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Enabled global collision and COM

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This commit is contained in:
Ram Reddy 2021-02-15 14:54:42 -08:00
parent 0d15396ac5
commit 48a5660645
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GPG Key ID: 2CD6B38BE14BDE53
2 changed files with 8 additions and 5 deletions
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4
simulation/worlds/.olympian.wbproj
View File

@ -1,9 +1,11 @@
Webots Project File version R2021a Webots Project File version R2021a
perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a000003b6fc0200000002fb0000001400540065007800740045006400690074006f0072010000001a000002e30000008700fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000002ff000000d10000003900ffffff0000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c0065010000000000000740000000000000000000000544000003b600000004000000040000000100000008fc00000000 perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a000003ccfc0200000002fb0000001400540065007800740045006400690074006f00720100000016000002f90000008900fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000311000000d10000003900ffffff0000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007400000000000000000000004fc000003cc00000004000000040000000100000008fc00000000
simulationViewPerspectives: 000000ff00000001000000020000016c000003d60100000002010000000101 simulationViewPerspectives: 000000ff00000001000000020000016c000003d60100000002010000000101
sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000201 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000201
maximizedDockId: -1 maximizedDockId: -1
centralWidgetVisible: 1 centralWidgetVisible: 1
orthographicViewHeight: 1 orthographicViewHeight: 1
textFiles: 1 "controllers/olympian/standingBalance.py" "controllers/olympian/olympian.py" textFiles: 1 "controllers/olympian/standingBalance.py" "controllers/olympian/olympian.py"
globalOptionalRendering: CoordinateSystem::AllBoundingObjects::ContactPoints::ConnectorAxes::JointAxes::Skeleton
centerOfMass: robot
consoles: Console:All:All consoles: Console:All:All

9
simulation/worlds/olympian.wbt
View File

@ -3,8 +3,8 @@ WorldInfo {
coordinateSystem "NUE" coordinateSystem "NUE"
} }
Viewpoint { Viewpoint {
orientation -0.7235554390697962 0.681894820378785 0.10717733217942502 0.30559167713300855 orientation -0.7108788721149584 -0.6798276004460428 -0.18023779529371817 0.7628366439986357
position 0.708189244094154 1.579061816199336 3.4903595614267746 position -1.529898492340523 2.6913118496032213 2.7543281313960564
} }
TexturedBackground { TexturedBackground {
} }
@ -406,7 +406,7 @@ Robot {
] ]
endPoint Solid { endPoint Solid {
translation 0 -0.42499999999726895 -1.5235950555825944e-06 translation 0 -0.42499999999726895 -1.5235950555825944e-06
rotation 0.9999999999999999 0 0 3.5849604925388305e-06 rotation 1 0 0 3.5849604925388305e-06
children [ children [
DEF right_elbow Shape { DEF right_elbow Shape {
appearance PBRAppearance { appearance PBRAppearance {
@ -552,7 +552,7 @@ Robot {
] ]
endPoint Solid { endPoint Solid {
translation 0 -0.42499999999726895 -1.5235950555825944e-06 translation 0 -0.42499999999726895 -1.5235950555825944e-06
rotation 0.9999999999999999 0 0 3.5849604925388305e-06 rotation 1 0 0 3.5849604925388305e-06
children [ children [
DEF left_elbow Shape { DEF left_elbow Shape {
appearance PBRAppearance { appearance PBRAppearance {
@ -635,4 +635,5 @@ Robot {
] ]
} }
controller "olympian" controller "olympian"
selfCollision TRUE
} }