#VRML_SIM R2021a utf8
WorldInfo {
gravity 0.2
basicTimeStep 16
coordinateSystem "NUE"
}
Viewpoint {
orientation -0.6002466325295073 0.7753295528057134 0.19638753698511255 0.7477472527006542
position 0.844819390262747 2.391065676253801 3.2173738573028166
}
TexturedBackground {
}
TexturedBackgroundLight {
}
RectangleArena {
floorSize 5 5
}
Robot {
translation -1 0 0
children [
Gyro {
translation 0 1.05 0
name "pelvis_gyro"
}
Accelerometer {
translation 0 1.05 0
name "pelvis_accelerometer"
}
DEF Body Transform {
translation 0 1.05 0
children [
DEF pelvis Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Box {
size 0.2 0.2 0.25
}
}
]
}
BallJoint {
jointParameters BallJointParameters {
anchor 0.185 1.15 0
}
jointParameters2 JointParameters {
axis 1 0 0
}
jointParameters3 JointParameters {
}
device [
PositionSensor {
name "left_hip_pitch_position_sensor"
}
RotationalMotor {
name "left_hip_pitch"
}
]
device2 [
PositionSensor {
name "left_hip_yaw_position_sensor"
}
RotationalMotor {
name "left_hip_yaw"
minPosition -1.5707963267948966
maxPosition 1.5707963267948966
}
]
device3 [
PositionSensor {
name "left_hip_roll_position_sensor"
}
RotationalMotor {
name "left_hip_roll"
}
]
endPoint Solid {
translation 0.185 0.85 0
rotation -1 0 0 1.8916846600245166e-06
children [
DEF left_thigh Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Capsule {
height 0.3
radius 0.075
}
}
HingeJoint {
jointParameters HingeJointParameters {
anchor 0 -0.225 0
}
device [
PositionSensor {
name "left_knee_pitch_position_sensor"
}
RotationalMotor {
name "left_knee_pitch"
}
]
endPoint Solid {
translation 0 -0.45 0
rotation 1 0 0 0
children [
DEF left_shin Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Capsule {
height 0.3
radius 0.075
}
}
BallJoint {
jointParameters BallJointParameters {
anchor 0 -0.25 0
}
jointParameters2 JointParameters {
}
jointParameters3 JointParameters {
axis 1 0 0
}
device [
PositionSensor {
name "left_ankle_yaw_position_sensor"
}
RotationalMotor {
name "left_ankle_yaw"
maxTorque 10000
}
]
device2 [
PositionSensor {
name "left_ankle_roll_position_sensor"
}
RotationalMotor {
name "left_ankle_roll"
minPosition -1.5707963267948966
maxPosition 1.5707963267948966
}
]
device3 [
PositionSensor {
name "left_ankle_pitch_position_sensor"
}
RotationalMotor {
name "left_ankle_pitch"
maxTorque 10000
}
]
endPoint Solid {
translation 0 -0.25 0
children [
TouchSensor {
children [
Solid {
translation 0 -0.05 0
children [
DEF left_foot_force_sensor_shape Shape {
appearance PBRAppearance {
baseColor 0 0 0
roughness 1
metalness 0
}
geometry Box {
size 0.2 0.05 0.4
}
}
]
boundingObject USE left_foot_force_sensor_shape
physics Physics {
density -1
mass 4.000000000000001
centerOfMass [
0 0 0
]
inertiaMatrix [
0.054166666666666696 0.0666666666666667 0.014166666666666675
0 0 0
]
}
}
]
name "left_foot_force_sensor"
boundingObject USE left_foot_force_sensor_shape
physics Physics {
density -1
mass 4.000000000000001
centerOfMass [
0 0 0
]
inertiaMatrix [
0.054166666666666696 0.0666666666666667 0.014166666666666675
0 0 0
]
}
type "force"
}
DEF left_foot Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Box {
size 0.2 0.05 0.4
}
}
]
boundingObject USE left_foot
physics Physics {
density -1
mass 4.000000000000001
centerOfMass [
0 0 0
]
inertiaMatrix [
0.054166666666666696 0.0666666666666667 0.014166666666666675
0 0 0
]
}
}
}
]
boundingObject USE left_shin
physics Physics {
density -1
mass 7.068583470577034
centerOfMass [
0 0 0
]
inertiaMatrix [
0.10586308213356384 0.018886371460448012 0.10586308213356384
0 0 0
]
}
}
}
]
boundingObject USE left_thigh
physics Physics {
density -1
mass 7.068583470577034
centerOfMass [
0 0 0
]
inertiaMatrix [
0.10586308213356384 0.018886371460448012 0.10586308213356384
0 0 0
]
}
}
}
BallJoint {
jointParameters BallJointParameters {
anchor -0.185 1.15 0
}
jointParameters2 JointParameters {
axis 1 0 0
}
jointParameters3 JointParameters {
}
device [
PositionSensor {
name "right_hip_pitch_position_sensor"
}
RotationalMotor {
name "right_hip_pitch"
}
]
device2 [
PositionSensor {
name "right_hip_yaw_position_sensor"
}
RotationalMotor {
name "right_hip_yaw"
minPosition -1.5707963267948966
maxPosition 1.5707963267948966
}
]
device3 [
PositionSensor {
name "right_hip_roll_position_sensor"
}
RotationalMotor {
name "right_hip_roll"
}
]
endPoint Solid {
translation -0.185 0.85 0
rotation 1 0 0 0
children [
DEF right_thigh Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Capsule {
height 0.3
radius 0.075
}
}
HingeJoint {
jointParameters HingeJointParameters {
anchor 0 -0.225 0
}
device [
PositionSensor {
name "right_knee_pitch_position_sensor"
}
RotationalMotor {
name "right_knee_pitch"
}
]
endPoint Solid {
translation 0 -0.45 0
rotation 1 0 0 0
children [
DEF right_shin Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Capsule {
height 0.3
radius 0.075
}
}
BallJoint {
jointParameters BallJointParameters {
anchor 0 -0.225 0
}
jointParameters2 JointParameters {
}
jointParameters3 JointParameters {
axis 1 0 0
}
device [
PositionSensor {
name "right_ankle_yaw_position_sensor"
}
RotationalMotor {
name "right_ankle_yaw"
maxTorque 10000
}
]
device2 [
PositionSensor {
name "right_ankle_roll_position_sensor"
}
RotationalMotor {
name "right_ankle_roll"
minPosition -1.5707963267948966
maxPosition 1.5707963267948966
}
]
device3 [
PositionSensor {
name "right_ankle_pitch_position_sensor"
}
RotationalMotor {
name "right_ankle_pitch"
maxTorque 10000
}
]
endPoint Solid {
translation 0 -0.25 0
children [
TouchSensor {
translation 0 -0.05 0
children [
Solid {
children [
DEF right_foot_force_sensor_shape Shape {
appearance PBRAppearance {
baseColor 0 0 0
roughness 1
metalness 0
}
geometry Box {
size 0.2 0.05 0.4
}
}
]
boundingObject USE right_foot_force_sensor_shape
physics Physics {
density -1
mass 4.000000000000001
centerOfMass [
0 0 0
]
inertiaMatrix [
0.054166666666666696 0.0666666666666667 0.014166666666666675
0 0 0
]
}
}
]
name "right_foot_force_sensor"
boundingObject USE right_foot_force_sensor_shape
physics Physics {
density -1
mass 4.000000000000001
centerOfMass [
0 0 0
]
inertiaMatrix [
0.054166666666666696 0.0666666666666667 0.014166666666666675
0 0 0
]
}
type "force-3d"
}
DEF right_foot Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Box {
size 0.2 0.05 0.4
}
}
]
boundingObject USE right_foot
physics Physics {
density -1
mass 4.000000000000001
centerOfMass [
0 0 0
]
inertiaMatrix [
0.054166666666666696 0.0666666666666667 0.014166666666666675
0 0 0
]
}
}
}
]
boundingObject USE right_shin
physics Physics {
density -1
mass 7.068583470577034
centerOfMass [
0 0 0
]
inertiaMatrix [
0.10586308213356384 0.018886371460448012 0.10586308213356384
0 0 0
]
}
}
}
]
name "right_thigh_motor"
boundingObject USE right_thigh
physics Physics {
density -1
mass 7.068583470577034
centerOfMass [
0 0 0
]
inertiaMatrix [
0.10586308213356384 0.018886371460448012 0.10586308213356384
0 0 0
]
}
}
}
BallJoint {
jointParameters BallJointParameters {
anchor 0 1.15 0
}
jointParameters2 JointParameters {
axis 1 0 0
}
jointParameters3 JointParameters {
}
device [
PositionSensor {
name "torso_pitch_position_sensor"
}
RotationalMotor {
name "torso_pitch"
maxVelocity 100000
}
]
device2 [
PositionSensor {
name "torso_yaw_position_sensor"
}
RotationalMotor {
name "torso_yaw"
minPosition -1.5707963267948966
maxPosition 1.5707963267948966
}
]
device3 [
PositionSensor {
name "torso_roll_position_sensor"
}
RotationalMotor {
name "torso_roll"
}
]
endPoint Solid {
translation 0 1.51 0
rotation 1 0 0 0
children [
Gyro {
name "torso_gyro"
}
Accelerometer {
name "torso_accelerometer"
}
DEF torso Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Box {
size 0.5 0.7 0.25
}
}
BallJoint {
jointParameters BallJointParameters {
anchor -0.33 0.25 0
}
jointParameters2 JointParameters {
}
jointParameters3 JointParameters {
axis 1 0 0
}
device [
PositionSensor {
name "right_shoulder_roll_position_sensor"
}
RotationalMotor {
name "right_shoulder_roll"
}
]
device2 [
PositionSensor {
name "right_shoulder_yaw_position_sensor"
}
RotationalMotor {
name "right_shoulder_yaw"
minPosition -1.5707963267948966
maxPosition 1.5707963267948966
}
]
device3 [
PositionSensor {
name "right_shoulder_pitch_position_sensor"
}
RotationalMotor {
name "right_shoulder_pitch"
}
]
endPoint Solid {
translation -0.330806 0.1 -2.28548e-05
rotation 0.0008954593566532848 0.9999525246665688 -0.009702915309103947 0.12741759639284905
children [
HingeJoint {
jointParameters HingeJointParameters {
anchor 0 -0.2125 0
}
device [
PositionSensor {
name "right_elbow_pitch_position_sensor"
}
RotationalMotor {
name "right_elbow_pitch"
}
]
endPoint Solid {
translation 0 -0.42499999999726895 -1.5235950555825944e-06
rotation 1 0 0 3.5849604925388305e-06
children [
DEF right_lower_arm Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Capsule {
height 0.25
radius 0.075
}
}
]
boundingObject USE right_lower_arm
physics Physics {
density -1
mass 6.185010536754905
centerOfMass [
0 0 0
]
inertiaMatrix [
0.07323531077523626 0.016401322584073275 0.07323531077523626
0 0 0
]
}
}
}
DEF right_upper_arm Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Capsule {
height 0.3
radius 0.075
}
}
]
boundingObject USE right_upper_arm
physics Physics {
density -1
mass 7.068583470577034
centerOfMass [
0 0 0
]
inertiaMatrix [
0.10586308213356384 0.018886371460448012 0.10586308213356384
0 0 0
]
}
}
}
BallJoint {
jointParameters BallJointParameters {
anchor 0 0.48 0
}
jointParameters2 JointParameters {
axis 1 0 0
}
jointParameters3 JointParameters {
}
device [
PositionSensor {
name "neck_pitch_position_sensor"
}
RotationalMotor {
name "neck_pitch"
}
]
device2 [
PositionSensor {
name "neck_yaw_position_sensor"
}
RotationalMotor {
name "neck_yaw"
minPosition -1.5707963267948966
maxPosition 1.5707963267948966
}
]
device3 [
PositionSensor {
name "neck_roll_position_sensor"
}
RotationalMotor {
name "neck_roll"
}
]
endPoint Solid {
translation 1.56889e-10 0.48 0.000487964
rotation 0.9999999999997564 -6.209227482014029e-07 -3.186911752856171e-07 5.228680744087191
children [
DEF head Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Sphere {
radius 0.125
}
}
]
name "solid(2)"
boundingObject USE head
physics Physics {
density -1
mass 8.18123086872342
centerOfMass [
0 0 0
]
inertiaMatrix [
0.05113269292952138 0.05113269292952138 0.05113269292952138
0 0 0
]
}
}
}
BallJoint {
jointParameters BallJointParameters {
anchor 0.33 0.25 0
}
jointParameters2 JointParameters {
}
jointParameters3 JointParameters {
axis 1 0 0
}
device [
PositionSensor {
name "left_shoulder_roll_position_sensor"
}
RotationalMotor {
name "left_shoulder_roll"
}
]
device2 [
PositionSensor {
name "left_shoulder_yaw_position_sensor"
}
RotationalMotor {
name "left_shoulder_yaw"
minPosition -1.5707963267948966
maxPosition 1.5707963267948966
}
]
device3 [
PositionSensor {
name "left_shoulder_pitch_position_sensor"
}
RotationalMotor {
name "left_shoulder_pitch"
}
]
endPoint Solid {
translation 0.33 0.1 0
children [
HingeJoint {
jointParameters HingeJointParameters {
anchor 0 -0.2125 0
}
device [
PositionSensor {
name "left_elbow_pitch_position_sensor"
}
RotationalMotor {
name "left_elbow_pitch"
}
]
endPoint Solid {
translation 0 -0.42499999999726895 -1.5235950555825944e-06
rotation 0.9999999999999999 0 0 3.5849604925388305e-06
children [
DEF left_lower_arm Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Capsule {
height 0.25
radius 0.075
}
}
]
boundingObject USE left_lower_arm
physics Physics {
density -1
mass 6.185010536754905
centerOfMass [
0 0 0
]
inertiaMatrix [
0.07323531077523626 0.016401322584073275 0.07323531077523626
0 0 0
]
}
}
}
DEF left_upper_arm Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Capsule {
height 0.3
radius 0.075
}
}
]
name "solid(1)"
boundingObject USE left_upper_arm
physics Physics {
density -1
mass 7.068583470577034
centerOfMass [
0 0 0
]
inertiaMatrix [
0.10586308213356384 0.018886371460448012 0.10586308213356384
0 0 0
]
}
}
}
]
name "solid(2)"
boundingObject USE torso
physics Physics {
density -1
mass 87.5
centerOfMass [
0 0 0
]
inertiaMatrix [
4.028645833333333 2.2786458333333335 5.395833333333334
0 0 0
]
}
}
}
]
boundingObject USE Body
physics Physics {
density -1
mass 10.000000000000002
centerOfMass [
0 1.05 0
]
inertiaMatrix [
11.11041666666667 0.08541666666666668 11.091666666666669
0 0 0
]
}
controller "olympian"
selfCollision TRUE
}