From 1a5abfbd651d95827a36b7784aa6d5fa3b2a6dc7 Mon Sep 17 00:00:00 2001 From: Ernesto Corbellini Date: Thu, 26 Aug 2021 17:57:55 -0300 Subject: [PATCH] Initial commit --- .gitmodules | 3 + controllers/Makefile | 23 + controllers/sojourner/Makefile | 25 + controllers/sojourner/robot-sdk-cpp | 1 + controllers/sojourner/sojourner.cpp | 272 ++++++ protos/.Sojourner.cache | 11 + protos/Sojourner.proto | 1322 +++++++++++++++++++++++++++ protos/icons/Sojourner.png | Bin 0 -> 12723 bytes worlds/.sojourner.wbproj | 12 + worlds/sojourner.wbt | 136 +++ 10 files changed, 1805 insertions(+) create mode 100644 .gitmodules create mode 100644 controllers/Makefile create mode 100644 controllers/sojourner/Makefile create mode 160000 controllers/sojourner/robot-sdk-cpp create mode 100644 controllers/sojourner/sojourner.cpp create mode 100644 protos/.Sojourner.cache create mode 100644 protos/Sojourner.proto create mode 100644 protos/icons/Sojourner.png create mode 100644 worlds/.sojourner.wbproj create mode 100644 worlds/sojourner.wbt diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..377f798 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "controllers/sojourner/robot-sdk-cpp"] + path = controllers/sojourner/robot-sdk-cpp + url = https://github.com/inorbit-ai/robot-sdk-cpp.git diff --git a/controllers/Makefile b/controllers/Makefile new file mode 100644 index 0000000..d8e7a63 --- /dev/null +++ b/controllers/Makefile @@ -0,0 +1,23 @@ +# Copyright 1996-2021 Cyberbotics Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +TARGETS = sojourner.Makefile + +.PHONY: release debug profile clean + +release debug profile clean: $(TARGETS) + +%.Makefile: + +@echo "# make" $(MAKECMDGOALS) $(@:.Makefile=) + +@make -s -C $(@:.Makefile=) $(MAKECMDGOALS) diff --git a/controllers/sojourner/Makefile b/controllers/sojourner/Makefile new file mode 100644 index 0000000..dec2c8f --- /dev/null +++ b/controllers/sojourner/Makefile @@ -0,0 +1,25 @@ +# Copyright 1996-2021 Cyberbotics Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# Webots Makefile system +# +# You may add some variable definitions hereafter to customize the build process +# See documentation in $(WEBOTS_HOME_PATH)/resources/Makefile.include + + +# Do not modify the following: this includes Webots global Makefile.include +null := +space := $(null) $(null) +WEBOTS_HOME_PATH=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME)))) +include $(WEBOTS_HOME_PATH)/resources/Makefile.include diff --git a/controllers/sojourner/robot-sdk-cpp b/controllers/sojourner/robot-sdk-cpp new file mode 160000 index 0000000..dfc294c --- /dev/null +++ b/controllers/sojourner/robot-sdk-cpp @@ -0,0 +1 @@ +Subproject commit dfc294cac71f815932ece7dd398a1459bd6add1f diff --git a/controllers/sojourner/sojourner.cpp b/controllers/sojourner/sojourner.cpp new file mode 100644 index 0000000..edf5ea4 --- /dev/null +++ b/controllers/sojourner/sojourner.cpp @@ -0,0 +1,272 @@ +/* + * Copyright 1996-2021 Cyberbotics Ltd. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/* + * Description: A controller for the Sojourner robot developped for an EiVd + * diploma project of Nicolas Uebelhart. + * Converted to C++ by Ernesto Corbellini + */ + +#include +#include + +#include "robot-sdk-cpp/include/inorbit/inorbit.hpp" + +#include +#include +#include +#include +#include +#include + +#define TIME_STEP 64 +#define VELOCITY 0.6 +#define INORBIT_HOST "localhost" +#define INORBIT_PORT 6000 + +using namespace std; +using namespace webots; + +class Sojourner : public Robot { +public: + Sojourner(); + void move_4_wheels(double v); + void move_6_wheels(double v); + void turn_wheels_right(); + void turn_wheels_left(); + void wheels_straight(); + void turn_around(double v); + vector getPosition(); + vector getOrientation(); + double getLight(); + +private: + enum { + back_left_bogie, + front_left_bogie, + front_left_arm, + back_left_arm, + front_left_wheel, + middle_left_wheel, + back_left_wheel, + back_right_bogie, + front_right_bogie, + front_right_arm, + back_right_arm, + front_right_wheel, + middle_right_wheel, + back_right_wheel, + JOINTS_MAX + }; + Motor* motor[JOINTS_MAX]; + GPS* gps; + InertialUnit* orientation; + LightSensor* lightSensor; +}; + +Sojourner::Sojourner() { + gps = getGPS("gps"); + orientation = getInertialUnit("inertial unit"); + lightSensor = getLightSensor("light sensor"); + motor[back_left_bogie] = getMotor("BackLeftBogie"); + motor[front_left_bogie] = getMotor("FrontLeftBogie"); + motor[front_left_arm] = getMotor("FrontLeftArm"); + motor[back_left_arm] = getMotor("BackLeftArm"); + motor[front_left_wheel] = getMotor("FrontLeftWheel"); + motor[middle_left_wheel] = getMotor("MiddleLeftWheel"); + motor[back_left_wheel] = getMotor("BackLeftWheel"); + motor[back_right_bogie] = getMotor("BackRightBogie"); + motor[front_right_bogie] = getMotor("FrontRightBogie"); + motor[front_right_arm] = getMotor("FrontRightArm"); + motor[back_right_arm] = getMotor("BackRightArm"); + motor[front_right_wheel] = getMotor("FrontRightWheel"); + motor[middle_right_wheel] = getMotor("MiddleRightWheel"); + motor[back_right_wheel] = getMotor("BackRightWheel"); + + motor[front_left_wheel]->setPosition(INFINITY); + motor[middle_left_wheel]->setPosition(INFINITY); + motor[back_left_wheel]->setPosition(INFINITY); + motor[front_right_wheel]->setPosition(INFINITY); + motor[middle_right_wheel]->setPosition(INFINITY); + motor[back_right_wheel]->setPosition(INFINITY); + + batterySensorEnable(TIME_STEP); + gps->enable(TIME_STEP); + orientation->enable(TIME_STEP); + lightSensor->enable(TIME_STEP); +} + +void Sojourner::move_4_wheels(double v) { + motor[front_left_wheel]->setVelocity(v * VELOCITY); + motor[middle_left_wheel]->setVelocity(v * VELOCITY); + motor[back_left_wheel]->setVelocity(v * VELOCITY); + motor[front_right_wheel]->setVelocity(v * VELOCITY); + motor[middle_right_wheel]->setVelocity(v * VELOCITY); + motor[back_right_wheel]->setVelocity(v * VELOCITY); + + motor[middle_right_wheel]->setAvailableTorque(0.0); + motor[middle_left_wheel]->setAvailableTorque(0.0); +} + +void Sojourner::move_6_wheels(double v) { + motor[middle_right_wheel]->setAvailableTorque(2.0); + motor[middle_left_wheel]->setAvailableTorque(2.0); + + motor[front_left_wheel]->setVelocity(v * VELOCITY); + motor[middle_left_wheel]->setVelocity(v * VELOCITY); + motor[back_left_wheel]->setVelocity(v * VELOCITY); + motor[front_right_wheel]->setVelocity(v * VELOCITY); + motor[middle_right_wheel]->setVelocity(v * VELOCITY); + motor[back_right_wheel]->setVelocity(v * VELOCITY); +} + +void Sojourner::turn_wheels_right() { + motor[front_left_arm]->setPosition(0.4); + motor[front_right_arm]->setPosition(0.227); + motor[back_right_arm]->setPosition(-0.227); + motor[back_left_arm]->setPosition(-0.4); +} + +void Sojourner::turn_wheels_left() { + motor[front_left_arm]->setPosition(-0.227); + motor[front_right_arm]->setPosition(-0.4); + motor[back_right_arm]->setPosition(0.4); + motor[back_left_arm]->setPosition(0.227); +} + +void Sojourner::wheels_straight() { + motor[front_left_arm]->setPosition(0.0); + motor[front_right_arm]->setPosition(0.0); + motor[back_right_arm]->setPosition(0.0); + motor[back_left_arm]->setPosition(0.0); +} + +void Sojourner::turn_around(double v) { + motor[front_left_arm]->setPosition(-0.87); + motor[front_right_arm]->setPosition(0.87); + motor[back_right_arm]->setPosition(-0.87); + motor[back_left_arm]->setPosition(0.87); + + motor[front_left_wheel]->setVelocity(v * VELOCITY); + motor[middle_left_wheel]->setVelocity(v * VELOCITY); + motor[back_left_wheel]->setVelocity(v * VELOCITY); + motor[front_right_wheel]->setVelocity(-v * VELOCITY); + motor[middle_right_wheel]->setVelocity(-v * VELOCITY); + motor[back_right_wheel]->setVelocity(-v * VELOCITY); + + motor[middle_right_wheel]->setAvailableTorque(0.0); + motor[middle_left_wheel]->setAvailableTorque(0.0); +} + +vector Sojourner::getPosition() { + vector position(3); + const double* gpsVal = gps->getValues(); + for (int i = 0; i < 3; i++) { + position[i] = gpsVal[i]; + } + return position; +} + +vector Sojourner::getOrientation() { + vector inertial(4); + const double* inertialVal = orientation->getQuaternion(); + for (int i = 0; i < 4; i++) { + inertial[i] = inertialVal[i]; + } + return inertial; +} + +double Sojourner::getLight() { + return lightSensor->getValue(); +} + +int main() { + // Required to initialize Webots +// wb_robot_init(); + Sojourner rover; + + // Create an InOrbitSDK object + inorbit::InOrbitSDK inorbit(INORBIT_HOST, INORBIT_PORT); + + cout << "Select the 3D window and use the keyboard to drive this robot:" << endl + << "Q: forwards-left; W: forwards; E: forwards-right" << endl + << "S: spin counter-clockwise" << endl + << "Y: backwards-left; X: backwards; C: backwards-right\n" << endl; + + Keyboard keyboard; + keyboard.enable(TIME_STEP); + + // start moving + rover.move_6_wheels(1.0); + + int count{0}; + while (rover.step(TIME_STEP) != -1) { + int key = keyboard.getKey(); + count++; + if (count > 60) + { + cout << "Battery: " << rover.batterySensorGetValue() << endl; + auto p = rover.getPosition(); + cout << "Position: x:" << p[0] << " y:" << p[1] << " z:" << p[2] << endl; + auto o = rover.getOrientation(); + cout << "Orientation: x:" << o[0] << " y:" << o[1] << " z:" << o[2] << " w:" << o[3] << endl; + cout << "Light sensor: " << rover.getLight() << endl; + cout << "\n" << endl; + count = 0; + } + inorbit.sendKeyValue("Battery (J)", rover.batterySensorGetValue()); + inorbit.sendPose("map", rover.getPosition().data(), rover.getOrientation().data()); + inorbit.sendKeyValue("Incident light (W_m2)", rover.getLight()); + switch (key) { + case 'W': + // forwards + rover.wheels_straight(); + rover.move_6_wheels(1.0); + break; + case 'X': + // backwards + rover.wheels_straight(); + rover.move_6_wheels(-1.0); + break; + case 'Q': + // forwards left + rover.turn_wheels_left(); + rover.move_4_wheels(1.0); + break; + case 'E': + // forwards right + rover.turn_wheels_right(); + rover.move_4_wheels(1.0); + break; + case 'Y': + // backwards left + rover.turn_wheels_left(); + rover.move_4_wheels(-1.0); + break; + case 'C': + // backwards right + rover.turn_wheels_right(); + rover.move_4_wheels(-1.0); + break; + case 'S': + // spin counter-clockwise + rover.turn_around(1.0); + break; + } + } + + return 0; +} diff --git a/protos/.Sojourner.cache b/protos/.Sojourner.cache new file mode 100644 index 0000000..b280fcd --- /dev/null +++ b/protos/.Sojourner.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 02e2164ee563bedf52f0d43d29d4245c +needsRobotAncestor: 1 +baseType: Robot +slotType: +parameters: translation,rotation,name,controller,controllerArgs,customData,supervisor,synchronization,extensionSlot,battery,cpuConsumption +tags: +license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. +licenseUrl: https://cyberbotics.com/webots_assets_license +documentationUrl: https://www.cyberbotics.com/doc/guide/sojourner +info: Sojourner\sis\sthe\sNASA\sPathfinder\srobotic\srover\sthat\slanded\son\s1997\sin\sthe\sAres\sVallis\sregion,\sand\sexplored\sMars\sfor\saround\sthree\smonths. diff --git a/protos/Sojourner.proto b/protos/Sojourner.proto new file mode 100644 index 0000000..ac4d81a --- /dev/null +++ b/protos/Sojourner.proto @@ -0,0 +1,1322 @@ +#VRML_SIM R2021b utf8 +# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. +# license url: https://cyberbotics.com/webots_assets_license +# documentation url: https://www.cyberbotics.com/doc/guide/sojourner +# Sojourner is the NASA Pathfinder robotic rover that landed on 1997 in the Ares Vallis region, and explored Mars for around three months. + +PROTO Sojourner [ + field SFVec3f translation 0 0 0 # Is `Transform.translation`. + field SFRotation rotation 0 1 0 0 # Is `Transform.rotation`. + field SFString name "Sojourner" # Is `Solid.name`. + field SFString controller "sojourner" # Is `Robot.controller`. + field MFString controllerArgs [] # Is `Robot.controllerArgs`. + field SFString customData "" # Is `Robot.customData`. + field SFBool supervisor FALSE # Is `Robot.supervisor`. + field SFBool synchronization TRUE # Is `Robot.synchronization`. + field MFNode extensionSlot [] # Extends the robot with new nodes in the extension slot. + field MFFloat battery [100e3, 100e3, 10] # [starting energy joules, maximum energy the battery can hold in joules, energy recharge speed in watts] + field SFFloat cpuConsumption 2 # in watts [0, inf) +] +{ + Robot { + translation IS translation + rotation IS rotation + controller IS controller + controllerArgs IS controllerArgs + customData IS customData + supervisor IS supervisor + synchronization IS synchronization + name IS name + battery IS battery + cpuConsumption IS cpuConsumption + children [ + Group { + children IS extensionSlot + } + DEF Corps Transform { + rotation -1 0 0 0 + scale 0.001 0.001 0.001 + children [ + DEF chassis Transform { + children [ + Shape { + appearance PBRAppearance { + baseColor 1 0.501961 0 + roughness 0.2 + baseColorMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2021b/projects/robots/nasa/protos/textures/gold_leaf_base_color.jpg" + ] + } + roughnessMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2021b/projects/robots/nasa/protos/textures/gold_leaf_roughness.jpg" + ] + } + normalMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2021b/projects/robots/nasa/protos/textures/gold_leaf_normal.jpg" + ] + } + occlusionMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2021b/projects/robots/nasa/protos/textures/gold_leaf_occlusion.jpg" + ] + } + } + geometry IndexedFaceSet { + coord Coordinate { + point [ -66.479988 32.949978 136.000015 -90.249985 25.229977 136.000015 -90.249985 13.489978 136.000015 -66.479988 5.759978 136.000000 -97.159988 3.989978 136.000015 -82.469986 -16.240023 136.000000 -108.299988 0.362178 136.000015 -108.299988 -24.640022 136.000000 -119.499985 3.991978 136.000015 -134.199982 -16.230022 136.000015 -126.399986 13.489978 136.000015 -150.199982 5.767978 136.000015 -126.399986 25.229977 136.000015 -150.199982 32.959976 136.000015 -119.499985 34.729977 136.000015 -134.199982 54.959976 136.000015 -108.299988 38.359978 136.000015 -108.299988 63.359978 136.000015 -97.149986 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Solid { + translation -0.108 0.015 0.2 + rotation 0 0 -1 0.1 + children [ + HingeJoint { + jointParameters HingeJointParameters { + axis 0 0 1 + anchor 0.175 -0.098 -0.023 + minStop -0.7 + maxStop 0.6 + } + endPoint Solid { + translation 0.175 -0.098 -0.023 + rotation 0 0 1 0 + children [ + DEF motBACKLEFT Transform { + translation 0.135 0.015 0.02 + scale 0.001 0.001 0.001 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.501961 0.501961 0.501961 + roughness 0.3 + } + geometry IndexedFaceSet { + coord Coordinate { + point [ + -42.15 -14.39 9.967 + 42.15 -7.08 22.86 + 30.73 18.57 22.86 + -23.3 -18.57 -15.21 + 30.73 18.57 -22.86 + 42.15 -7.08 -22.86 + ] + } + coordIndex [ + 0, 1, 2, -1, 3, 0, 3, -1, 4, 0, 2, -1, 1, 3, 5, -1, 3, 4, 5, -1, 2, 1, 5, -1, 5, 4, 2, -1, 0, 4, 5, -1, 5, 3, 0, -1, 0, 2, 4, -1, 1, 2, 0, -1, 1, 3, 1, -1, 1, 3, 1, -1, 1, 3, 5, -1, 3, 1, 0, -1 + ] + creaseAngle 1 + } + } + ] + } + HingeJoint { + jointParameters HingeJointParameters { + axis 0 1 0 + anchor 0.155 0.011 0.02 + } + device [ + RotationalMotor { + name "BackLeftArm" + minPosition -1.5708 + maxPosition 1.5708 + } + ] + endPoint Solid { + translation 0.155 0.011 0.02 + children [ + HingeJoint { + jointParameters HingeJointParameters { + axis 0 0 -1 + anchor 0.025 -0.078 0 + } + device [ + RotationalMotor { + name "BackLeftWheel" + maxVelocity 0.6 + maxTorque 2 + } + ] + endPoint Solid { + translation 0.025 -0.078 0 + rotation 0 0 -1 0 + children [ + DEF WHEEL_BACKLEFT_TRANSFORM Transform { + scale 0.001 0.001 0.001 + children [ + Shape { + appearance USE METAL_APPEARANCE + geometry IndexedFaceSet { + coord Coordinate { + point [ + -57.06 0 -40.26, -54.27 17.63 -40.26, -52.66 17.11 -40.26, -55.37 0 -40.26, -59 0 -39.29, -56.11 18.23 -39.29, -60.21 0 -36.39, -57.26 18.6 -36.39, -60.45 0 36.87, -57.49 18.68 36.87, -57.79 0 40.26, -54.96 17.86 40.26, -55.13 0 40.26, -52.43 17.04 40.26, -57.31 0 36.63, -54.5 17.71 36.63, -57.31 0 29.14, -54.5 17.71 29.14, -37.96 0 20.43, 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0.000369431 0.000514792 + -0.000242335 -0.000105 -7.875e-5 + ] + } + } + } + DEF bogie_BACKRIGHT HingeJoint { + jointParameters HingeJointParameters { + axis 0 0 1 + anchor -0.108 0.015 -0.2 + springConstant 10 + dampingConstant 0.2 + } + device [ + RotationalMotor { + name "BackRightBogie" + minPosition -1 + } + ] + endPoint Solid { + translation -0.108 0.015 -0.2 + rotation 0 0 -1 0.1 + children [ + HingeJoint { + jointParameters HingeJointParameters { + axis 0 0 1 + anchor 0.175 -0.098 0.023 + minStop -0.7 + maxStop 0.6 + } + endPoint Solid { + translation 0.175 -0.098 0.023 + rotation 0 0 1 0 + children [ + HingeJoint { + jointParameters HingeJointParameters { + axis 0 1 0 + anchor 0.155 0.011 -0.02 + } + device [ + RotationalMotor { + name "BackRightArm" + minPosition -1.5708 + maxPosition 1.5708 + } + ] + endPoint Solid { + translation 0.155 0.011 -0.02 + children [ + DEF armARD Transform { + translation 0.02 -0.05 0.02 + scale 0.001 0.001 0.001 + children [ + Shape { + appearance USE METAL_APPEARANCE + geometry IndexedFaceSet { + coord Coordinate { + point [ + -4.972 45.38 0.8357, -6.311 45.03 2.697, -13.9 43.04 2.697, -3.254 45.83 -0.6553, -1.609 46.26 -1.908, -22.82 40.71 0.8357, -21.48 41.06 2.697, -24.54 40.26 -0.6553, -26.18 39.83 -1.908, -21.45 46.23 7.697, -8.873 49.52 7.697, -15.16 47.88 7.697, -21.42 46.24 24.66, -8.84 49.53 24.66, -1.609 46.26 -32.81, -2.874 51.09 -32.81, -2.874 51.09 -1.908, -6.342 39.85 7.697, -13.43 37.99 7.697, -18.92 36.56 7.697, -19.38 38.32 7.355, -6.796 41.61 7.355, -19.78 39.6 6.576, -7.079 42.92 6.576, -7.15 43.96 5.437, -20.23 40.54 5.437, -20.79 41.04 4.082, -6.904 44.67 4.082, -7.715 49.83 2.953, -8.194 49.7 4.018, -4.519 50.66 -0.6553, -6.309 50.19 0.9157, -22.61 45.93 2.953, -24.01 45.56 0.9157, -21.73 46.16 5.288, -6.309 39.85 16.81, -18.89 36.56 16.81, -27.45 44.67 -32.81, -26.18 39.83 -32.81, -27.45 44.67 -1.908, -24.76 45.37 -34.73, -23.44 40.54 -34.75, -21.8 46.14 -36.14, -13.9 43.04 -37.36, -17.21 42.18 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Rover on Mars." + "Use the numpad to drive this robot." + "Author: Nicolas Uebelhart" + "Haute Ecole d'Ingenierie et de Gestion de Vaud (HEIG-VD)" + ] + title "Sojourner Rover" + gravity 3.73 + basicTimeStep 16 + coordinateSystem "NUE" + lineScale 0.2 +} +Viewpoint { + fieldOfView 0.895398 + orientation -0.01572651734444004 -0.9971801196721568 -0.07337905411517848 2.7122518897101076 + position -0.874080715558968 0.57225683440871 -1.9190444967953977 + near 0.1 + follow "Sojourner" +} +TexturedBackground { + texture "mars" +} +TexturedBackgroundLight { + texture "mars" +} +Fog { + color 0.5 0.2 0 + fogType "EXPONENTIAL" + visibilityRange 800 +} +DEF FLAG Solid { + translation 0.108014 0.441311 1.29315 + rotation 0 1 0 0.293629 + children [ + Transform { + translation -0.25 0.25 0 + children [ + Shape { + appearance PBRAppearance { + baseColorMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2021b/projects/robots/nasa/worlds/textures/panel.jpg" + ] + } + 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