Commit 2eae3db4 authored by Nicolas Peslerbe's avatar Nicolas Peslerbe

Initial commit

parent 0e43525f
File added
YOLO
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ToDo list:
- Communications
- Initialization en simulation
Questions:
- Positionement dans un environement réel (et initilaization) car pas de superviseur
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Webots Project File version R2019b
perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000008700ffffff000000010000011c000002e1fc0200000001fb0000001400540065007800740045006400690074006f00720100000000000002e10000004500ffffff000000030000064e00000150fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000064e0000008700ffffff00000530000002e100000001000000020000000100000008fc00000000
simulationViewPerspectives: 000000ff0000000100000002000001a8000003860100000002010000000100
sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000200
maximizedDockId: -1
centralWidgetVisible: 1
selectionDisabled: 0
viewpointLocked: 0
orthographicViewHeight: 1
textFiles: -1
renderingDevicePerspectives: epuck3:camera;1;1;0;0
renderingDevicePerspectives: epuck5:camera;1;1;0;0
renderingDevicePerspectives: epuck8:camera;1;1;0;0
renderingDevicePerspectives: epuck0:camera;1;1;0;0
renderingDevicePerspectives: epuck6:camera;1;1;0;0
renderingDevicePerspectives: epuck2:camera;1;1;0;0
renderingDevicePerspectives: epuck4:camera;1;1;0;0
renderingDevicePerspectives: epuck9:camera;1;1;0;0
renderingDevicePerspectives: epuck7:camera;1;1;0;0
renderingDevicePerspectives: epuck1:camera;1;1;0;0
Webots Project File version R2019b
perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000008700ffffff000000010000011c000003a3fc0200000001fb0000001400540065007800740045006400690074006f00720100000000000003a30000004500ffffff000000030000064e0000008efc0100000001fb0000000e0043006f006e0073006f006c006501000000000000064e0000008700ffffff00000530000003a300000001000000020000000100000008fc00000000
simulationViewPerspectives: 000000ff000000010000000200000100000004300100000002010000000100
sceneTreePerspectives: 000000ff0000000100000002000002ba000000fa0100000002010000000200
maximizedDockId: -1
centralWidgetVisible: 1
selectionDisabled: 0
viewpointLocked: 0
orthographicViewHeight: 1
textFiles: -1
renderingDevicePerspectives: epuck1:camera;1;1;0;0
renderingDevicePerspectives: epuck2:camera;1;1;0;0
renderingDevicePerspectives: epuck3:camera;1;1;0;0
renderingDevicePerspectives: epuck8:camera;1;1;0;0
renderingDevicePerspectives: epuck7:camera;1;1;0;0
renderingDevicePerspectives: epuck0:camera;1;1;0;0
renderingDevicePerspectives: epuck5:camera;1;1;0;0
renderingDevicePerspectives: epuck9:camera;1;1;0;0
renderingDevicePerspectives: epuck4:camera;1;1;0;0
renderingDevicePerspectives: epuck6:camera;1;1;0;0
#VRML_SIM R2019b utf8
WorldInfo {
info [
"Description"
"Author: first name last name <e-mail>"
"Date: DD MMM YYYY"
]
basicTimeStep 16
}
Viewpoint {
orientation -0.5753115419213192 -0.7687119626655642 -0.2794611747398374 1.093625696409411
position -2.580680177547902 0.6767323362634998 0.5650843398587271
}
PointLight {
intensity 0.5
location -1.06 0.58 -0.55
castShadows TRUE
}
PointLight {
intensity 0.5
location -1.63 0.53 -0.05
}
Background {
skyColor [
0.4 0.7 1
]
}
DEF ground Solid {
translation -1.5 0 0
children [
Shape {
appearance Appearance {
material Material {
ambientIntensity 1
diffuseColor 1 1 1
emissiveColor 0.823529 0.6 0.34902
shininess 0.5
specularColor 0.196078 0.196078 0
}
texture ImageTexture {
url [
"textures/ague.jpg"
]
}
textureTransform TextureTransform {
center 0.46 0
rotation -0.32
translation -1.01 0
}
}
geometry DEF ground_geo IndexedFaceSet {
coord Coordinate {
point [
-1.6 0 -1
-1.6 0 1
1.6 0 1
1.6 0 -1
]
}
texCoord TextureCoordinate {
point [
0 0
0 5
5 5
5 0
]
}
coordIndex [
0, 1, 2, 3, -1
]
texCoordIndex [
0, 1, 2, 3, -1
]
}
}
]
boundingObject USE ground_geo
}
DEF long_rock_3 Solid {
translation -2 0 0
rotation 0 1 0 1.5708
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 1 1
}
texture ImageTexture {
url [
"textures/stone.jpg"
]
}
}
geometry Box {
size 0.6 0.2 0.01
}
}
]
name "short brick"
boundingObject DEF U_END_BOX Box {
size 0.6 0.2 0.01
}
}
DEF long_rock_4 Solid {
translation -1.9 0 0.3
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 1 1
}
texture ImageTexture {
url [
"textures/stone.jpg"
]
}
}
geometry Box {
size 0.2 0.2 0.01
}
}
]
name "short brick"
boundingObject DEF U_END_BOX Box {
size 0.2 0.2 0.01
}
}
DEF long_rock_6 Solid {
translation -1.9 0 -0.3
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 1 1
}
texture ImageTexture {
url [
"textures/stone.jpg"
]
}
}
geometry Box {
size 0.2 0.2 0.01
}
}
]
name "short brick"
boundingObject DEF U_END_BOX Box {
size 0.2 0.2 0.01
}
}
DEF long_rock_8 Solid {
rotation 0 1 0 1.5708
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 1 1
}
texture ImageTexture {
url [
"textures/stone.jpg"
]
}
}
geometry Box {
size 0.6 0.2 0.01
}
}
]
name "short brick"
boundingObject DEF U_END_BOX Box {
size 0.6 0.2 0.01
}
}
DEF long_rock_9 Solid {
translation -0.1 0 0.3
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 1 1
}
texture ImageTexture {
url [
"textures/stone.jpg"
]
}
}
geometry Box {
size 0.2 0.2 0.01
}
}
]
name "short brick"
boundingObject DEF U_END_BOX Box {
size 0.2 0.2 0.01
}
}
DEF long_rock_11 Solid {
translation -0.1 0 -0.3
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 1 1
}
texture ImageTexture {
url [
"textures/stone.jpg"
]
}
}
geometry Box {
size 0.2 0.2 0.01
}
}
]
name "short brick"
boundingObject DEF U_END_BOX Box {
size 0.2 0.2 0.01
}
}
Supervisor {
children [
DEF emitter Emitter {
channel 1
}
]
name "super0"
controller "flock_super"
}
Supervisor {
children [
DEF emitter Emitter {
channel 2
}
]
name "super1"
controller "flock_super"
}
DEF epuck0 E-puck {
hidden position_0_0 9.882558782718736e-12
hidden position_0_1 3.0705878746564746e-08
hidden rotation_2 -1 0 0 2.9802322387695313e-08
translation -0.10000000000002265 -3.1987207529322534e-05 1.1944611020619201e-11
rotation 3.348462447042487e-06 0.9999999999887785 3.3512698564343906e-06 1.5700000008817383
name "epuck0"
controller "flock_controller"
}
DEF epuck1 E-puck {
hidden position_0_0 9.89135240621781e-12
hidden position_0_1 3.070588031617961e-08
hidden rotation_2 -1 0 0 2.9802322387695313e-08
translation -0.10000000000002265 -3.198720752933121e-05 -0.09999999998805542
rotation 3.3484624459056432e-06 0.9999999999887785 3.351269854826555e-06 1.5700000008817363
name "epuck1"
controller "flock_controller"
}
DEF epuck2 E-puck {
hidden position_0_0 3.0705802310886635e-08
hidden position_0_1 3.070588784058869e-08
hidden rotation_1 -1 0 0 2.9802322387695313e-08
hidden rotation_2 -1 0 0 2.9802322387695313e-08
translation -0.10000000002334404 -3.198720752918202e-05 0.10000000001192598
rotation 3.3488090852437776e-06 0.9999999999887784 3.350923496041847e-06 1.5700000000112206
name "epuck2"
controller "flock_controller"
}
DEF epuck3 E-puck {
hidden position_0_0 9.896196189570759e-12
hidden position_0_1 9.89665508239528e-12
translation -0.0999999999766749 -3.19872075291161e-05 -0.19999999998803691
rotation 3.348255686976733e-06 0.9999999999887783 3.3514764523001674e-06 1.5700000000112226
name "epuck3"
controller "flock_controller"
}
DEF epuck4 E-puck {
hidden position_0_0 3.0705798985526784e-08
hidden position_0_1 3.070588641416351e-08
hidden rotation_1 -1 0 0 2.9802322387695313e-08
hidden rotation_2 -1 0 0 2.9802322387695313e-08
translation -0.10000000002334401 -3.198720752921151e-05 0.20000000001192592
rotation 3.348809082475517e-06 0.9999999999887784 3.3509234979381555e-06 1.57000000001122
name "epuck4"
controller "flock_controller"
}
DEF epuck5 E-puck {
hidden position_0_0 9.88633092819037e-12
hidden position_0_1 3.070589030840359e-08
hidden rotation_2 -1 0 0 2.9802322387695313e-08
translation -1.8999999999999957 -3.1987207529230594e-05 -1.1944450106090912e-11
rotation 3.3486023272834592e-06 0.9999999999887783 -3.351130094209269e-06 -1.5699999991407136
name "epuck5"
controller "flock_controller"
}
DEF epuck6 E-puck {
hidden position_0_0 9.894205036564558e-12
hidden position_0_1 9.904336929106901e-12
translation -1.9000000000233443 -3.198720752912651e-05 -0.10000000001192555
rotation 3.3488090943636403e-06 0.9999999999887784 -3.3509234898042776e-06 -1.570000000011245
name "epuck6"
controller "flock_controller"
}
DEF epuck7 E-puck {
hidden position_0_0 9.88532267908507e-12
hidden position_0_1 3.070589885831721e-08
hidden rotation_2 -1 0 0 2.9802322387695313e-08
translation -1.899999999999996 -3.198720752929478e-05 0.09999999998805535
rotation 3.3486023227572887e-06 0.9999999999887783 -3.3511301009912703e-06 -1.5699999991407039
name "epuck7"
controller "flock_controller"
}
DEF epuck8 E-puck {
hidden position_0_0 9.888668587287518e-12
hidden position_0_1 3.070588374949194e-08
hidden rotation_2 -1 0 0 2.9802322387695313e-08
translation -1.899999999999996 -3.198720752929651e-05 -0.20000000001194443
rotation 3.348602326106333e-06 0.9999999999887783 -3.351130099994635e-06 -1.569999999140699
name "epuck8"
controller "flock_controller"
}
DEF epuck9 E-puck {
hidden position_0_0 9.889556765707218e-12
hidden position_0_1 3.070589595311096e-08
hidden rotation_2 -1 0 0 2.9802322387695313e-08
translation -1.899999999999996 -3.198720752922886e-05 0.1999999999880554
rotation 3.3486023291281797e-06 0.9999999999887783 -3.3511300932578345e-06 -1.5699999991406952
name "epuck9"
controller "flock_controller"
}
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