diff --git a/simulation/worlds/.olympian.wbproj b/simulation/worlds/.olympian.wbproj
index 3984a6e..667cae8 100644
--- a/simulation/worlds/.olympian.wbproj
+++ b/simulation/worlds/.olympian.wbproj
@@ -1,9 +1,8 @@
 Webots Project File version R2021a
-perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000008700ffffff000000010000023a000004edfc0200000002fb0000001400540065007800740045006400690074006f00720100000000000002e40000004500fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000002e6000002070000003900ffffff0000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c0065010000000000000740000000000000000000000522000004ed00000004000000040000000100000008fc00000000
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000008700ffffff000000010000023a00000585fc0200000002fb0000001400540065007800740045006400690074006f00720100000000000005850000004500fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000001b5000003d000000000000000000000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c0065010000000000000740000000000000000000000b340000058500000004000000040000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000016c000003d60100000002010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000201
 maximizedDockId: -1
 centralWidgetVisible: 1
 orthographicViewHeight: 1
 textFiles: -1
-consoles: Console:All:All
diff --git a/simulation/worlds/olympian.wbt b/simulation/worlds/olympian.wbt
index 8aa0d65..f5f3e62 100644
--- a/simulation/worlds/olympian.wbt
+++ b/simulation/worlds/olympian.wbt
@@ -3,8 +3,8 @@ WorldInfo {
   coordinateSystem "NUE"
 }
 Viewpoint {
-  orientation -0.9813700309948942 0.19129400760775186 -0.017873581578575073 0.13058708003813205
-  position -0.03208588854364594 1.3324969290146145 4.187568303045968
+  orientation 0.1667677765231006 -0.9859728993943109 0.006778670483028679 0.08240461746309974
+  position -0.11229290729588565 0.9987161303730752 4.757655782188762
 }
 TexturedBackground {
 }
@@ -30,6 +30,59 @@ Robot {
         }
       ]
     }
+    HingeJoint {
+      jointParameters HingeJointParameters {
+        anchor 0.17 0.79 0
+      }
+      device [
+        RotationalMotor {
+        }
+      ]
+      endPoint Solid {
+        translation 0.17 0.79 0
+        rotation -1 0 0 1.8916846600245166e-06
+        children [
+          DEF upperLeftLeg Shape {
+            appearance PBRAppearance {
+            }
+            geometry Capsule {
+              height 0.45
+              radius 0.06
+            }
+          }
+        ]
+        boundingObject USE upperLeftLeg
+        physics Physics {
+        }
+      }
+    }
+    HingeJoint {
+      jointParameters HingeJointParameters {
+        anchor -0.17 0.79 0
+      }
+      device [
+        RotationalMotor {
+        }
+      ]
+      endPoint Solid {
+        translation -0.17 0.79 0
+        rotation 1 0 0 0
+        children [
+          DEF upperRightLeg Shape {
+            appearance PBRAppearance {
+            }
+            geometry Capsule {
+              height 0.45
+              radius 0.06
+            }
+          }
+        ]
+        name "upperRightLegMotor"
+        boundingObject USE upperRightLeg
+        physics Physics {
+        }
+      }
+    }
     BallJoint {
       jointParameters BallJointParameters {
         anchor 0 1.15 0