From 48a566064585a203d4f04dc67e68a4272a6d1323 Mon Sep 17 00:00:00 2001 From: Ram Reddy Date: Mon, 15 Feb 2021 14:54:42 -0800 Subject: [PATCH] Enabled global collision and COM --- simulation/worlds/.olympian.wbproj | 4 +++- simulation/worlds/olympian.wbt | 9 +++++---- 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/simulation/worlds/.olympian.wbproj b/simulation/worlds/.olympian.wbproj index ddb7ba0..68612c6 100644 --- a/simulation/worlds/.olympian.wbproj +++ b/simulation/worlds/.olympian.wbproj @@ -1,9 +1,11 @@ Webots Project File version R2021a -perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a000003b6fc0200000002fb0000001400540065007800740045006400690074006f0072010000001a000002e30000008700fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000002ff000000d10000003900ffffff0000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c0065010000000000000740000000000000000000000544000003b600000004000000040000000100000008fc00000000 +perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a000003ccfc0200000002fb0000001400540065007800740045006400690074006f00720100000016000002f90000008900fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000311000000d10000003900ffffff0000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007400000000000000000000004fc000003cc00000004000000040000000100000008fc00000000 simulationViewPerspectives: 000000ff00000001000000020000016c000003d60100000002010000000101 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000201 maximizedDockId: -1 centralWidgetVisible: 1 orthographicViewHeight: 1 textFiles: 1 "controllers/olympian/standingBalance.py" "controllers/olympian/olympian.py" +globalOptionalRendering: CoordinateSystem::AllBoundingObjects::ContactPoints::ConnectorAxes::JointAxes::Skeleton +centerOfMass: robot consoles: Console:All:All diff --git a/simulation/worlds/olympian.wbt b/simulation/worlds/olympian.wbt index 5830e7f..aa2ab77 100644 --- a/simulation/worlds/olympian.wbt +++ b/simulation/worlds/olympian.wbt @@ -3,8 +3,8 @@ WorldInfo { coordinateSystem "NUE" } Viewpoint { - orientation -0.7235554390697962 0.681894820378785 0.10717733217942502 0.30559167713300855 - position 0.708189244094154 1.579061816199336 3.4903595614267746 + orientation -0.7108788721149584 -0.6798276004460428 -0.18023779529371817 0.7628366439986357 + position -1.529898492340523 2.6913118496032213 2.7543281313960564 } TexturedBackground { } @@ -406,7 +406,7 @@ Robot { ] endPoint Solid { translation 0 -0.42499999999726895 -1.5235950555825944e-06 - rotation 0.9999999999999999 0 0 3.5849604925388305e-06 + rotation 1 0 0 3.5849604925388305e-06 children [ DEF right_elbow Shape { appearance PBRAppearance { @@ -552,7 +552,7 @@ Robot { ] endPoint Solid { translation 0 -0.42499999999726895 -1.5235950555825944e-06 - rotation 0.9999999999999999 0 0 3.5849604925388305e-06 + rotation 1 0 0 3.5849604925388305e-06 children [ DEF left_elbow Shape { appearance PBRAppearance { @@ -635,4 +635,5 @@ Robot { ] } controller "olympian" + selfCollision TRUE }