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neck

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This commit is contained in:
Ram Reddy 2021-01-24 21:56:58 -05:00
parent 5ab2e6084e
commit e6aade6ef5
2 changed files with 45 additions and 3 deletions
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2
simulation/worlds/.olympian.wbproj
View File

@ -1,5 +1,5 @@
Webots Project File version R2021a Webots Project File version R2021a
perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a00000310fc0200000001fb0000001400540065007800740045006400690074006f0072010000001a000003100000004100ffffff0000000300000781000000dafc0100000002fb0000000e0043006f006e0073006f006c00650100000000000007400000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007810000006900ffffff000005450000031000000004000000040000000100000008fc00000000 perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a000002f4fc0200000001fb0000001400540065007800740045006400690074006f00720100000015000002f40000004100ffffff0000000300000780000000dafc0100000002fb0000000e0043006f006e0073006f006c00650100000000000007400000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff00000544000002f400000004000000040000000100000008fc00000000
simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000002010000000101 simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000002010000000101
sceneTreePerspectives: 000000ff0000000100000002000000c0000001120100000002010000000201 sceneTreePerspectives: 000000ff0000000100000002000000c0000001120100000002010000000201
maximizedDockId: -1 maximizedDockId: -1

46
simulation/worlds/olympian.wbt
View File

@ -3,8 +3,8 @@ WorldInfo {
coordinateSystem "NUE" coordinateSystem "NUE"
} }
Viewpoint { Viewpoint {
orientation -0.6317508657596447 0.7640332861949025 0.13093502662831516 0.4783818664153489 orientation -0.7623894855422976 0.6273329238621066 0.1587944425134923 0.327301231606098
position 0.8859297766753556 2.1334347652363816 2.270266388485401 position 1.0070228999748558 2.3086338771870616 3.1708017471662577
} }
TexturedBackground { TexturedBackground {
} }
@ -14,6 +14,7 @@ RectangleArena {
floorSize 5 5 floorSize 5 5
} }
Robot { Robot {
translation 0 0.03 0
children [ children [
DEF Body Transform { DEF Body Transform {
translation 0 1.3 0 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 { HingeJoint {
jointParameters HingeJointParameters { jointParameters HingeJointParameters {
anchor -0.25 1.55 0 anchor -0.25 1.55 0