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Add lower legs and feet

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This commit is contained in:
Aditya Vasantharao 2021-02-12 22:55:34 -05:00
parent 667395bfa2
commit 8535d1b1d3
2 changed files with 210 additions and 15 deletions
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4
simulation/worlds/.olympian.wbproj
View File

@ -1,9 +1,9 @@
Webots Project File version R2021a Webots Project File version R2021a
perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a000003ccfc0200000002fb0000001400540065007800740045006400690074006f00720100000016000001830000008900fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000019b000002470000003900ffffff0000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007400000000000000000000004fc000003cc00000004000000040000000100000008fc00000000 perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a000003b6fc0200000002fb0000001400540065007800740045006400690074006f0072010000001a000002e30000008700fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000002ff000000d10000003900ffffff0000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c0065010000000000000740000000000000000000000544000003b600000004000000040000000100000008fc00000000
simulationViewPerspectives: 000000ff00000001000000020000016c000003d60100000002010000000101 simulationViewPerspectives: 000000ff00000001000000020000016c000003d60100000002010000000101
sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000201 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000201
maximizedDockId: -1 maximizedDockId: -1
centralWidgetVisible: 1 centralWidgetVisible: 1
orthographicViewHeight: 1 orthographicViewHeight: 1
textFiles: 0 "controllers/olympian/standingBalance.py" textFiles: 0 "controllers/olympian/standingBalance.py" "controllers/olympian/olympian.py"
consoles: Console:All:All consoles: Console:All:All

221
simulation/worlds/olympian.wbt
View File

@ -3,8 +3,8 @@ WorldInfo {
coordinateSystem "NUE" coordinateSystem "NUE"
} }
Viewpoint { Viewpoint {
orientation 0.1667677765231006 -0.9859728993943109 0.006778670483028679 0.08240461746309974 orientation -0.7235554390697962 0.681894820378785 0.10717733217942502 0.30559167713300855
position -0.03424025306816622 1.0119404189473493 3.799122587140713 position 0.708189244094154 1.579061816199336 3.4903595614267746
} }
TexturedBackground { TexturedBackground {
} }
@ -14,7 +14,7 @@ RectangleArena {
floorSize 5 5 floorSize 5 5
} }
Robot { Robot {
translation 0 0.03 0 translation 0 -0.12 0
children [ children [
DEF Body Transform { DEF Body Transform {
translation 0 1.05 0 translation 0 1.05 0
@ -30,16 +30,34 @@ Robot {
} }
] ]
} }
HingeJoint { BallJoint {
jointParameters HingeJointParameters { jointParameters BallJointParameters {
anchor 0.185 0.79 0 anchor 0.185 0.85 0
}
jointParameters2 JointParameters {
axis 1 0 0
}
jointParameters3 JointParameters {
} }
device [ device [
RotationalMotor { 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 { endPoint Solid {
translation 0.185 0.79 0 translation 0.185 0.85 0
rotation -1 0 0 1.8916846600245166e-06 rotation -1 0 0 1.8916846600245166e-06
children [ children [
DEF upperLeftLeg Shape { DEF upperLeftLeg Shape {
@ -48,26 +66,119 @@ Robot {
metalness 0 metalness 0
} }
geometry Capsule { geometry Capsule {
height 0.45 height 0.3
radius 0.075 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 boundingObject USE upperLeftLeg
physics Physics { physics Physics {
} }
} }
} }
HingeJoint { BallJoint {
jointParameters HingeJointParameters { jointParameters BallJointParameters {
anchor -0.185 0.79 0 anchor -0.185 0.85 0
}
jointParameters2 JointParameters {
axis 1 0 0
}
jointParameters3 JointParameters {
} }
device [ device [
RotationalMotor { 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 { endPoint Solid {
translation -0.185 0.79 0 translation -0.185 0.85 0
rotation 1 0 0 0 rotation 1 0 0 0
children [ children [
DEF upperRightLeg Shape { DEF upperRightLeg Shape {
@ -76,10 +187,94 @@ Robot {
metalness 0 metalness 0
} }
geometry Capsule { geometry Capsule {
height 0.45 height 0.3
radius 0.075 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" name "upperRightLegMotor"
boundingObject USE upperRightLeg boundingObject USE upperRightLeg