format: ChoreonoidBody
formatVersion: 1.0
angleUnit: degree
name: Tank
links:
-
name: CHASSIS
translation: [ 0, 0, 0.1 ]
jointType: free
centerOfMass: [ 0, 0, 0 ]
mass: 8.0
inertia: [
0.1, 0, 0,
0, 0.1, 0,
0, 0, 0.5 ]
elements:
Shape:
geometry:
type: Box
size: [ 0.45, 0.3, 0.1 ]
appearance: &BodyAppearance
material:
diffuseColor: [ 0, 0.6, 0 ]
specularColor: [ 0.2, 0.8, 0.2 ]
shinines: 0.6
-
name: CANNON_Y
parent: CHASSIS
translation: [ -0.04, 0, 0.08 ]
jointType: revolute
jointAxis: Z
jointRange: unlimited
jointId: 0
centerOfMass: [ 0, 0, 0.025 ]
mass: 4.0
inertia: [
0.1, 0, 0,
0, 0.1, 0,
0, 0, 0.1 ]
elements:
Shape:
geometry:
type: Box
size: [ 0.2, 0.2, 0.08 ]
appearance: *BodyAppearance
-
name: CANNON_P
parent: CANNON_Y
translation: [ 0, 0, 0.04 ]
jointType: revolute
jointAxis: Y
jointRange: [ -45, 10 ]
jointId: 1
elements:
-
# Turnet
type: RigidBody
centerOfMass: [ 0, 0, 0 ]
mass: 3.0
inertia: [
0.1, 0, 0,
0, 0.1, 0,
0, 0, 0.1 ]
elements:
Shape:
geometry:
type: Cylinder
height: 0.1
radius: 0.11
appearance: *BodyAppearance
-
# Barrel
type: Transform
translation: [ 0.2, 0, 0 ]
rotation: [ 0, 0, 1, 90 ]
elements:
RigidBody:
centerOfMass: [ 0, 0, 0 ]
mass: 1.0
inertia: [
0.01, 0, 0,
0, 0.1, 0,
0, 0, 0.1 ]
elements:
Shape:
geometry:
type: Cylinder
height: 0.2
radius: 0.02
appearance: *BodyAppearance
-
type: SpotLight
name: MainLight
translation: [ 0.08, 0, 0.1 ]
direction: [ 1, 0, 0 ]
beamWidth: 36
cutOffAngle: 40
cutOffExponent: 6
attenuation: [ 1, 0, 0.01 ]
elements:
Shape:
rotation: [ 0, 0, 1, 90 ]
translation: [ -0.02, 0, 0 ]
geometry:
type: Cone
height: 0.04
radius: 0.025
appearance:
material:
diffuseColor: [ 1.0, 1.0, 0.4 ]
ambientIntensity: 0.3
emissiveColor: [ 0.8, 0.8, 0.3 ]
-
type: Transform
translation: [ 0.1, 0, 0.05 ]
rotation: [ [ 1, 0, 0, 90 ], [ 0, 1, 0, -90 ] ]
elements:
-
type: Camera
name: Camera
format: COLOR_DEPTH
fieldOfView: 65
width: 320
height: 240
frameRate: 30
-
type: RangeSensor
name: RangeSensor
scanAngle: 90
scanStep: 0.5
scanRate: 10
maxDistance: 10
-
type: Shape
geometry:
type: Box
size: [ 0.04, 0.015, 0.01 ]
appearance:
material:
diffuseColor: [ 0.2, 0.2, 0.8 ]
specularColor: [ 0.6, 0.6, 1.0 ]
shininess: 0.6
-
name: CRAWLER_TRACK_L
parent: CHASSIS
translation: [ 0, 0.2, 0 ]
jointType: pseudoContinuousTrack
jointAxis: Y
centerOfMass: [ 0, 0, 0 ]
mass: 1.0
inertia: [
0.02, 0, 0,
0, 0.02, 0,
0, 0, 0.02 ]
elements:
Shape: &CRAWLER
geometry:
type: Extrusion
crossSection: [
-0.22, -0.1,
0.22, -0.1,
0.34, 0.06,
-0.34, 0.06,
-0.22, -0.1
]
spine: [ 0, -0.05, 0, 0, 0.05, 0 ]
appearance:
material:
diffuseColor: [ 0.2, 0.2, 0.2 ]
-
name: CRAWLER_TRACK_R
parent: CHASSIS
translation: [ 0, -0.2, 0 ]
jointType: pseudoContinuousTrack
jointAxis: Y
centerOfMass: [ 0, 0, 0 ]
mass: 1.0
inertia: [
0.02, 0, 0,
0, 0.02, 0,
0, 0, 0.02 ]
elements:
Shape: *CRAWLER