Convert pelvis to base node

simulation/controllers/olympian/olympian.py

@@ -10,14 +10,14 @@ def main():
     print("Initializing world...")
     robot = Robot()
     
-    head_motor = robot.getDevice("shoulder_pitch")
+    head_motor = robot.getDevice("torso_yaw")
-    motor2 = robot.getDevice("shoulder_roll")
+    motor2 = robot.getDevice("right_elbow_pitch")
     motor3 = robot.getDevice("shoulder_yaw")
-    head_motor.setVelocity(1)
+    head_motor.setVelocity(0.3)
-    motor2.setVelocity(1)
+    motor2.setVelocity(9)
     motor3.setVelocity(1)
     pos = 0
-    add = True
+    add = False
     
     # get the time step of the current world.
     timestep = int(robot.getBasicTimeStep())

simulation/worlds/olympian.wbt

@@ -3,8 +3,8 @@ WorldInfo {
   coordinateSystem "NUE"
 }
 Viewpoint {
-  orientation -0.8818525787650351 -0.3767457987150442 0.28354652612229425 0.08625071663475813
+  orientation -0.9813700309948942 0.19129400760775186 -0.017873581578575073 0.13058708003813205
-  position -0.1906315418853935 1.7802839159550832 2.8464267843684885
+  position -0.03208588854364594 1.3324969290146145 4.187568303045968
 }
 TexturedBackground {
 }
@@ -17,9 +17,50 @@ Robot {
   translation 0 0.03 0
   children [
     DEF Body Transform {
-      translation 0 1.3 0
+      translation 0 1.05 0
       children [
         Shape {
+          appearance PBRAppearance {
+            roughness 1
+            metalness 0
+          }
+          geometry Box {
+            size 0.2 0.2 0.25
+          }
+        }
+      ]
+    }
+    BallJoint {
+      jointParameters BallJointParameters {
+        anchor 0 1.15 0
+      }
+      jointParameters2 JointParameters {
+        axis 1 0 0
+      }
+      jointParameters3 JointParameters {
+      }
+      device [
+        RotationalMotor {
+          name "torso_pitch"
+        }
+      ]
+      device2 [
+        RotationalMotor {
+          name "torso_yaw"
+          minPosition -1.5707963267948966
+          maxPosition 1.5707963267948966
+        }
+      ]
+      device3 [
+        RotationalMotor {
+          name "torso_roll"
+        }
+      ]
+      endPoint Solid {
+        translation 0 1.51 0
+        rotation 1 0 0 0
+        children [
+          DEF torso Shape {
             appearance PBRAppearance {
               roughness 1
               metalness 0
@@ -28,11 +69,9 @@ Robot {
               size 0.5 0.7 0.25
             }
           }
-      ]
-    }
           BallJoint {
             jointParameters BallJointParameters {
-        anchor -0.33 1.6 0
+              anchor -0.33 0.25 0
             }
             jointParameters2 JointParameters {
             }
@@ -57,16 +96,44 @@ Robot {
               }
             ]
             endPoint Solid {
-        translation -0.330806 1.37 -2.28548e-05
+              translation -0.330806 0.1 -2.28548e-05
               rotation 0.0008954593566532848 0.9999525246665688 -0.009702915309103947 0.12741759639284905
               children [
+                HingeJoint {
+                  jointParameters HingeJointParameters {
+                  }
+                  device [
+                    RotationalMotor {
+                      name "elbow_pitch"
+                    }
+                  ]
+                  endPoint Solid {
+                    translation 0 -0.42499999999726895 -1.5235950555825944e-06
+                    rotation 0.9999999999999999 0 0 3.5849604925388305e-06
+                    children [
+                      DEF elbow Shape {
+                        appearance PBRAppearance {
+                          roughness 1
+                          metalness 0
+                        }
+                        geometry Capsule {
+                          height 0.25
+                          radius 0.075
+                        }
+                      }
+                    ]
+                    boundingObject USE elbow
+                    physics Physics {
+                    }
+                  }
+                }
                 DEF shoulder Shape {
                   appearance PBRAppearance {
                     roughness 1
                     metalness 0
                   }
                   geometry Capsule {
-              height 0.35
+                    height 0.3
                     radius 0.075
                   }
                 }
@@ -78,7 +145,7 @@ Robot {
           }
           BallJoint {
             jointParameters BallJointParameters {
-        anchor 0 1.78 0
+              anchor 0 0.48 0
             }
             jointParameters2 JointParameters {
               axis 1 0 0
@@ -103,7 +170,7 @@ Robot {
               }
             ]
             endPoint Solid {
-        translation 1.5688930727008528e-10 1.775023867890655 0.000487964374053785
+              translation 1.56889e-10 0.48 0.000487964
               rotation 0.9999999999997564 -6.209227482014029e-07 -3.186911752856171e-07 5.228680744087191
               children [
                 DEF head Shape {
@@ -124,7 +191,7 @@ Robot {
           }
           BallJoint {
             jointParameters BallJointParameters {
-        anchor 0.33 1.6 0
+              anchor 0.33 0.25 0
             }
             jointParameters2 JointParameters {
             }
@@ -149,15 +216,43 @@ Robot {
               }
             ]
             endPoint Solid {
-        translation 0.33 1.37 0
+              translation 0.33 0.1 0
               children [
+                HingeJoint {
+                  jointParameters HingeJointParameters {
+                  }
+                  device [
+                    RotationalMotor {
+                      name "right_elbow_pitch"
+                    }
+                  ]
+                  endPoint Solid {
+                    translation 0 -0.42499999999726895 -1.5235950555825944e-06
+                    rotation 0.9999999999999999 0 0 3.5849604925388305e-06
+                    children [
+                      DEF right_elbow Shape {
+                        appearance PBRAppearance {
+                          roughness 1
+                          metalness 0
+                        }
+                        geometry Capsule {
+                          height 0.25
+                          radius 0.075
+                        }
+                      }
+                    ]
+                    boundingObject USE right_elbow
+                    physics Physics {
+                    }
+                  }
+                }
                 DEF right_shoulder Shape {
                   appearance PBRAppearance {
                     roughness 1
                     metalness 0
                   }
                   geometry Capsule {
-              height 0.35
+                    height 0.3
                     radius 0.075
                   }
                 }
@@ -169,6 +264,13 @@ Robot {
             }
           }
         ]
+        name "solid(2)"
+        boundingObject USE torso
+        physics Physics {
+        }
+      }
+    }
+  ]
   boundingObject USE Body
   physics Physics {
   }