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Webots

如何將 MCAD(Mechanical Computer Aided Design) 組立檔案轉為 Webots 場景 .wbt

利用 https://mermaid.js.org/ 建立 Webots 場景節點流程圖:

link0.html

<!DOCTYPE html>
<html lang="en">
  <script type="module">
    import mermaid from 'https://cdn.jsdelivr.net/npm/mermaid@10/dist/mermaid.esm.min.mjs';
    mermaid.initialize({ startOnLoad: true });
  </script>
</head>
<body>
  <div class="mermaid">
flowchart TD
    %% link0
    subgraph L0[link0]
    direction TB

    %% 頂層節點, Plotter 為物件名稱, 中括號內為內置字串
    Plotter[Robot]

    %% 三個主要分支
    Plotter --> Robot物理節點[physics]
    Robot物理節點 --> 物理節點[NULL]

    Plotter --> Robot_boundingObject[boundingObject]
    Robot_boundingObject --> UseLink0[NULL]

    Plotter --> Children[children]
    Children --> DefLink0[DEF Link_0 Shape]
    Children --> HingeJoint[HingeJoint]  
    DefLink0 -.->UseLink0

    HingeJoint --> Devices[devices]
    Devices --> Motor[RotationalMotor<br/>name: 'motor0']

    HingeJoint --> JointParams[jointparameters]
    JointParams --> HingeParams[HingeJointParameters]

    HingeJoint --> EndPoint[endPoint]
    EndPoint --> Solid[DEF link1 Solid]

    %% 新增三個節點並連接 Solid
    Solid --> Physics2[physics]
    Solid --> Bounding2[boundingobject]
    Solid --> Children2[children]
    end
  </div>
</body>
</html>

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