Updated to match 2021 rules, public release assets

.gitignore

@@ -31,3 +31,5 @@ Temporary Items
 .apdisk
 
 # End of https://www.gitignore.io/api/macos
+
+*.wbproj

Readme.md

@@ -1,3 +1,5 @@
 ### Eurobot / Coupe de Robotique 2020 Webots World
 
-![Webots World](https://user-images.githubusercontent.com/28008852/83326567-50482480-a275-11ea-9947-1f8a15f538ac.png)
+![Webots World](https://raw.github.com/robotique-ecam/simulation-world/master/screenshots/webots-cdr2020.png)
+
+Starter simulation environment for webots.

protos/Robot_1.proto

@@ -0,0 +1,150 @@
+#VRML_SIM R2019a utf8
+# license: Apache License 2.0
+# license url: http://www.apache.org/licenses/LICENSE-2.0
+# This is a proto file for Webots for the Asterix
+# Extracted from: asterix.urdf
+
+PROTO Robot_1 [
+  field SFVec3f    translation     0 0 0                 # Is `Transform.translation`.
+  field SFRotation rotation        0 1 0 0               # Is `Transform.rotation`.
+  field SFString   name            "robot_1"             # Is `Solid.name`.
+  field SFString   controller      "<extern>"            # Is `Robot.controller`.
+  field MFString   controllerArgs  []                    # Is `Robot.controllerArgs`.
+  field SFString   customData      ""                    # Is `Robot.customData`.
+  field SFBool     supervisor      FALSE                 # Is `Robot.supervisor`.
+  field SFBool     synchronization FALSE                 # Is `Robot.synchronization`.
+  field MFNode     arucoTag        [ Aruco { } ]         # Is `Robot.arucoTag`.
+]
+{
+  Robot {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    controller IS controller
+    controllerArgs IS controllerArgs
+    customData IS customData
+    supervisor IS supervisor
+    synchronization IS synchronization
+    children [
+      HingeJoint {
+        jointParameters HingeJointParameters {
+          axis 0 1 0
+          anchor 0 0.130000 -0.13
+        }
+        device [
+          RotationalMotor {
+            name "wheel_left_joint"
+            maxVelocity 25
+          }
+          PositionSensor {
+            name "wheel_left_joint_sensor"
+          }
+        ]
+        endPoint Solid {
+          translation 0 0.130000 -0.13
+          rotation 0 1 0 0
+          children [
+            Transform {
+              translation 0 0 0
+              rotation 1 0 0 3.140796
+              children [
+                DEF WHEEL Shape {
+                  appearance DEF dark PBRAppearance {
+                    baseColor 0.1 0.1 0.1
+                    roughness 1.0
+                    metalness 0.5
+                  }
+                  geometry Cylinder {
+                    radius 0.04
+                    height 0.01
+                  }
+                }
+              ]
+            }
+          ]
+          name "wheel_left_link"
+          physics DEF WHEEL_PHYSICS Physics {
+          }
+          boundingObject USE WHEEL
+        }
+      }
+      HingeJoint {
+        jointParameters HingeJointParameters {
+          axis 0 1 0
+          anchor 0 -0.13 -0.13
+        }
+        device [
+          RotationalMotor {
+            name "wheel_right_joint"
+            maxVelocity 25
+          }
+          PositionSensor {
+            name "wheel_right_joint_sensor"
+          }
+        ]
+        endPoint Solid {
+          translation 0 -0.13 -0.13
+          rotation 0 1 0 0
+          children [
+            Transform {
+              translation 0 0 0
+              rotation 1 0 0 3.140796
+              children [
+                USE WHEEL
+              ]
+            }
+          ]
+          name "wheel_right_link"
+          physics USE WHEEL_PHYSICS
+          boundingObject USE WHEEL
+        }
+      }
+      Solid {
+        translation -0.08 0 -0.15
+        contactMaterial "free_wheel"
+        children [
+          DEF FREE_WHEEL Shape {
+            appearance USE dark
+            geometry Sphere {
+              radius 0.02
+              subdivision 2
+            }
+          }
+        ]
+        physics Physics {
+        }
+        boundingObject USE FREE_WHEEL
+      }
+      Solid {
+        translation 0.08 0 -0.15
+        contactMaterial "free_wheel"
+        children [
+          USE FREE_WHEEL
+        ]
+        physics Physics {
+        }
+        boundingObject USE FREE_WHEEL
+      }
+      DEF BODY Shape {
+        appearance DEF blue PBRAppearance {
+          baseColor 0.0235 0.2157 0.5882
+          metalness 0.5
+        }
+        geometry Box {
+           size 0.2 0.26 0.32
+        }
+      }
+      Transform {
+        translation 0 0 0.17
+        children IS arucoTag
+      }
+    ]
+    name "robotbase"
+    boundingObject USE BODY
+    physics Physics {
+      density -1
+      mass 6
+      centerOfMass 0 0 -0.10
+    }
+  }
+}

protos/Table.proto

@@ -19,7 +19,7 @@ PROTO Table [
           baseColor 0.8 0.8 0.8
           baseColorMap DEF IM_EUROBOT_VINYL_TEXTURE_PNG ImageTexture {
             url [
-              "textures/eurobot2020_vinyl_texture.png"
+              "textures/eurobot2021_vinyl_texture.png"
             ]
           }
           roughness 0.5