Simulation Update 2026

.gitignore

@@ -3,3 +3,4 @@
 *.pyc
 *.swp
 mep3_simulation/webots_data/worlds/.eurobot.jpg
+.DS_Store

mep3_simulation/webots_data/controllers/ObjectDetectionSupervisorController/ObjectDetectionSupervisorController.py

@@ -0,0 +1,35 @@
+"""ObjectDetectionSupervisorController controller."""
+
+# You may need to import some classes of the controller module. Ex:
+#  from controller import Robot, Motor, DistanceSensor
+from controller import Robot
+
+# create the Robot instance.
+robot = Robot()
+
+# get the time step of the current world.
+timestep = int(robot.getBasicTimeStep())
+OBJECT_DETECTION_CAMERA_NAME = "ODCamera"
+camera = robot.getDevice(OBJECT_DETECTION_CAMERA_NAME)
+camera.enable(timestep)
+
+# You should insert a getDevice-like function in order to get the
+# instance of a device of the robot. Something like:
+#  motor = robot.getDevice('motorname')
+#  ds = robot.getDevice('dsname')
+#  ds.enable(timestep)
+
+# Main loop:
+# - perform simulation steps until Webots is stopping the controller
+while robot.step(timestep) != -1:
+    # Read the sensors:
+    # Enter here functions to read sensor data, like:
+    #  val = ds.getValue()
+
+    # Process sensor data here.
+
+    # Enter here functions to send actuator commands, like:
+    #  motor.setPosition(10.0)
+    pass
+
+# Enter here exit cleanup code.

mep3_simulation/webots_data/protos/ArucoTag.proto

@@ -16,7 +16,7 @@ PROTO ArucoTag [
               Shape {
                 appearance PBRAppearance {
                   baseColorMap ImageTexture {
-                    url [ %<= url >%]
+                    url [ %<= url >% ]
                   }
                   roughness 1
                   metalness 0

mep3_simulation/webots_data/protos/CentralTrackingDevice.proto

@@ -1,6 +1,8 @@
 #VRML_SIM R2023b utf8
 # template language: javascript
 PROTO CentralTrackingDevice [
+  hiddenField SFColor blueColorVector   0 0.356 0.549
+  hiddenField SFColor yellowColorVector 0.97 0.71 0
 ]
 {
 Solid {
@@ -11,7 +13,7 @@ Solid {
       children [
         Shape {
           appearance DEF WALL_APPEARANCE PBRAppearance {
-            baseColor 0.631 0.612 0.537
+            baseColor 0.5 0.5 0.5
             roughness 1
             metalness 0
           }
@@ -37,7 +39,7 @@ Solid {
               children [
                 Shape {
                   appearance DEF APPEARANCE_BLUE PBRAppearance {
-                    baseColor 0 0.352941176 0.549019608
+                    baseColor IS blueColorVector
                     roughness 1
                     metalness 0
                     name "blue"
@@ -76,11 +78,11 @@ Solid {
               translation 0.1 -0.0585 0.489
               children [
                 Shape {
-                  appearance DEF APPEARANCE_GREEN PBRAppearance {
-                    baseColor 0 0.439215686 0.235294118
+                  appearance DEF APPEARANCE_YELLOW PBRAppearance {
+                    baseColor  IS yellowColorVector
                     roughness 1
                     metalness 0
-                    name "green"
+                    name "yellow"
                   }
                   geometry USE CENTRAL_TRACKING_TOP_BOX_HALF
                 }
@@ -90,7 +92,7 @@ Solid {
               translation 0.0475 -0.111 0.489
               children [
                 Shape {
-                  appearance USE APPEARANCE_GREEN
+                  appearance USE APPEARANCE_YELLOW
                   geometry USE CENTRAL_TRACKING_BOX_SLIT
                 }
               ]
@@ -99,7 +101,7 @@ Solid {
               translation 0.1 -0.1635 0.489
               children [
                 Shape {
-                  appearance USE APPEARANCE_GREEN
+                  appearance USE APPEARANCE_YELLOW
                   geometry USE CENTRAL_TRACKING_TOP_BOX_HALF
                 }
               ]

mep3_simulation/webots_data/protos/GenericRobot.proto

@@ -17,26 +17,26 @@ PROTO GenericRobot [
   field SFBool     supervisor         FALSE
   field SFInt32    arucoNumber        1
   field MFNode     baseSlot           []
-  field SFString {"blue", "green"} color "green"
+  field SFString {"yellow", "blue"} color "yellow"
   hiddenField SFFloat mass_robot         15
   hiddenField SFFloat robot_x_size 0.2
   hiddenField SFFloat robot_y_size 0.3
   hiddenField SFFloat robot_z_size 0.337
   hiddenField SFFloat cap_cylinder_height 0.15
-  hiddenField SFColor blueVector 0 0.352941176 0.549019608
-  hiddenField SFColor greenVector 0 0.439215686 0.235294118
+  hiddenField SFColor blueVector   0 0.356 0.549
+  hiddenField SFColor yellowVector 0.97 0.71 0
 ]
 {
   %<
     var color_vec;
     var inverse_vec;
-    if (fields.color.value == "green") {
-      color_vec = fields.greenVector.value;
+    if (fields.color.value == "yellow") {
+      color_vec = fields.yellowVector.value;
       inverse_vec = fields.blueVector.value;
     }
     else {
       color_vec = fields.blueVector.value;
-      inverse_vec = fields.greenVector.value;
+      inverse_vec = fields.yellowVector.value;
     }
     let url = '"../worlds/assets/aruco/4x4_1000-' + fields.arucoNumber.value.toString() + '.png"';
   >%

mep3_simulation/webots_data/protos/Granary.proto

@@ -0,0 +1,45 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+PROTO Granary []
+{
+    Solid {
+    translation -0.775 0 0.028
+    children [
+        Pose {
+        translation -0.0008 0.0001 0.0278
+        rotation 0 0 1 1.57075
+        children [
+            Shape {
+                appearance PBRAppearance {
+                    baseColorMap ImageTexture {
+                    url [
+                        "../worlds/assets/images/granary.png"
+                    ]
+                    }
+                    metalness 0
+                }
+                geometry Box {
+                    size 1.799 0.45 0.0001
+                }
+                isPickable FALSE
+            }
+        ]
+        }
+        Shape {
+            appearance PBRAppearance {
+                baseColor 0.5 0.5 0.5
+                metalness 0
+            }
+            geometry Box {
+                size 0.45 1.8 0.055
+            }
+            castShadows FALSE
+            isPickable FALSE
+        }
+    ]
+    name "Granary"
+        boundingObject Box {
+            size 0.45 1.8 0.055
+        }
+    }
+}

mep3_simulation/webots_data/protos/GranaryEdge.proto

@@ -0,0 +1,37 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+PROTO GranaryEdge [
+    field SFString {"left", "right"} location "left"
+    hiddenField SFVec3f leftEdgeTranslation -0.775 -0.8925 0.062
+    hiddenField SFVec3f rightEdgeTranslation -0.775 0.8925 0.062
+]
+{
+    %<
+        const location = fields.location.value;
+
+        const translation = location == "left"
+            ? fields.leftEdgeTranslation.value
+            : fields.rightEdgeTranslation.value;
+
+        const granaryEdgeProtoId = `"Granary Edge [${location}]"`;
+    >%
+    Solid {
+        translation %<= translation.x >% %<= translation.y >% %<= translation.z >%
+        children [
+            Shape {
+            appearance PBRAppearance {
+                baseColor 0.5 0.5 0.5
+                metalness 0
+            }
+            geometry Box {
+                size 0.45 0.015 0.016
+            }
+            isPickable FALSE
+            }
+        ]
+        name %<= granaryEdgeProtoId >%
+        boundingObject Box {
+            size 0.45 0.015 0.016
+        }
+    }
+}

mep3_simulation/webots_data/protos/Hazelnut.proto

@@ -0,0 +1,81 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+PROTO Hazelnut [
+    field SFInt32 id 0
+    field SFString {"black", "yellow", "blue"} type "black"
+    field SFVec3f    translation        0.2 0 0.015
+    field SFRotation rotation           0 1 0 0
+    hiddenField SFColor blueColorVector   0 0.356 0.549
+    hiddenField SFColor yellowColorVector 0.97 0.71 0
+    hiddenField SFColor blackColorVector  0 0 0
+]
+{
+    %<
+        const hazelnutType = fields.type.value;  // "black" | "yellow" | "blue"
+
+        const arucoNumberMapping = {
+            black: 41,
+            yellow: 47,
+            blue: 36,
+        };
+        const arucoImageTextureUrl = `"../worlds/assets/aruco/aruco_${arucoNumberMapping[hazelnutType]}.png"`;
+
+        const hazelnutColorMapping = {
+            black: fields.blackColorVector.value,
+            yellow: fields.yellowColorVector.value,
+            blue: fields.blueColorVector.value,
+        };
+        const hazelnutColor = hazelnutColorMapping[hazelnutType];
+
+        const hazelnutId = `"[${fields.id.value}]"`;
+    >%
+    Group {
+        children [
+            Solid {
+                name %<= hazelnutId >%
+                translation IS translation
+                rotation IS rotation
+                children [
+                    Solid {
+                        translation 0 0 0.015515
+                        rotation 0 0 1 1.57
+                        children [
+                            Shape {
+                                appearance PBRAppearance {
+                                    baseColorMap ImageTexture {
+                                    url [
+                                        %<= arucoImageTextureUrl >%
+                                    ]
+                                    }
+                                    metalness 0
+                                }
+                                geometry Box {
+                                    size 0.04 0.04 0.001
+                                }
+                            }
+                        ]
+                    }
+                    Shape {
+                        appearance PBRAppearance {
+                            baseColor %<= hazelnutColor.r >% %<= hazelnutColor.g >% %<= hazelnutColor.b >%
+                            metalness 0
+                        }
+                        geometry Box {
+                            size 0.15 0.05 0.03
+                        }
+                    }
+                ]
+                boundingObject Shape {
+                    appearance PBRAppearance {
+                        baseColor 0.8 0.7 0
+                    }
+                    geometry Box {
+                        size 0.15 0.05 0.03
+                    }
+                }
+                physics Physics {
+                }
+            }
+        ]
+    }
+}

mep3_simulation/webots_data/protos/HazelnutObjects.proto

@@ -0,0 +1,80 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+
+EXTERNPROTO "Hazelnut.proto"
+
+PROTO HazelnutObjects [
+]
+{
+  Group {
+    children [
+        Hazelnut { id 0  type "blue"   translation 0.2 -0.275 0.015 }
+        Hazelnut { id 1  type "yellow" translation 0.2 -0.325 0.015 }
+        Hazelnut { id 2  type "yellow" translation 0.2 -0.375 0.015 }
+        Hazelnut { id 3  type "blue"   translation 0.2 -0.425 0.015 }
+
+        Hazelnut { id 4  type "blue"   translation 0.2  0.275 0.015 }
+        Hazelnut { id 5  type "yellow" translation 0.2  0.325 0.015 }
+        Hazelnut { id 6  type "blue"   translation 0.2  0.375 0.015 }
+        Hazelnut { id 7  type "yellow" translation 0.2  0.425 0.015 }
+
+        Hazelnut { id 8  type "blue"   translation -0.123 1.325 0.015 rotation 0 0 1 -1.57 }
+        Hazelnut { id 9  type "blue"   translation -0.173 1.325 0.015 rotation 0 0 1 -1.57 }
+        Hazelnut { id 10 type "yellow" translation -0.223 1.325 0.015 rotation 0 0 1 -1.57 }
+        Hazelnut { id 11 type "yellow" translation -0.273 1.325 0.015 rotation 0 0 1 -1.57 }
+
+        Hazelnut { id 12 type "blue"   translation 0.523 1.325 0.015 rotation 0 0 1 -1.57 }
+        Hazelnut { id 13 type "yellow" translation 0.573 1.325 0.015 rotation 0 0 1 -1.57 }
+        Hazelnut { id 14 type "blue"   translation 0.623 1.325 0.015 rotation 0 0 1 -1.57 }
+        Hazelnut { id 15 type "yellow" translation 0.673 1.325 0.015 rotation 0 0 1 -1.57 }
+
+        Hazelnut { id 16 type "blue"   translation 0.827  0.473 0.015 rotation 0 0 1 -3.14 }
+        Hazelnut { id 17 type "blue"   translation 0.827  0.423 0.015 rotation 0 0 1 -3.14 }
+        Hazelnut { id 18 type "yellow" translation 0.827  0.373 0.015 rotation 0 0 1 -3.14 }
+        Hazelnut { id 19 type "yellow" translation 0.827  0.323 0.015 rotation 0 0 1 -3.14 }
+
+        Hazelnut { id 20 type "yellow" translation 0.827 -0.473 0.015 rotation 0 0 1 -3.14 }
+        Hazelnut { id 21 type "blue"   translation 0.827 -0.423 0.015 rotation 0 0 1 -3.14 }
+        Hazelnut { id 22 type "yellow" translation 0.827 -0.373 0.015 rotation 0 0 1 -3.14 }
+        Hazelnut { id 23 type "blue"   translation 0.827 -0.323 0.015 rotation 0 0 1 -3.14 }
+
+        Hazelnut { id 24 type "yellow" translation 0.523 -1.325 0.015 rotation 0 0 1 -1.57 }
+        Hazelnut { id 25 type "yellow" translation 0.573 -1.325 0.015 rotation 0 0 1 -1.57 }
+        Hazelnut { id 26 type "blue"   translation 0.623 -1.325 0.015 rotation 0 0 1 -1.57 }
+        Hazelnut { id 27 type "blue"   translation 0.673 -1.325 0.015 rotation 0 0 1 -1.57 }
+
+        Hazelnut { id 28 type "blue"   translation -0.127 -1.325 0.015 rotation 0 0 1  1.57 }
+        Hazelnut { id 29 type "yellow" translation -0.177 -1.325 0.015 rotation 0 0 1  1.57 }
+        Hazelnut { id 30 type "blue"   translation -0.227 -1.325 0.015 rotation 0 0 1  1.57 }
+        Hazelnut { id 31 type "yellow" translation -0.277 -1.325 0.015 rotation 0 0 1  1.57 }
+
+        Hazelnut { id 32 type "yellow" translation -0.775  0.125 0.07 }
+        Hazelnut { id 33 type "blue"   translation -0.775  0.175 0.07 }
+        Hazelnut { id 34 type "blue"   translation -0.725  0.375 0.07 }
+        Hazelnut { id 35 type "yellow" translation -0.725  0.425 0.07 }
+
+        Hazelnut { id 36 type "blue"   translation -0.775 -0.125 0.07 }
+        Hazelnut { id 37 type "yellow" translation -0.775 -0.175 0.07 }
+        Hazelnut { id 38 type "blue"   translation -0.725 -0.375 0.07 }
+        Hazelnut { id 39 type "yellow" translation -0.725 -0.425 0.07 }
+
+        Hazelnut { id 40 type "yellow" translation -0.676 -0.625 0.07 }
+        Hazelnut { id 41 type "yellow" translation -0.676 -0.675 0.07 }
+        Hazelnut { id 42 type "yellow" translation -0.676 -0.725 0.07 }
+        Hazelnut { id 43 type "yellow" translation -0.676 -0.775 0.07 }
+
+        Hazelnut { id 44 type "blue"   translation -0.676  0.625 0.07 }
+        Hazelnut { id 45 type "blue"   translation -0.676  0.675 0.07 }
+        Hazelnut { id 46 type "blue"   translation -0.676  0.725 0.07 }
+        Hazelnut { id 47 type "blue"   translation -0.676  0.775 0.07 }
+
+        Hazelnut { id 48 translation -0.676  0.75 0.1 }
+        Hazelnut { id 49 translation -0.676  0.7  0.1 }
+        Hazelnut { id 50 translation -0.676  0.65 0.1 }
+
+        Hazelnut { id 51 translation -0.676 -0.75 0.1 }
+        Hazelnut { id 52 translation -0.676 -0.7  0.1 }
+        Hazelnut { id 53 translation -0.676 -0.65 0.1 }        
+    ]
+  }
+}