From bf120ab2b336e390d363c0fdf6490d990fedecdc Mon Sep 17 00:00:00 2001
From: Aditya Vasantharao <hsfan612@gmail.com>
Date: Sat, 6 Feb 2021 20:46:36 -0500
Subject: [PATCH] Increase thigh diameter

---
 simulation/worlds/.olympian.wbproj |  2 +-
 simulation/worlds/olympian.wbt     | 22 +++++++++++++---------
 2 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/simulation/worlds/.olympian.wbproj b/simulation/worlds/.olympian.wbproj
index 667cae8..0a21dad 100644
--- a/simulation/worlds/.olympian.wbproj
+++ b/simulation/worlds/.olympian.wbproj
@@ -1,5 +1,5 @@
 Webots Project File version R2021a
-perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000008700ffffff000000010000023a00000585fc0200000002fb0000001400540065007800740045006400690074006f00720100000000000005850000004500fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000001b5000003d000000000000000000000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c0065010000000000000740000000000000000000000b340000058500000004000000040000000100000008fc00000000
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a000003b6fc0200000002fb0000001400540065007800740045006400690074006f0072010000001a000003b60000004100fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000001b5000003d000000000000000000000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c0065010000000000000740000000000000000000000544000003b600000004000000040000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000016c000003d60100000002010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000201
 maximizedDockId: -1
diff --git a/simulation/worlds/olympian.wbt b/simulation/worlds/olympian.wbt
index f5f3e62..41fbc38 100644
--- a/simulation/worlds/olympian.wbt
+++ b/simulation/worlds/olympian.wbt
@@ -4,7 +4,7 @@ WorldInfo {
 }
 Viewpoint {
   orientation 0.1667677765231006 -0.9859728993943109 0.006778670483028679 0.08240461746309974
-  position -0.11229290729588565 0.9987161303730752 4.757655782188762
+  position -0.03424025306816622 1.0119404189473493 3.799122587140713
 }
 TexturedBackground {
 }
@@ -32,22 +32,24 @@ Robot {
     }
     HingeJoint {
       jointParameters HingeJointParameters {
-        anchor 0.17 0.79 0
+        anchor 0.185 0.79 0
       }
       device [
         RotationalMotor {
         }
       ]
       endPoint Solid {
-        translation 0.17 0.79 0
+        translation 0.185 0.79 0
         rotation -1 0 0 1.8916846600245166e-06
         children [
           DEF upperLeftLeg Shape {
             appearance PBRAppearance {
+              roughness 1
+              metalness 0
             }
             geometry Capsule {
               height 0.45
-              radius 0.06
+              radius 0.075
             }
           }
         ]
@@ -58,22 +60,24 @@ Robot {
     }
     HingeJoint {
       jointParameters HingeJointParameters {
-        anchor -0.17 0.79 0
+        anchor -0.185 0.79 0
       }
       device [
         RotationalMotor {
         }
       ]
       endPoint Solid {
-        translation -0.17 0.79 0
+        translation -0.185 0.79 0
         rotation 1 0 0 0
         children [
           DEF upperRightLeg Shape {
             appearance PBRAppearance {
+              roughness 1
+              metalness 0
             }
             geometry Capsule {
               height 0.45
-              radius 0.06
+              radius 0.075
             }
           }
         ]
@@ -162,7 +166,7 @@ Robot {
                   ]
                   endPoint Solid {
                     translation 0 -0.42499999999726895 -1.5235950555825944e-06
-                    rotation 0.9999999999999999 0 0 3.5849604925388305e-06
+                    rotation 1 0 0 3.5849604925388305e-06
                     children [
                       DEF elbow Shape {
                         appearance PBRAppearance {
@@ -281,7 +285,7 @@ Robot {
                   ]
                   endPoint Solid {
                     translation 0 -0.42499999999726895 -1.5235950555825944e-06
-                    rotation 0.9999999999999999 0 0 3.5849604925388305e-06
+                    rotation 1 0 0 3.5849604925388305e-06
                     children [
                       DEF right_elbow Shape {
                         appearance PBRAppearance {