flippy_template.proto

Robot {
  translation 
  rotation 
  children [
    DEF FlippyParts Group {
      children [
        DEF FLIPPY_BODY Solid {
          rotation 0 0 1 -1.5708003061004252
          children [
            DEF BODY Shape {
              appearance DEF RED PBRAppearance {
                baseColor 1 0.2 0.2
                roughness 1
                metalness 0
              }
              geometry Cylinder {
                height 0.01
                radius 0.01
              }
            }
          ]
          name "solid(2)"
          boundingObject USE BODY
          physics Physics {
          }
        }
        DEF H1 Hinge2Joint {
          jointParameters HingeJointParameters {
            axis 0 0 1
            anchor 0.025 0 0
          }
          jointParameters2 JointParameters {
            axis 0 -1 0
          }
          device [
            PositionSensor {
              name "P1"
            }
            RotationalMotor {
              name "M1"
              maxVelocity 100
            }
          ]
          device2 [
            PositionSensor {
              name "RP1"
            }
            RotationalMotor {
              name "RM1"
            }
          ]
          endPoint DEF F###_S1 Solid {
            translation 0.025 0 0
            rotation -1 0 0 0
            children [
              DEF S1 Group {
                children [
                  DEF HS11 Transform {
                    children [
                      hemisphere {
                        color 0.4 0.9 0.4
                      }
                    ]
                  }
                  DEF HS12 Transform {
                    rotation 1 0 0 3.1415
                    children [
                      hemisphere {
                        color 0.1 0.7 0.1
                      }
                    ]
                  }
                ]
              }
              DEF T11 TouchSensor {
                name "T11"
                boundingObject USE HS11
                physics DEF BUMP_PHYSICS Physics {
                }
              }
              DEF T12 TouchSensor {
                name "T12"
                boundingObject USE HS12
                physics DEF BUMP_PHYSICS Physics {
                }
              }
              Receiver {
                name "RS1"
              }
              Emitter {
                name "ES1"
                range 0.061
              }
            ]
            name "s1"
            boundingObject USE S1
            physics DEF S_PHYSICS Physics {
            }
          }
        }
        DEF H2 Hinge2Joint {
          jointParameters HingeJointParameters {
            axis 0 0 1
            anchor -0.025 0 0
          }
          jointParameters2 JointParameters {
            axis 0 1 0
          }
          device [
            PositionSensor {
              name "P2"
            }
            RotationalMotor {
              name "M2"
              maxVelocity 100
            }
          ]
          device2 [
            PositionSensor {
              name "RP2"
            }
            RotationalMotor {
              name "RM2"
            }
          ]
          endPoint DEF F###_S2 Solid {
            translation -0.025 0 0
            rotation -1 0 0 0
            children [
              DEF S2 Group {
                children [
                  DEF HS21 Transform {
                    children [
                      hemisphere {
                        color 0.4 0.4 1
                      }
                    ]
                  }
                  DEF HS22 Transform {
                    rotation 1 0 0 3.1415
                    children [
                      hemisphere {
                        color 0.1 0.1 0.7
                      }
                    ]
                  }
                ]
              }
              DEF T21 TouchSensor {
                name "T21"
                boundingObject USE HS21
                physics DEF BUMP_PHYSICS Physics {
                }
              }
              DEF T22 TouchSensor {
                name "T22"
                boundingObject USE HS22
                physics DEF BUMP_PHYSICS Physics {
                }
              }
              Receiver {
                name "RS2"
              }
              Emitter {
                name "ES2"
                range 0.061
              }
            ]
            name "s2"
            boundingObject USE S2
            physics USE S_PHYSICS
          }
        }
        Receiver {
          name "R1"
        }
        Emitter {
          name "E1"
        }
        InertialUnit {
          name "IU"
        }
        GPS {
          name "GPS"
        }
      ]
    }
  ]
  name "F###"
  boundingObject USE BODY
  physics USE S_PHYSICS
  controller "flippy_controller"
  controllerArgs [
    "0"
  ]
}