#VRML_SIM R2022b utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# A platform cart with overall dimensions 90Lx50Wx85H cm.
# template language: javascript
PROTO PlatformCart [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString name "platform cart"
field MFNode slot [] # Extends the cart with new nodes in the slot.
field SFNode physics Physics {} # Is `Solid.physics`.
]
{
%<
const isDynamic = fields.physics.value !== undefined;
>%
Solid {
translation IS translation
rotation IS rotation
children [
Transform {
translation 0 0 0.09
children [
Shape {
appearance PBRAppearance {
baseColor 0.972549 0.956863 0.811765
roughness 0.6
metalness 0
}
geometry Box {
size 0.88 0.48 0.02
}
}
]
}
Shape {
appearance PBRAppearance {
baseColor 0.207843 0.470588 0.768627
roughness 0.6
metalness 0
}
geometry IndexedFaceSet {
coord Coordinate {
point [
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]
}
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]
creaseAngle 1
}
}
Solid {
translation -0.39 0 0.5
children [
Shape {
appearance PBRAppearance {
baseColor 0.972549 0.956863 0.811765
roughness 0.6
metalness 0
}
geometry DEF HANDLE IndexedFaceSet {
coord Coordinate {
point [
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}
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]
creaseAngle 0.8
}
}
]
name "handle"
boundingObject USE HANDLE
physics Physics {
}
}
%< if (isDynamic) { >%
Hinge2Joint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor -0.308 -0.201 0.04
dampingConstant 0.1
}
jointParameters2 JointParameters {
axis 0 1 0
}
endPoint
%< } >%
Solid {
translation -0.308 -0.201 0.04
rotation 1 0 0 1.5708
children [
DEF WHEEL_SHAPE Shape {
appearance PBRAppearance {
baseColor 0.509804 0.509804 0.509804
metalness 0
roughness 1
}
geometry Cylinder {
height 0.02
radius 0.04
}
}
]
name "wheel 1"
boundingObject USE WHEEL_SHAPE
%< if (isDynamic) { >%
physics DEF WHEEL_PHYSICS Physics {
}
%< } >%
}
%< if (isDynamic) { >%
}
Hinge2Joint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor -0.308 0.201 0.04
dampingConstant 0.1
}
jointParameters2 JointParameters {
axis 0 1 0
}
endPoint
%< } >%
Solid {
translation -0.308 0.201 0.04
rotation 1 0 0 1.5708
children [
USE WHEEL_SHAPE
]
name "wheel 2"
boundingObject USE WHEEL_SHAPE
%< if (isDynamic) { >%
physics USE WHEEL_PHYSICS
%< } >%
}
%< if (isDynamic) { >%
}
HingeJoint {
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0.308 -0.201 0.04
}
endPoint
%< } >%
Solid {
translation 0.308 -0.201 0.04
rotation 1 0 0 1.5708
children [
USE WHEEL_SHAPE
]
name "wheel 3"
boundingObject USE WHEEL_SHAPE
%< if (isDynamic) { >%
physics USE WHEEL_PHYSICS
%< } >%
}
%< if (isDynamic) { >%
}
HingeJoint {
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0.308 0.201 0.04
}
endPoint
%< } >%
DEF WHEEL Solid {
translation 0.308 0.201 0.04
rotation 1 0 0 1.5708
children [
USE WHEEL_SHAPE
]
name "wheel 4"
boundingObject USE WHEEL_SHAPE
%< if (isDynamic) { >%
physics USE WHEEL_PHYSICS
%< } >%
}
%< if (isDynamic) { >%
}
%< } >%
Group {
children IS slot
}
]
name IS name
model "platform cart"
boundingObject Transform {
translation 0 0 0.09
children [
Box {
size 0.9 0.5 0.029
}
]
}
physics IS physics
}
}