From e49febc38d0ec63b66e1db06bd40d2bf3f141225 Mon Sep 17 00:00:00 2001 From: Aditya Vasantharao Date: Thu, 21 Jan 2021 00:54:08 -0500 Subject: [PATCH] Add initial webots project --- simulation/worlds/.olympian.wbproj | 9 ++++ simulation/worlds/olympian.wbt | 86 ++++++++++++++++++++++++++++++ 2 files changed, 95 insertions(+) create mode 100644 simulation/worlds/.olympian.wbproj create mode 100644 simulation/worlds/olympian.wbt diff --git a/simulation/worlds/.olympian.wbproj b/simulation/worlds/.olympian.wbproj new file mode 100644 index 0000000..764773c --- /dev/null +++ b/simulation/worlds/.olympian.wbproj @@ -0,0 +1,9 @@ +Webots Project File version R2021a +perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a00000310fc0200000001fb0000001400540065007800740045006400690074006f0072010000001a000003100000004100ffffff0000000300000781000000dafc0100000002fb0000000e0043006f006e0073006f006c00650100000000000007400000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007810000006900ffffff000005450000031000000004000000040000000100000008fc00000000 +simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000002010000000101 +sceneTreePerspectives: 000000ff0000000100000002000000c0000001120100000002010000000201 +maximizedDockId: -1 +centralWidgetVisible: 1 +orthographicViewHeight: 1 +textFiles: -1 +consoles: Console:All:All diff --git a/simulation/worlds/olympian.wbt b/simulation/worlds/olympian.wbt new file mode 100644 index 0000000..b4e9458 --- /dev/null +++ b/simulation/worlds/olympian.wbt @@ -0,0 +1,86 @@ +#VRML_SIM R2021a utf8 +WorldInfo { + coordinateSystem "NUE" +} +Viewpoint { + orientation -0.6317508657596447 0.7640332861949025 0.13093502662831516 0.4783818664153489 + position 0.8859297766753556 2.1334347652363816 2.270266388485401 +} +TexturedBackground { +} +TexturedBackgroundLight { +} +RectangleArena { + floorSize 5 5 +} +Robot { + children [ + DEF Body Transform { + translation 0 1.3 0 + children [ + Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Box { + size 0.5 0.7 0.25 + } + } + ] + } + HingeJoint { + jointParameters HingeJointParameters { + anchor -0.25 1.55 0 + } + device [ + RotationalMotor { + name "arm_pitch" + } + ] + endPoint Solid { + translation -0.25 1.55 0 + rotation 0 0 1 1.57 + children [ + DEF arm_joint Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Cylinder { + height 0.1 + radius 0.075 + } + } + ] + boundingObject USE arm_joint + physics Physics { + } + } + } + HingeJoint { + jointParameters HingeJointParameters { + anchor -0.375 1.55 0 + } + device [ + RotationalMotor { + name "arm_yaw" + } + ] + endPoint Solid { + translation -0.375 1.55 0 + rotation 1 0 0 1.57 + children [ + USE arm_joint + ] + name "solid(1)" + boundingObject USE arm_joint + physics Physics { + } + } + } + ] + boundingObject USE Body + physics Physics { + } +}