Scene Description¶
Scene decription files are encoded in XML. Since document type definitions or XML schema are hard to read, the format description is split into two parts. In the following section, the relations between different tags are describe in a EBNF-ish grammar. However, the attributes of the tags are missing, i.e. a terminal symbol such as "<Deflection>" or <Deflection/> can actually have a number of attributes that are described later in this section.
Grammar¶
In addition to the usual grouping elements (...), [...], and {...}, the following EBNF grammar uses the fourth one ?(...)? that defines that the sequence of the grammar symbols in between is arbitrary. This reflects the fact that XML usually does not enforce a certain order for subtags. The start symbol of the grammar is Simulation.
appearanceClass = Appearance
| BoxAppearance
| CapsuleAppearance
| ComplexAppearance
| CylinderAppearance
| SphereAppearance;
axisClass = Axis;
bodyClass = Body;
compoundClass = Compound;
deflectionClass = Deflection;
extSensorClass = ApproxDistanceSensor
| Camera
| DepthImageSensor
| ObjectSegmentedImageSensor
| SingleDistanceSensor;
frictionClass = Friction
| RollingFriction;
geometryClass = BoxGeometry
| CapsuleGeometry
| CylinderGeometry
| Geometry
| SphereGeometry;
infrastructureClass = Include
| Simulation;
intSensorClass = Accelerometer
| CollisionSensor
| Gyroscope;
jointClass = Hinge
| Slider;
lightClass = Light;
massClass = BoxMass
| InertiaMatrixMass
| Mass
| SphereMass;
materialClass = Material;
motorClass = PT2Motor
| ServoMotor
| VelocityMotor;
normalsClass = Normals;
primitiveGroupClass = Quads
| Triangles;
rotationClass = Rotation;
sceneClass = Scene;
setClass = Set;
solverClass = QuickSolver;
surfaceClass = Surface;
texCoordsClass = TexCoords;
translationClass = Translation;
userInputClass = UserInput;
verticesClass = Vertices;
Appearance = "<Appearance>"
?( [translationClass] [rotationClass]
{setClass | appearanceClass} )?
"</Appearance>"
| "<Appearance/>;
BoxAppearance = "<BoxAppearance>"
?( surfaceClass
[translationClass] [rotationClass]
{setClass | appearanceClass} )?
"</BoxAppearance>";
CapsuleAppearance = "<CapsuleAppearance>"
?( surfaceClass
[translationClass] [rotationClass]
{setClass | appearanceClass} )?
"</CapsuleAppearance>";
ComplexAppearance = "<ComplexAppearance>"
?( surfaceClass verticesClass primitiveGroupClass
[translationClass] [rotationClass]
[normalsClass] [texCoordsClass]
{setClass | appearanceClass | primitiveGroupClass} )?
"</ComplexAppearance>";
CylinderAppearance = "<CylinderAppearance>"
?( surfaceClass
[translationClass] [rotationClass]
{setClass | appearanceClass} )?
"</CylinderAppearance>";
SphereAppearance = "<SphereAppearance>"
?( surfaceClass
[translationClass] [rotationClass]
{setClass | appearanceClass} )?
"</SphereAppearance>";
Axis = "<Axis>"
?( [motorClass] [deflectionClass]
{setClass} )?
"</Axis>"
| "<Axis/>";
Body = "<Body>"
?( massClass
[translationClass] [rotationClass]
{setClass | jointClass | appearanceClass
| geometryClass | massClass | intSensorClass
| extSensorClass | userInputClass} )?
"</Body>";
Compound = "<Compound>"
?( [translationClass] [rotationClass]
{setClass | jointClass | compoundClass | bodyClass
| appearanceClass | geometryClass | extSensorClass
| userInputClass} )?
"</Compound>"
| "<Compound/>";
Deflection = "<Deflection>" "</Deflection>"
| "<Deflection/>";
ApproxDistanceSensor = "<ApproxDistanceSensor>"
?( [translationClass] [rotationClass] )?
"</ApproxDistanceSensor>"
| "<ApproxDistanceSensor/>";
Camera = "<Camera>"
?( [translationClass] [rotationClass] )?
"</Camera>"
| "<Camera/>";
DepthImageSensor = "<DepthImageSensor>"
?( [translationClass] [rotationClass] )?
"</DepthImageSensor>"
| "<DepthImageSensor/>";
ObjectSegmentedImageSensor = "<ObjectSegmentedImageSensor>"
?( [translationClass] [rotationClass] )?
"</ObjectSegmentedImageSensor>"
| "<ObjectSegmentedImageSensor/>";
SingleDistanceSensor = "<SingleDistanceSensor>"
?( [translationClass] [rotationClass] )?
"</SingleDistanceSensor>"
| "<SingleDistanceSensor/>";
Friction = "<Friction>" "</Friction>"
| "<Friction/>";
RollingFriction = "<RollingFriction>" "</RollingFriction>"
| "<RollingFriction/>";
BoxGeometry = "<BoxGeometry>"
?( [translationClass] [rotationClass] [materialClass]
{setClass | geometryClass} )?
"</BoxGeometry>"
| "<BoxGeometry/>";
CapsuleGeometry = "<CapsuleGeometry>"
?( [translationClass] [rotationClass] [materialClass]
{setClass | geometryClass} )?
"</CapsuleGeometry>"
| "<CapsuleGeometry/>";
CylinderGeometry = "<CylinderGeometry>"
?( [translationClass] [rotationClass] [materialClass]
{setClass | geometryClass} )?
"</CylinderGeometry>"
| "<CylinderGeometry/>";
Geometry = "<Geometry>"
?( [translationClass] [rotationClass] [materialClass]
{setClass | geometryClass} )?
"</Geometry>"
| "<Geometry/>";
SphereGeometry = "<SphereGeometry>"
?( [translationClass] [rotationClass] [materialClass]
{setClass | geometryClass} )?
"</SphereGeometry>"
| "<SphereGeometry/>";
Simulation = "<Simulation>"
?( sceneClass
{ Include | appearanceClass | bodyClass
| compoundClass | extSensorClass | geometryClass
| intSensorClass | jointClass | massClass
| materialClass | normalsClass | primitiveGroupClass
| setClass | surfaceClass | texCoordsClass
| userInputClass | verticesClass} )?
"</Simulation>";
Include = "<Include>" "</Include>"
| "<Include/>";
Accelerometer = "<Accelerometer>"
?( [translationClass] [rotationClass] )?
"</Accelerometer>"
| "<Accelerometer/>";
CollisionSensor = "<CollisionSensor>"
?( [translationClass] [rotationClass]
{geometryClass} )?
"</CollisionSensor>"
| "<CollisionSensor/>";
Gyroscope = "<Gyroscope>"
?( [translationClass] [rotationClass] )?
"</Gyroscope>"
| "<Gyroscope/>";
Hinge = "<Hinge>"
?( bodyClass axisClass
[translationClass] [rotationClass]
{setClass} )?
"</Hinge>";
Slider = "<Slider>"
?( bodyClass axisClass
[translationClass] [rotationClass]
{setClass} )?
"</Slider>";
Light = "<Light>" "</Light>"
| "<Light/>";
BoxMass = "<BoxMass>"
?( [translationClass] [rotationClass]
{setClass | massClass} )?
"</BoxMass>"
| "<BoxMass/>;
InertiaMatrixMass = "<InertiaMatrixMass>"
?( [translationClass] [rotationClass]
{setClass | massClass} )?
"</InertiaMatrixMass>"
| "<InertiaMatrixMass/>";
Mass = "<Mass>"
?( [translationClass] [rotationClass]
{setClass | massClass} )?
"</Mass>"
| "<Mass/>";
SphereMass = "<SphereMass>"
?( [translationClass] [rotationClass]
{setClass | massClass} )?
"</SphereMass>"
| "<SphereMass/>";
Material = "<Material>"
?( {setClass | frictionClass} )?
"</Material>"
| "<Material/>";
PT2Motor = "<PT2Motor>" "</PT2Motor>"
| "<PT2Motor/>";
ServoMotor = "<ServoMotor>" "</ServoMotor>"
| "<ServoMotor/>";
VelocityMotor = "<VelocityMotor>" "</VelocityMotor>"
| "<VelocityMotor/>";
Normals = "<Normals>" Normals Definition "</Normals>"
| "<Normals/>;
Quads = "<Quads>" Quads Definition "</Quads>"
| "<Quads/>;
Triangles = "<Triangles>" Triangles Definition "</Triangles>"
| "<Triangles/>;
Rotation = "<Rotation>" "</Rotation>"
| "<Rotation>";
Scene = "<Scene>"
?( [solverClass]
{setClass | bodyClass | compoundClass
| lightClass | userInputClass} )?
"</Scene>"
| "<Scene/>";
Set = "<Set>" "</Set>"
| "<Set/>";
QuickSolver = "<QuickSolver>" "</QuickSolver>"
| "<QuickSolver/>";
Surface = "<Surface>" "</Surface>"
| "<Surface/>";
TexCoords = "<TexCoords>" TexCoords Definition "</TexCoords>"
| "<TexCoords/>";
Translation = "<Translation>" "</Translation>"
| "<Translation/>";
UserInput = "<UserInput>" "</UserInput>"
| "<UserInput/>";
Vertices = "<Vertices>" Vertices Definition "</Vertices>"
| "<Vertices/>";
Structure of a Scene Description File¶
The Beginning of a Scene File¶
Every scene file consists of a <Simulation> element. In addition to other elements, it can contain <Include href="..."> tags to insert the contents of other files. These also consist of <Simulation> elements, but after the inclusion, their Simulation element is removed and only its contents are inserted into the including file. After all includes are resolved, the main <Simulation> element must at least contain a <Scene> element. The Scene specifies which controller is loaded for this scene via the controller attribute. In our case, all scenes set the controller attribute to SimulatedNao, so that the library SimulatedNao is loaded by SimRobot.
The ref Attribute¶
An element with a name attribute can be referenced by the ref-attribute using its name, i.e. elements that are needed repeatedly in a scene need to be defined only once. For example there is only one description of a NAO in its definition file (NaoV6H25.rsi2), but NAOs with different jersey colors are needed on a field. For each NAO on the field, there is a reference to the original model. The positioning of the NAOs is done by Translation and Rotation elements. The color is set by a Set element, which is described below.
⫶
<Body name="Nao">
<Set name="NaoColor" value="blue"/>
⫶
</Body>
⫶
<Body ref="Nao" name="BlueNao">
<Translation x="-2" y="0.4" z="320mm"/>
</Body>
<Body ref="Nao" name="RedNao">
<Translation x="-1.5" y="-0.9" z="320mm"/>
<Rotation z="180degree"/>
<Set name="NaoColor" value="red"/>
</Body>
⫶
Placeholders and Set Element¶
A placeholder has to start with a $ followed by an arbitrary string. A placeholder is replaced by the definition specified within the corresponding Set element. The attribute name of a Set elements specifies the placeholder, which is replaced by the value specified by the attribute value of the Set element.
In the following code example, the color of NAO's jersey is set by a Set element. Within the definition of the body Nao named RedNao, the Set element sets the placeholder color to the value red. The placeholder named NaoColor of Nao, which is defined in the general definition of a NAO, is replaced by red in all elements of the model, also in the ones that are just referenced, such as the appearances of individual body parts. So the Surface elements reference a surface named nao-red.
⫶
<ComplexAppearance name="naoTorsoV6_jersey">
<Surface ref="nao-$NaoColor"/>
⫶
</ComplexAppearance>
⫶
<Surface name="nao-red" diffuseColor="rgb(100%, 0%, 0%)" ambientColor="rgb(20%, 12%, 12%)"/>
⫶
Attributes¶
appearanceClass¶
Appearance: Specifies an appearance (the visual shape of an object).name: The name of the appearance.- Use: optional
- Range: String
BoxAppearance: Specifies a box-shaped appearance.name: The name of the appearance.- Use: optional
- Range: String
width: The width of the box.- Units: mm, cm, dm, m, km
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
height: The height of the box.- Units: mm, cm, dm, m, km
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
depth: The depth of the box.- Units: mm, cm, dm, m, km
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
CapsuleAppearance: Specifies a capsule-shaped appearance.name: The name of the appearance.- Use: optional
- Range: String
height: The height of the capsule.- Units: mm, cm, dm, m, km
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
radius: The radius of the capsule.- Units: mm, cm, dm, m, km
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
ComplexAppearance: Specifies an appearance with an arbitrary mesh.name: The name of the appearance.- Use: optional
- Range: String
CylinderAppearance: Specifies a cylinder-shaped appearance.name: The name of the appearance.- Use: optional
- Range: String
height: The height of the cylinder.- Units: mm, cm, dm, m, km
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
radius: The radius of the cylinder.- Units: mm, cm, dm, m, km
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
SphereAppearance: Specifies a sphere-shaped appearance.name: The name of the appearance.- Use: optional
- Range: String
radius: The radius of the sphere.- Units: mm, cm, dm, m, km
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
axisClass¶
Axis: Specifies the axis of a joint.x: The x direction of the axis.- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
y: The y direction of the axis.- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
z: The z direction of the axis.- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
cfm: The cfm (constraint force mixing) value for this axis.- Default: -1
- Use: optional
- Range: [0, 1]
bodyClass¶
Body: Specifies an object that has a mass and can move.name: The name of the body.- Use: optional
- Range: String
compoundClass¶
Compound: Specifies an object that cannot move.name: The name of the compound.- Use: optional
- Range: String
deflectionClass¶
Deflection: Specifies the maximum and minimum deflection of a joint.min: The minimal deflection.- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
max: The maximal deflection.- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
init: The initial deflection.- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
stopCFM: The cfm (constant force mixing) value of the limits.- Default: -1
- Use: optional
- Range: [0, 1]
stopERP: The erp (error reducing parameter) value of the limits.- Default: -1
- Use: optional
- Range: [0, 1]
extSensorClass¶
ApproxDistanceSensor: Instantiates a sensor that measures the distance in an area in front of it.name: The name of the sensor.- Use: optional
- Range: String
min: The minimum distance this sensor can measure.- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
max: The maximum distance this sensor can measure.- Default: 999999
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
angleX: The maximum angle in x-direction the ray of the sensor can spread.- Units: degree, radian
- Use: required
- Range: (0, MAXFLOAT]
angleY: The maximum angle in y-direction the ray of the sensor can spread.- Units: degree, radian
- Use: required
- Range: (0, MAXFLOAT]
Camera: Instantiates a color image camera.name: The name of the sensor.- Use: optional
- Range: String
imageWidth: The width of the camera image.- Use: required
- Range: (0, MAXINTEGER]
imageHeight: The height of the camera image.- Use: required
- Range: (0, MAXINTEGER]
angleX: The horizontal opening angle.- Units: degree, radian
- Use: required
- Range: (0, MAXFLOAT]
angleY: The vertical opening angle.- Units: degree, radian
- Use: required
- Range: (0, MAXFLOAT]
DepthImageSensor: Instantiates a depth image camera.name: The name of the sensor.- Use: optional
- Range: String
imageWidth: The width of the image.- Use: required
- Range: (0, MAXINTEGER]
imageHeight: The height of the image.- Default: 1
- Use: optional
- Range: (0, MAXINTEGER]
angleX: The horizontal opening angle.- Units: degree, radian
- Use: required
- Range: (0, MAXFLOAT]
angleY: The vertical opening angle.- Units: degree, radian
- Use: required
- Range: (0, MAXFLOAT]
min: The minimum distance this sensor can measure.- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
max: The maximum distance this sensor can measure.- Default: 999999
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
projection: The kind of projection.- Default: perspective
- Use: optional
- Range: perspective, spheric
ObjectSegmentedImageSensor: Instantiates a camera which renders an objected segmented image.name: The name of the sensor.- Use: optional
- Range: String
imageWidth: The width of the camera image.- Use: required
- Range: (0, MAXINTEGER]
imageHeight: The height of the camera image.- Use: required
- Range: (0, MAXINTEGER]
angleX: The horizontal opening angle.- Units: degree, radian
- Use: required
- Range: (0, MAXFLOAT]
angleY: The vertical opening angle.- Units: degree, radian
- Use: required
- Range: (0, MAXFLOAT]
SingleDistanceSensor: Instantiates a sensor that measures a distance on a single ray.name: The name of the sensor.- Use: optional
- Range: String
min: The minimum distance this sensor can measure.- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
max: The maximum distance this sensor can measure.- Default: 999999
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
frictionClass¶
Friction: Specifies the friction between this material and another material.material: The other material the friction belongs to.- Use: required
- Range: String
value: The value of the friction.- Use: required
- Range: [0, MAXFLOAT]
RollingFriction: Specifies the rolling friction of a material.material: The other material the rolling friction belongs to.- Use: required
- Range: String
value: The value of the rolling friction.- Use: required
- Range: [0, MAXFLOAT]
geometryClass¶
BoxGeometry: Specifies a box-shaped geometry. -color: A color definition, see this section - Use: optional -name: The name of the geometry. - Use: optional - Range: String -width: The width of the box. - Units: mm, cm, dm, m, km - Use: required - Range: [-MAXFLOAT, MAXFLOAT] -height: The height of the box. - Units: mm, cm, dm, m, km - Use: required - Range: [-MAXFLOAT, MAXFLOAT] -depth: The depth of the box. - Units: mm, cm, dm, m, km - Use: required - Range: [-MAXFLOAT, MAXFLOAT]CapsuleGeometry: Specifies a capsule-shaped geometry. -color: A color definition, see this section - Use: optional -name: The name of the geometry. - Use: optional - Range: String -radius: The radius of the capsule. - Units: mm, cm, dm, m, km - Use: required - Range: [-MAXFLOAT, MAXFLOAT] -height: The height of the capsule. - Units: mm, cm, dm, m, km - Use: required - Range: [-MAXFLOAT, MAXFLOAT]CylinderGeometry: Specifies a cylinder-shaped geometry. -color: A color definition, see this section - Use: optional -name: The name of the geometry. - Use: optional - Range: String -radius: The radius of the cylinder. - Units: mm, cm, dm, m, km - Use: required - Range: [-MAXFLOAT, MAXFLOAT] -height: The height of the cylinder. - Units: mm, cm, dm, m, km - Use: required - Range: [-MAXFLOAT, MAXFLOAT]Geometry: Specifies a geometry (the physical shape of an object). -name: The name of the geometry. - Use: optional - Range: StringSphereGeometry: Specifies a sphere-shaped geometry. -color: A color definition, see this section - Use: optional -name: The name of the geometry. - Use: optional - Range: String -radius: The radius of the sphere. - Units: mm, cm, dm, m, km - Use: required - Range: [-MAXFLOAT, MAXFLOAT]
infrastructureClass¶
Include: Includes another scene description file.href: The path to the included file.- Use: optional
- Range: String
Simulation: Has to be the outermost element of every file.
intSensorClass¶
Accelerometer: Instantiates an accelerometer on a body.name: The name of the sensor.- Use: optional
- Range: String
CollisionSensor: Instantiates a collision sensor on a body which uses geometries to detect collisions with other objects.name: The name of the sensor.- Use: optional
- Range: String
Gyroscope: Instantiates a gyroscope on a body.name: The name of the sensor.- Use: optional
- Range: String
jointClass¶
Hinge: Defines a hinge joint. Requires an axis element to specify the axis and a body element which defines the body this hinge is connected to.name: The name of the joint.- Use: optional
- Range: String
Slider: Defines a slider joint. Requires an axis element to specify the axis and a body element which defines the body this slider is connected to.name: The name of the joint.- Use: optional
- Range: String
lightClass¶
Light: Specifies a light source.diffuseColor: Diffuse color definition, see this section.- Use: optional
ambientColor: Ambient color definition, see this section.- Use: optional
specularColor: Specular color definition, see this section.- Use: optional
x: The x coordinate of the light source.- Units: mm, cm, dm, m, km
- Default: 0m
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
y: The y coordinate of the light source.- Units: mm, cm, dm, m, km
- Default: 0m
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
z: The z coordinate of the light source.- Units: mm, cm, dm, m, km
- Default: 0m
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
constantAttenuation: The constant attenuation of the light.- Default: 1
- Use: optional
- Range: [0, MAXFLOAT]
linearAttenuation: The linear attenuation of the light.- Default: 0
- Use: optional
- Range: [0, MAXFLOAT]
quadraticAttenuation: The quadratic attenuation of the light.- Default: 0
- Use: optional
- Range: [0, MAXFLOAT]
spotCutoff: The opening angle of the light spot cone.- Units: radian, degree
- Default: 180degree
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
spotDirectionX: The x direction of the light spot.- Units: mm, cm, dm, m, km
- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
spotDirectionY: The y direction of the light spot.- Units: mm, cm, dm, m, km
- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
spotDirectionZ: The z direction of the light spot.- Units: mm, cm, dm, m, km
- Default: -1
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
spotExponent:- Default: 0
- Use: optional
- Range: [0, 128]
massClass¶
BoxMass: Specifies a box-shaped mass.name: The name of the mass.- Use: optional
- Range: String
value: The mass of the box.- Units: g, kg
- Use: required
- Range: [0, MAXFLOAT]
width: The width of the box.- Units: mm, cm, dm, m, km
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
height: The height of the box.- Units: mm, cm, dm, m, km
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
depth: The depth of the box.- Units: mm, cm, dm, m, km
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
InertiaMatrixMass: Specifies a mass with a given inertia matrix (which is symmetric and positive-definite).name: The name of the mass.- Use: optional
- Range: String
value: The total mass.- Units: g, kg
- Use: required
- Range: [0, MAXFLOAT]
x: The x coordinate of the center of mass.- Units: mm, cm, dm, m, km
- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
y: The x coordinate of the center of mass.- Units: mm, cm, dm, m, km
- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
z: The x coordinate of the center of mass.- Units: mm, cm, dm, m, km
- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
ixx: Moment of inertia around the x-axis when the object is rotated around the x-axis.- Units: g⋅mm², kg⋅m²
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
ixy: Moment of inertia around the y-axis when the object is rotated around the x-axis.- Units: g⋅mm², kg⋅m²
- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
ixz: Moment of inertia around the z-axis when the object is rotated around the x-axis.- Units: g⋅mm², kg⋅m²
- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
iyy: Moment of inertia around the y-axis when the object is rotated around the y-axis.- Units: g⋅mm², kg⋅m²
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
iyz: Moment of inertia around the z-axis when the object is rotated around the y-axis- Units: g⋅mm², kg⋅m²
- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
izz: Moment of inertia around the z-axis when the object is rotated around the z-axis.- Units: g⋅mm², kg⋅m²
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
Mass: Specifies a mass.name: The name of the mass.- Use: optional
- Range: String
SphereMass: Specifies a sphere-shaped geometry.name: The name of the mass.- Use: optional
- Range: String
value: The mass of the sphere.- Units: g, kg
- Use: required
- Range: [0, MAXFLOAT]
radius: The radius of the sphere.- Units: mm, cm, dm, m, km
- Use: required
- Range: [0, MAXFLOAT]
materialClass¶
Material: Specifies the physical properties of a material.name: The name of the material.- Use: optional
- Range: String
motorClass¶
PT2Motor: Instantiates a motor using the PT2 model.T: The time constant of the system.- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
D: The damping constant of the system.- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
K: The steady state gain of the system.- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
V: The maximum velocity of this motor.- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
F: The maximum force of this motor.- Units: N
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
ServoMotor: Instantiates a position-controlled servo motor.maxVelocity: The maximum velocity of this motor.- Units: radian/s, degree/s
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
maxForce: The maximum force of this motor.- Units: N
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
p: The p value of the motor's pid interface.- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
i: The i value of the motor's pid interface.- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
d: The d value of the motor's pid interface.- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
VelocityMotor: Instantiates a velocity-controlled motor.maxVelocity: The maximum velocity of this motor.- Units: radian/s, degree/s
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
maxForce: The maximum force of this motor.- Units: N
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
rotationClass¶
Rotation: Specifies the rotation of an object relative to its parent.x: Rotation around the x-axis.- Units: radian, degree
- Default: 0degree
- Use: optional
y: Rotation around the y-axis.- Units: radian, degree
- Default: 0degree
- Use: optional
z: Rotation around the z-axis.- Units: radian, degree
- Default: 0degree
- Use: optional
sceneClass¶
Scene: Describes a scene and specifies the controller of the simulation.name: The identifier of the scene object (must always be RoboCup).- Use: optional
- Range: String
controller: The name of the controller library (without prefix lib; in our case it is SimulatedNao).- Use: optional
- Range: String
color: The background color of the scene, see this section.- Use: optional
stepLength: The duration of each simulation step.- Units: s
- Default: 0.01s
- Use: optional
- Range: (0, MAXFLOAT]
gravity: Sets the gravity in this scene.- Units: \(\frac{\textrm{mm}}{\textrm{s}^2}\), \(\frac{\textrm{m}}{\textrm{s}^2}\)
- Default: -9.80665 \(\frac{\textrm{m}}{\textrm{s}^2}\)
- Use: optional
CFM: Sets the ODE cfm (constraint force mixing) value.- Default: -1
- Use: optional
- Range: [0, 1]
ERP: Sets the ODE erp (error reducing parameter) value.- Default: -1
- Use: optional
- Range: [0, 1]
contactSoftERP: Sets another erp value for colliding surfaces.- Default: -1
- Use: optional
- Range: [0, 1]
contactSoftCFM: Sets another cfm value for colliding surfaces.- Default: -1
- Use: optional
- Range: [0, 1]
bodyCollisions: Whether collisions between different bodies should be detected.- Default: true
- Use: optional
- Range: true, false
setClass¶
Set: Sets a placeholder referenced by the attributenameto the value specified by the attributevalue.name: The name of a placeholder.- Use: required
- Range: String
value: The value the placeholder is set to.- Use: required
- Range: String
solverClass¶
QuickSolver: Requires that the simulation uses ODE's QuickStep method.iterations: The number of iterations that the QuickStep method performs per step.- Default: -1
- Use: optional
- Range: (0, MAXINTEGER]
skip: Controls how often the normal solver is used instead of QuickStep.- Default: 1
- Use: optional
- Range: (0, MAXINTEGER]
surfaceClass¶
Surface: Specifies the visual properties of a material.diffuseColor: The diffuse color, see this section.- Use: required
ambientColor: The ambient color, see this section.- Use: optional
specularColor: The specular color, see this section.- Use: optional
emissionColor: The color of the emitted light, see this section.- Use: optional
shininess: The shininess value.- Default: 0
- Use: optional
- Range: [0, 128]
diffuseTexture: The path to a texture.- Use: optional
- Range: String
translationClass¶
Translation: Specifies a translation of an object relative to its parent.x: Translation along the x-axis.- Units: mm, cm, dm, m, km
- Default: 0m
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
y: Translation along the y-axis.- Units: mm, cm, dm, m, km
- Default: 0m
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
z: Translation along the z-axis.- Units: mm, cm, dm, m, km
- Default: 0m
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
userInputClass¶
UserInput: Combines an actuator and a sensor. The values set for the actuator are directly returned by the sensor. Using the actuator view, this allows to feed user input to the controller.name: The name of the user input.- Use: optional
- Range: String
type: The kind of data for which user input is provided.- Default: length
- Use: optional
- Range: angle, angularVelocity, length, velocity, acceleration
min: The minimum value that can be set.- Units: Units matching the type
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
max: The maximum value that can be set.- Units: Units matching the type
- Use: required
- Range: [-MAXFLOAT, MAXFLOAT]
default: The value returned by the sensor if no value is set in the actuator view.- Units: Units matching the type
- Default: 0
- Use: optional
- Range: [-MAXFLOAT, MAXFLOAT]
Color Specification¶
There are two ways of specifying a color for a color-attribute.
- HTML-Style: To specify a color in html-style the first character of the color value has to be a
#followed by hexadecimal values for red, blue, green (and an optional fourth value for the alpha-channel). These values can be one-digit or two-digits, but not mixed.#rgbe.g.#f00#rgbae.g.#0f08#rrggbbe.g.#f80011#rrggbbaae.g.#1038bc80
- CSS-Style: A css color starts with
rgb(orrgba) followed by the values for red, green, and blue put into parentheses and separated by commas. The values for r, g, and b have to be between 0 and 255 or between 0% and 100%, the a value has to be between 0 and 1.rgb(r, g, b)e.g.rgb(255, 128, 0)rgba(r, g, b, a)e.g.rgba(0%, 50%, 75%, 0.75)