5708053071795867 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.5 - diffuseColor 0.9 0 0 - emissiveColor 0.9 0 0 - specularColor 0.9 0 0 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 } } geometry Mesh { @@ -633,7 +626,7 @@ DEF piste_interieure Group { } } ] - name "virage_rouge(12)" + name "virage_vert(23)" boundingObject Mesh { url [ "ImageToStl.com_virage.obj" @@ -641,259 +634,579 @@ DEF piste_interieure Group { } } Solid { - translation 1.75 4.75 0.1 - rotation 0 0 1 1.01503e-06 + translation 2.5 3.5 0.185 + rotation 0 0 1 -1.5708053071795867 children [ Shape { - appearance PBRAppearance { - baseColor 1 0 0 - metalness 0 + appearance Appearance { + material Material { + ambientIntensity 0.5 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 + } } - geometry Box { - size 0.5 0.1 0.2 + geometry Mesh { + url [ + "ImageToStl.com_virage.obj" + ] } } ] - name "droit_50cm_rouge(1)" - boundingObject Box { - size 0.5 0.1 0.2 + name "virage_vert(30)" + boundingObject Mesh { + url [ + "ImageToStl.com_virage.obj" + ] } } Solid { - translation 3.25 0.75 0.1 - rotation 0 0 1 1.01503e-06 + translation 1 2.5 0.185 + rotation 0 0 1 -1.5708053071795867 children [ Shape { - appearance PBRAppearance { - baseColor 1 0 0 - metalness 0 + appearance Appearance { + material Material { + ambientIntensity 0.5 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 + } } - geometry Box { - size 0.5 0.1 0.2 + geometry Mesh { + url [ + "ImageToStl.com_virage.obj" + ] } } ] - name "droit_50cm_rouge(2)" - boundingObject Box { - size 0.5 0.1 0.2 + name "virage_vert(39)" + boundingObject Mesh { + url [ + "ImageToStl.com_virage.obj" + ] } } Solid { - translation 3.5 -0.25 0.1 - rotation 0 0 1 1.01503e-06 + translation -3 2 0.185 + rotation 0 0 1 3.14158 children [ Shape { - appearance PBRAppearance { - baseColor 1 0 0 - metalness 0 + appearance Appearance { + material Material { + ambientIntensity 0.5 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 + } } - geometry Box { - size 1 0.1 0.2 + geometry Mesh { + url [ + "ImageToStl.com_virage.obj" + ] } } ] - name "droit_1m_rouge(1)" - boundingObject Box { - size 1 0.1 0.2 + name "virage_vert(9)" + boundingObject Mesh { + url [ + "ImageToStl.com_virage.obj" + ] } } Solid { - translation 3.5 4.75 0.1 - rotation 0 0 1 1.01503e-06 + translation 2.5 0.5 0.185 + rotation 0 0 1 3.14158 children [ Shape { - appearance PBRAppearance { - baseColor 1 0 0 - metalness 0 + appearance Appearance { + material Material { + ambientIntensity 0.5 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 + } } - geometry Box { - size 1 0.1 0.2 + geometry Mesh { + url [ + "ImageToStl.com_virage.obj" + ] } } ] - name "droit_1m_rouge(6)" - boundingObject Box { - size 1 0.1 0.2 + name "virage_vert(24)" + boundingObject Mesh { + url [ + "ImageToStl.com_virage.obj" + ] } } Solid { - translation 2.5 4.75 0.1 - rotation 0 0 1 1.01503e-06 + translation 2 0.5 0.185 + rotation 0 0 1 3.14158 children [ Shape { - appearance PBRAppearance { - baseColor 1 0 0 - metalness 0 + appearance Appearance { + material Material { + ambientIntensity 0.5 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 + } } - geometry Box { - size 1 0.1 0.2 + geometry Mesh { + url 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0.1 + translation 0 3.5 0.185 + rotation 0 0 1 -1.5707953071795862 + children [ + Shape { + appearance Appearance { + material Material { + ambientIntensity 0.5 + diffuseColor 0.9 0 0 + emissiveColor 0.9 0 0 + specularColor 0.9 0 0 + } + } + geometry Mesh { + url [ + "ImageToStl.com_virage.obj" + ] + } + } + ] + name "virage_vert(36)" + boundingObject Mesh { + url [ + "ImageToStl.com_virage.obj" + ] + } + } + Solid { + translation 4.5 -1 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 1 0 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -901,18 +1214,18 @@ DEF piste_interieure Group { } } ] - name "droit_1m_rouge(4)" + name "droit_1m" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 4 2.75 0.1 + translation 4.5 0 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 1 0 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -920,18 +1233,18 @@ DEF piste_interieure Group { } } ] - name "droit_1m_rouge(14)" + name "droit_1m(30)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 4 1.75 0.1 + translation 4.5 3.5 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 1 0 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -939,18 +1252,18 @@ DEF piste_interieure Group { } } ] - name "droit_1m_rouge(15)" + name "droit_1m(27)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 4.5 3.75 0.1 + translation -0.5 2 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 1 0 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -958,663 +1271,531 @@ DEF piste_interieure Group { } } ] - name "droit_1m_rouge(5)" + name "droit_1m(35)" boundingObject Box { size 1 0.1 0.2 } } - ] -} -DEF piste_exterireure Group { - children [ Solid { - translation 5.25 -1.25 0.185 - rotation 0 0 0.9999999999999999 1.5707953071795862 + translation 4.5 0.75 0.1 + rotation 0 0 1 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ambientIntensity 0.5 - diffuseColor 0 0.6 0 - emissiveColor 0 0.6 0 - specularColor 0 0.6 0 - } + appearance PBRAppearance { + baseColor 0 1 0 + metalness 0 } - geometry Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + geometry Box { + size 0.5 0.1 0.2 } } ] - name "virage_vert(13)" - boundingObject Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + name "droit_50cm(2)" + boundingObject Box { + size 0.5 0.1 0.2 } } Solid { - translation 2.25 2.25 0.185 - rotation 0 0 -1 -1.5707953071795862 + translation -1.75 -1.5 0.1 + rotation 0 0 1 3.14159 children [ Shape { - appearance Appearance { - material Material { - ambientIntensity 0.5 - diffuseColor 0 0.6 0 - emissiveColor 0 0.6 0 - specularColor 0 0.6 0 - } + appearance PBRAppearance { + baseColor 0 1 0 + metalness 0 } - geometry Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + geometry Box { + size 0.5 0.1 0.2 } } ] - name "virage_vert(14)" - boundingObject Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + name "droit_1m(19)" + boundingObject Box { + size 1 0.1 0.2 } } Solid { - translation -2.25 -1.25 0.185 - rotation 0 0 1 1.01503e-06 + translation 0 -3.5 0.1 + rotation 0 0 1 3.14159 children [ Shape { - appearance Appearance { - material Material { - ambientIntensity 0.5 - diffuseColor 0 0.6 0 - emissiveColor 0 0.6 0 - specularColor 0 0.6 0 - } + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 } - geometry Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + geometry Box { + size 1 0.1 0.2 } } ] - name "virage_vert(8)" - boundingObject Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + name "droit_1m(3)" + boundingObject Box { + size 1 0.1 0.2 } } Solid { - translation 1.75 -1.25 0.185 - rotation 0 0 1 1.01503e-06 + translation -1 -3.5 0.1 + rotation 0 0 1 3.14159 children [ Shape { - appearance Appearance { - material Material { - ambientIntensity 0.5 - diffuseColor 0 0.6 0 - emissiveColor 0 0.6 0 - specularColor 0 0.6 0 - } + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 } - geometry Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + geometry Box { + size 1 0.1 0.2 } } ] - name "virage_vert(16)" - boundingObject Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + name "droit_1m(4)" + boundingObject Box { + size 1 0.1 0.2 } } Solid { - translation 0.25 -1.25 0.185 - rotation 0 0 1 1.5708 + translation -2 -3.5 0.1 + rotation 0 0 1 3.14159 children [ Shape { - appearance Appearance { - material Material { - ambientIntensity 0.5 - diffuseColor 0 0.6 0 - emissiveColor 0 0.6 0 - specularColor 0 0.6 0 - } + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 } - geometry Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + geometry Box { + size 1 0.1 0.2 } } ] - name "virage_vert(9)" - boundingObject Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + name "droit_1m(5)" + boundingObject Box { + size 1 0.1 0.2 } } Solid { - translation -1.25 5.25 0.185 - rotation 0 0 1 1.5708 + translation -2 3.5 0.1 + rotation 0 0 1 3.14159 children [ Shape { - appearance Appearance { - material Material { - ambientIntensity 0.5 - diffuseColor 0 0.6 0 - emissiveColor 0 0.6 0 - specularColor 0 0.6 0 - } + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 } - geometry Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + geometry Box { + size 1 0.1 0.2 } } ] - name "virage_vert(4)" - boundingObject Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + name "droit_1m(14)" + boundingObject Box { + size 1 0.1 0.2 } } Solid { - translation -2.25 4.25 0.185 - rotation 0 0 1 1.5708 + translation 3 5 0.1 + rotation 0 0 1 3.14159 children [ Shape { - appearance Appearance { - material Material { - ambientIntensity 0.5 - diffuseColor 0 0.6 0 - emissiveColor 0 0.6 0 - specularColor 0 0.6 0 - } + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 } - geometry Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + geometry Box { + size 1 0.1 0.2 } } ] - name "virage_vert(5)" - boundingObject Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + name "droit_1m(32)" + boundingObject Box { + size 1 0.1 0.2 } } Solid { - translation 1.25 2.25 0.185 - rotation 0 0 1 1.5708 + translation 2 5 0.1 + rotation 0 0 1 3.14159 children [ Shape { - appearance Appearance { - material Material { - ambientIntensity 0.5 - diffuseColor 0 0.6 0 - emissiveColor 0 0.6 0 - specularColor 0 0.6 0 - } + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 } - geometry Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + geometry Box { + size 1 0.1 0.2 } } ] - name "virage_vert(11)" - boundingObject Mesh { - url [ - "ImageToStl.com_virage.obj" - ] + name "droit_1m(38)" + boundingObject Box { + size 1 0.1 0.2 } } Solid { - translation 5.75 -0.25 0.1 - rotation 0 0 1 -1.5707953071795862 + translation 1.25 5 0.1 + rotation 0 0 1 3.14159 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { - size 1 0.1 0.2 + size 0.5 0.1 0.2 } } ] - name "droit_1m_vert(1)" + name "droit_50cm(24)" boundingObject Box { - size 1 0.1 0.2 + size 0.5 0.1 0.2 } } Solid { - translation 5.75 0.75 0.1 + translation 4.5 4.25 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { - size 1 0.1 0.2 + size 0.5 0.1 0.2 } } ] - name "droit_1m_vert(2)" + name "droit_50cm(6)" boundingObject Box { - size 1 0.1 0.2 + size 0.5 0.1 0.2 } } Solid { - translation 5.75 1.75 0.1 + translation -0.5 3.25 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { - size 1 0.1 0.2 + size 0.5 0.1 0.2 } } ] - name "droit_1m_vert(3)" + name "droit_50cm(7)" boundingObject Box { - size 1 0.1 0.2 + size 0.5 0.1 0.2 } } Solid { - translation 4.25 5.75 0.1 - rotation 0 0 1 1.01503e-06 + translation -3 -3.5 0.1 + rotation 0 0 1 3.14159 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -1622,18 +1803,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(7)" + name "droit_1m(6)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 3.25 5.75 0.1 - rotation 0 0 1 1.01503e-06 + translation -4 -3.5 0.1 + rotation 0 0 1 3.14159 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -1641,18 +1822,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(8)" + name "droit_1m(39)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 2.25 5.75 0.1 - rotation 0 0 1 1.01503e-06 + translation -3 3.5 0.1 + rotation 0 0 1 3.14159 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -1660,18 +1841,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(9)" + name "droit_1m(12)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 1.25 5.75 0.1 - rotation 0 0 1 1.01503e-06 + translation -4 3.5 0.1 + rotation 0 0 1 3.14159 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -1679,18 +1860,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(10)" + name "droit_1m(37)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 5.75 2.75 0.1 + translation -5 -1.5 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -1698,18 +1879,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(4)" + name "droit_1m(7)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 5.75 3.75 0.1 + translation -5 -2.5 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -1717,18 +1898,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(5)" + name "droit_1m(15)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 5.75 4.75 0.1 + translation -5 -0.5 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -1736,18 +1917,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(11)" + name "droit_1m(8)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation -2.75 2.75 0.1 + translation -3.5 -0.5 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 0 1 0 metalness 0 } geometry Box { @@ -1755,18 +1936,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(12)" + name "droit_1m(20)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation -2.75 1.75 0.1 + translation 3 -0.5 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 0 1 0 metalness 0 } geometry Box { @@ -1774,18 +1955,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(13)" + name "droit_1m(33)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation -2.75 0.75 0.1 + translation 2.5 0 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 0 1 0 metalness 0 } geometry Box { @@ -1793,18 +1974,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(14)" + name "droit_1m(36)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation -2.75 -0.25 0.1 + translation 2 2 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 0 1 0 metalness 0 } geometry Box { @@ -1812,18 +1993,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(15)" + name "droit_1m(31)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 0.75 -0.25 0.1 + translation -3.5 0.5 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 0 1 0 metalness 0 } geometry Box { @@ -1831,18 +2012,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(18)" + name "droit_1m(21)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 0.75 0.75 0.1 + translation -3.5 1.5 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 0 1 0 metalness 0 } geometry Box { @@ -1850,18 +2031,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(19)" + name "droit_1m(22)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 1.25 0.75 0.1 + translation -2.5 1.5 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 0 1 0 metalness 0 } geometry Box { @@ -1869,18 +2050,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(20)" + name "droit_1m(23)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 1.25 -0.25 0.1 + translation -2.5 0 0.1 rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 0 1 0 metalness 0 } geometry Box { @@ -1888,18 +2069,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(21)" + name "droit_1m(26)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation -1.25 -1.75 0.1 - rotation 0 0 1 1.01503e-06 + translation -5 0.5 0.1 + rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -1907,18 +2088,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(16)" + name "droit_1m(9)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation -0.25 -1.75 0.1 - rotation 0 0 1 1.01503e-06 + translation -5 1.5 0.1 + rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -1926,18 +2107,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(17)" + name "droit_1m(10)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 3.25 -1.75 0.1 - rotation 0 0 1 1.01503e-06 + translation -5 2.5 0.1 + rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -1945,18 +2126,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(23)" + name "droit_1m(11)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 4.25 -1.75 0.1 - rotation 0 0 1 1.01503e-06 + translation -1 2.5 0.1 + rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -1964,18 +2145,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(24)" + name "droit_1m(13)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 2.25 -1.75 0.1 - rotation 0 0 1 1.01503e-06 + translation -1 1 0.1 + rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -1983,18 +2164,18 @@ DEF piste_exterireure Group { } } ] - name "droit_1m_vert(22)" + name "droit_1m(34)" boundingObject Box { size 1 0.1 0.2 } } Solid { - translation 0.5 5.75 0.1 - rotation 0 0 1 1.01503e-06 + translation 3.5 -2.75 0.1 + rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -2002,18 +2183,18 @@ DEF piste_exterireure Group { } } ] - name "droit_50cm_vert(1)" + name "droit_50cm_2(1)" boundingObject Box { size 0.5 0.1 0.2 } } Solid { - translation 2 1.75 0.1 - rotation 0 0 1 1.01503e-06 + translation -0.5 2.75 0.1 + rotation 0 0 1 -1.5707953071795862 children [ Shape { appearance PBRAppearance { - baseColor 0 1 0 + baseColor 1 0 0 metalness 0 } geometry Box { @@ -2021,10 +2202,35 @@ DEF piste_exterireure Group { } } ] - name "droit_50cm_vert(2)" + name "droit_50cm" boundingObject Box { size 0.5 0.1 0.2 } } ] } +Solid { + translation 0 0.5 -0.05 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 10 10 0.1 + } + } + ] + name "sol_piste" + boundingObject Shape { + geometry Box { + size 10 10 0.1 + } + } +} +DEF WorldInit Robot { + supervisor TRUE + name "WorldInit" + controller "controllerWorldInit" + children [ + ] +} diff --git a/src/Simulateur/worlds/piste3.wbt b/src/Simulateur/worlds/piste3.wbt new file mode 100644 index 0000000..b3b11f7 --- /dev/null +++ b/src/Simulateur/worlds/piste3.wbt @@ -0,0 +1,3172 @@ +#VRML_SIM R2023b utf8 + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +IMPORTABLE EXTERNPROTO "../protos/TT02_2023b.proto" + +WorldInfo { +} +Viewpoint { + orientation 0.49510834283857236 0.5424779560066733 -0.6786644208284862 2.0598719524459836 + position 3.5618213013838633 5.806940499586064 20.959261693393685 + followType "Mounted Shot" +} +TexturedBackground { +} +TexturedBackgroundLight { +} +DEF elements_pistes Group { + children [ + Solid { + translation 7 -4 0.185 + rotation 0 0 1 -5.307179586466759e-06 + children [ + Shape { + appearance Appearance { + material Material { + ambientIntensity 0.5 + diffuseColor 0 0.6 0 + emissiveColor 0 0.6 0 + specularColor 0 0.6 0 + } + } + geometry Mesh { + url [ + "ImageToStl.com_virage.obj" + ] + } + } + ] + name "virage_rouge" + boundingObject Mesh { + url [ + "ImageToStl.com_virage.obj" + ] + } + } + Solid { + translation 6.5 -3 0.185 + rotation 0 0 0.9999999999999999 1.5707953071795862 + children [ + Shape { + appearance Appearance { + material Material { + ambientIntensity 0.5 + diffuseColor 0.9 0 0 + emissiveColor 0.9 0 0 + specularColor 0.9 0 0 + } + } + geometry Mesh { + url [ + "ImageToStl.com_virage.obj" + ] + } + } + ] + name "virage_vert" + boundingObject Mesh { + url [ + "ImageToStl.com_virage.obj" + ] + } + } + Solid { + translation 7 -1.25 0.1 + rotation 0 0 1 -1.5707953071795862 + children [ + Shape { + appearance PBRAppearance { + baseColor 0 1 0 + metalness 0 + } + geometry Box { + size 0.5 0.1 0.2 + } + } + ] + name "droit_50cm_rouge" + boundingObject Box { + size 0.5 0.1 0.2 + } + } + Solid { + translation 7 1.5 0.1 + rotation 0 0 1 -1.5707953071795862 + children [ + Shape { + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 + } + geometry Box { + size 1 0.1 0.2 + } + } + ] + name "droit_1m_vert" + boundingObject Box { + size 1 0.1 0.2 + } + } + Solid { + translation 7 0 0.1 + rotation 0 0 1 -1.5707953071795862 + children [ + Shape { + appearance PBRAppearance { + baseColor 0 1 0 + metalness 0 + } + geometry Box { + size 1 0.1 0.2 + } + } + ] + name "droit_1m_rouge" + boundingObject Box { + size 1 0.1 0.2 + } + } + Solid { + translation 7 -2.25 0.1 + rotation 0 0 1 -1.5707953071795862 + children [ + Shape { + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 + } + geometry Box { + size 0.5 0.1 0.2 + } + } + ] + name "droit_50cm_vert" + boundingObject Box { + size 0.5 0.1 0.2 + } + } + ] +} +DEF piste_exterieure Group { + children [ + Solid { + translation 6 2 0.1 + rotation 0 0 1 -1.5707953071795862 + children [ + Shape { + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 + } + geometry Box { + size 1 0.1 0.2 + } + } + ] + name "droit_1m_vert(4)" + boundingObject Box { + size 1 0.1 0.2 + } + } + Solid { + translation 6 3 0.1 + rotation 0 0 1 -1.5707953071795862 + children [ + Shape { + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 + } + geometry Box { + size 1 0.1 0.2 + } + } + ] + name "droit_1m_vert(3)" + boundingObject Box { + size 1 0.1 0.2 + } + } + Solid { + translation 6 4 0.1 + rotation 0 0 1 -1.5707953071795862 + children [ + Shape { + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 + } + geometry Box { + size 1 0.1 0.2 + } + } + ] + name "droit_1m_vert(2)" + boundingObject Box { + size 1 0.1 0.2 + } + } + Solid { + translation 6 1 0.1 + rotation 0 0 1 -1.5707953071795862 + children [ + Shape { + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 + } + geometry Box { + size 1 0.1 0.2 + } + } + ] + name "droit_1m_vert(5)" + boundingObject Box { + size 1 0.1 0.2 + } + } + Solid { + translation 6 5 0.1 + rotation 0 0 1 -1.5707953071795862 + children [ + Shape { + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 + } + geometry Box { + size 1 0.1 0.2 + } + } + ] + name "droit_1m_vert(1)" + boundingObject Box { + size 1 0.1 0.2 + } + } + Solid { + translation 6 5.19723e-15 0.1 + rotation 0 0 1 -1.5707953071795862 + children [ + Shape { + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 + } + geometry Box { + size 1 0.1 0.2 + } + } + ] + name "droit_1m_vert(6)" + boundingObject Box { + size 1 0.1 0.2 + } + } + Solid { + translation 6 -2 0.1 + rotation 0 0 1 -1.5707953071795862 + children [ + Shape { + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 + } + geometry Box { + size 1 0.1 0.2 + } + } + ] + name "droit_1m_vert(8)" + boundingObject Box { + size 1 0.1 0.2 + } + } + Solid { + translation 6 -3 0.1 + rotation 0 0 1 -1.5707953071795862 + children [ + Shape { + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 + } + geometry Box { + size 1 0.1 0.2 + } + } + ] + name "droit_1m_vert(9)" + boundingObject Box { + size 1 0.1 0.2 + } + } + Solid { + translation 6 -5 0.1 + rotation 0 0 1 -1.5707953071795862 + children [ + Shape { + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 + } + geometry Box { + size 1 0.1 0.2 + } + } + ] + name "droit_1m_vert(11)" + boundingObject Box { + size 1 0.1 0.2 + } + } + Solid { + translation 5 -6 0.1 + rotation 0 0 1 3.14159 + children [ + Shape { + appearance PBRAppearance { + baseColor 1 0 0 + metalness 0 + } + geometry Box { + size 1 0.1 0.2 + } + } + ] + name "droit_1m_vert(12)" + boundingObject Box { + size 1 0.1 0.2 + } + } + Solid { + translation 4 -6 0.1 + 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Shape { + appearance PBRAppearance { + baseColor 0 1 0 + metalness 0 + } + geometry Box { + size 1 0.1 0.2 + } + } + ] + name "droit_1m_rouge(12)" + boundingObject Box { + size 1 0.1 0.2 + } + } + ] +} +Solid { + translation 0 0.5 -0.05 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 15 15 0.1 + } + } + ] + name "sol_piste" + boundingObject Shape { + geometry Box { + size 15 15 0.1 + } + } +} +DEF WorldInit Robot { + supervisor TRUE + name "WorldInit" + controller "controllerWorldInit" + children [ + ] +}