From 8535d1b1d3073ea943c957ede778bcc5f8ab75a6 Mon Sep 17 00:00:00 2001 From: Aditya Vasantharao Date: Fri, 12 Feb 2021 22:55:34 -0500 Subject: [PATCH] Add lower legs and feet --- simulation/worlds/.olympian.wbproj | 4 +- simulation/worlds/olympian.wbt | 221 +++++++++++++++++++++++++++-- 2 files changed, 210 insertions(+), 15 deletions(-) diff --git a/simulation/worlds/.olympian.wbproj b/simulation/worlds/.olympian.wbproj index 35e72f3..c65847b 100644 --- a/simulation/worlds/.olympian.wbproj +++ b/simulation/worlds/.olympian.wbproj @@ -1,9 +1,9 @@ Webots Project File version R2021a -perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a000003ccfc0200000002fb0000001400540065007800740045006400690074006f00720100000016000001830000008900fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000019b000002470000003900ffffff0000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007400000000000000000000004fc000003cc00000004000000040000000100000008fc00000000 +perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a000003b6fc0200000002fb0000001400540065007800740045006400690074006f0072010000001a000002e30000008700fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000002ff000000d10000003900ffffff0000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c0065010000000000000740000000000000000000000544000003b600000004000000040000000100000008fc00000000 simulationViewPerspectives: 000000ff00000001000000020000016c000003d60100000002010000000101 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000201 maximizedDockId: -1 centralWidgetVisible: 1 orthographicViewHeight: 1 -textFiles: 0 "controllers/olympian/standingBalance.py" +textFiles: 0 "controllers/olympian/standingBalance.py" "controllers/olympian/olympian.py" consoles: Console:All:All diff --git a/simulation/worlds/olympian.wbt b/simulation/worlds/olympian.wbt index 41fbc38..a3d657e 100644 --- a/simulation/worlds/olympian.wbt +++ b/simulation/worlds/olympian.wbt @@ -3,8 +3,8 @@ WorldInfo { coordinateSystem "NUE" } Viewpoint { - orientation 0.1667677765231006 -0.9859728993943109 0.006778670483028679 0.08240461746309974 - position -0.03424025306816622 1.0119404189473493 3.799122587140713 + orientation -0.7235554390697962 0.681894820378785 0.10717733217942502 0.30559167713300855 + position 0.708189244094154 1.579061816199336 3.4903595614267746 } TexturedBackground { } @@ -14,7 +14,7 @@ RectangleArena { floorSize 5 5 } Robot { - translation 0 0.03 0 + translation 0 -0.12 0 children [ DEF Body Transform { translation 0 1.05 0 @@ -30,16 +30,34 @@ Robot { } ] } - HingeJoint { - jointParameters HingeJointParameters { - anchor 0.185 0.79 0 + BallJoint { + jointParameters BallJointParameters { + anchor 0.185 0.85 0 + } + jointParameters2 JointParameters { + axis 1 0 0 + } + jointParameters3 JointParameters { } device [ RotationalMotor { + name "left_hip_pitch" + } + ] + device2 [ + RotationalMotor { + name "left_hip_yaw" + minPosition -1.5707963267948966 + maxPosition 1.5707963267948966 + } + ] + device3 [ + RotationalMotor { + name "left_hip_roll" } ] endPoint Solid { - translation 0.185 0.79 0 + translation 0.185 0.85 0 rotation -1 0 0 1.8916846600245166e-06 children [ DEF upperLeftLeg Shape { @@ -48,26 +66,119 @@ Robot { metalness 0 } geometry Capsule { - height 0.45 + height 0.3 radius 0.075 } } + HingeJoint { + jointParameters HingeJointParameters { + anchor 0 -0.45 0 + } + device [ + RotationalMotor { + name "left_knee_pitch" + } + ] + endPoint Solid { + translation 0 -0.45 0 + rotation 1 0 0 0 + children [ + DEF left_shin Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Capsule { + height 0.3 + radius 0.075 + } + } + BallJoint { + jointParameters BallJointParameters { + anchor 0 -0.25 0 + } + jointParameters2 JointParameters { + } + jointParameters3 JointParameters { + axis 1 0 0 + } + device [ + RotationalMotor { + name "left_foot_pitch" + maxTorque 100 + } + ] + device2 [ + RotationalMotor { + name "left_foot_yaw" + minPosition -1.5707963267948966 + maxPosition 1.5707963267948966 + } + ] + device3 [ + RotationalMotor { + name "left_foot_roll" + maxTorque 100 + } + ] + endPoint Solid { + translation 0 -0.25 0 + children [ + DEF left_foot Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Box { + size 0.2 0.05 0.4 + } + } + ] + boundingObject USE left_foot + physics Physics { + } + } + } + ] + boundingObject USE left_shin + physics Physics { + } + } + } ] boundingObject USE upperLeftLeg physics Physics { } } } - HingeJoint { - jointParameters HingeJointParameters { - anchor -0.185 0.79 0 + BallJoint { + jointParameters BallJointParameters { + anchor -0.185 0.85 0 + } + jointParameters2 JointParameters { + axis 1 0 0 + } + jointParameters3 JointParameters { } device [ RotationalMotor { + name "right_hip_pitch" + } + ] + device2 [ + RotationalMotor { + name "right_hip_yaw" + minPosition -1.5707963267948966 + maxPosition 1.5707963267948966 + } + ] + device3 [ + RotationalMotor { + name "right_hip_roll" } ] endPoint Solid { - translation -0.185 0.79 0 + translation -0.185 0.85 0 rotation 1 0 0 0 children [ DEF upperRightLeg Shape { @@ -76,10 +187,94 @@ Robot { metalness 0 } geometry Capsule { - height 0.45 + height 0.3 radius 0.075 } } + HingeJoint { + jointParameters HingeJointParameters { + anchor 0 -0.45 0 + } + device [ + RotationalMotor { + name "right_knee_pitch" + } + ] + endPoint Solid { + translation 0 -0.45 0 + rotation 1 0 0 0 + children [ + DEF right_shin Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Capsule { + height 0.3 + radius 0.075 + } + } + BallJoint { + jointParameters BallJointParameters { + anchor 0 -0.25 0 + } + jointParameters2 JointParameters { + } + jointParameters3 JointParameters { + axis 1 0 0 + } + device [ + RotationalMotor { + name "right_foot_pitch" + maxTorque 100 + } + ] + device2 [ + RotationalMotor { + name "right_foot_yaw" + minPosition -1.5707963267948966 + maxPosition 1.5707963267948966 + } + ] + device3 [ + RotationalMotor { + name "right_foot_roll" + maxTorque 100 + } + ] + endPoint Solid { + translation 0 -0.25 0 + children [ + DEF right_foot Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Box { + size 0.2 0.05 0.4 + } + } + ] + boundingObject USE right_foot + physics Physics { + } + } + } + ] + boundingObject USE right_shin + physics Physics { + density -1 + mass 7.068583470577034 + centerOfMass [ + 0 0 0 + ] + inertiaMatrix [ + 0.10586308213356384 0.018886371460448012 0.10586308213356384 + 0 0 0 + ] + } + } + } ] name "upperRightLegMotor" boundingObject USE upperRightLeg