From 90f3a99778ba41a89998816ce0f435f89ce8ca17 Mon Sep 17 00:00:00 2001
From: Ram Reddy <69733662+ramnreddy15@users.noreply.github.com>
Date: Sun, 24 Jan 2021 21:58:32 -0500
Subject: [PATCH] Revert "Revert "neck""

This reverts commit 7b96cb7bf033f92968e90805606d0d23e33a6ecc.
---
 simulation/worlds/.olympian.wbproj |  2 +-
 simulation/worlds/olympian.wbt     | 46 ++++++++++++++++++++++++++++--
 2 files changed, 45 insertions(+), 3 deletions(-)

diff --git a/simulation/worlds/.olympian.wbproj b/simulation/worlds/.olympian.wbproj
index 764773c..28d69e0 100644
--- a/simulation/worlds/.olympian.wbproj
+++ b/simulation/worlds/.olympian.wbproj
@@ -1,5 +1,5 @@
 Webots Project File version R2021a
-perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a00000310fc0200000001fb0000001400540065007800740045006400690074006f0072010000001a000003100000004100ffffff0000000300000781000000dafc0100000002fb0000000e0043006f006e0073006f006c00650100000000000007400000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007810000006900ffffff000005450000031000000004000000040000000100000008fc00000000
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a000002f4fc0200000001fb0000001400540065007800740045006400690074006f00720100000015000002f40000004100ffffff0000000300000780000000dafc0100000002fb0000000e0043006f006e0073006f006c00650100000000000007400000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff00000544000002f400000004000000040000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000002010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000001120100000002010000000201
 maximizedDockId: -1
diff --git a/simulation/worlds/olympian.wbt b/simulation/worlds/olympian.wbt
index b4e9458..ed157d3 100644
--- a/simulation/worlds/olympian.wbt
+++ b/simulation/worlds/olympian.wbt
@@ -3,8 +3,8 @@ WorldInfo {
   coordinateSystem "NUE"
 }
 Viewpoint {
-  orientation -0.6317508657596447 0.7640332861949025 0.13093502662831516 0.4783818664153489
-  position 0.8859297766753556 2.1334347652363816 2.270266388485401
+  orientation -0.7623894855422976 0.6273329238621066 0.1587944425134923 0.327301231606098
+  position 1.0070228999748558 2.3086338771870616 3.1708017471662577
 }
 TexturedBackground {
 }
@@ -14,6 +14,7 @@ RectangleArena {
   floorSize 5 5
 }
 Robot {
+  translation 0 0.03 0
   children [
     DEF Body Transform {
       translation 0 1.3 0
@@ -29,6 +30,47 @@ Robot {
         }
       ]
     }
+    BallJoint {
+      jointParameters BallJointParameters {
+        anchor 0 1.77 0
+      }
+      jointParameters2 JointParameters {
+      }
+      jointParameters3 JointParameters {
+      }
+      device [
+        RotationalMotor {
+          name "neck_pitch"
+        }
+      ]
+      device2 [
+        RotationalMotor {
+          name "neck_yaw"
+          minPosition -1.5707963267948966
+          maxPosition 1.5707963267948966
+        }
+      ]
+      device3 [
+        RotationalMotor {
+          name "neck_roll"
+        }
+      ]
+      endPoint Solid {
+        translation 0 1.77 0
+        children [
+          Shape {
+            appearance PBRAppearance {
+              roughness 1
+            }
+            geometry Cylinder {
+              height 0.25
+              radius 0.2
+            }
+          }
+        ]
+        name "solid(2)"
+      }
+    }
     HingeJoint {
       jointParameters HingeJointParameters {
         anchor -0.25 1.55 0