diff --git a/CMakeLists.txt b/CMakeLists.txt
index d80af90..bae5d72 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,65 +1,65 @@
project(liboncilla-webots C CXX)
cmake_minimum_required(VERSION 2.8)
find_package(BiorobCMakeUtils 0.3.4 REQUIRED)
include_all_biorob_cmake_utils()
-make_std_versionning(MAJOR 0 MINOR 2 PATCH 0~rc1)
+make_std_versionning(MAJOR 0 MINOR 2 PATCH 0~rc2)
find_package(PkgConfig REQUIRED)
################################################################################
# Boost, C++11 and CLANG check
################################################################################
find_package(Boost REQUIRED)
if("${CMAKE_CXX_COMPILER}" MATCHES ".*clang.*")
if( "${Boost_VERSION}" VERSION_LESS "104801")
message(FATAL_ERROR "There is some incompatibility with boost <= 1.48.0 (here ${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION}) and C++11 features. Since your compiler (Clang) fully support C++11, you should use a more recent version of Boost to compile this library. C++11 is needed by NemoMath dependency.")
endif( "${Boost_VERSION}" VERSION_LESS "104801")
endif("${CMAKE_CXX_COMPILER}" MATCHES ".*clang.*")
pkg_check_modules(LIBWEBOTS REQUIRED libwebots-communication-0.3>=0.3.1~rc3 libwebots-messages-0.3>=0.3.1~rc3 )
pkg_check_modules(LIBONCILLA REQUIRED liboncilla-0)
find_package(Webots 6.4.1 REQUIRED)
add_definitions(${LIBONCILLA_CFLAGS_OTHER})
include_directories(${LIBWEBOTS_INCLUDE_DIRS}
${LIBONCILLA_INCLUDE_DIRS}
${WEBOTS_INCLUDE_DIRS})
set(LIBONCILLA_WEBOTS_INCLUDE_DIRS include/liboncilla-webots-${VERSION_API} )
set(PKG_CONFIG_FILE ${PROJECT_BINARY_DIR}/liboncilla-webots-${VERSION_API}.pc)
configure_file(liboncilla-webots.pc.in ${PKG_CONFIG_FILE} @ONLY)
install(FILES ${PKG_CONFIG_FILE} DESTINATION lib/pkgconfig)
include(CheckCXXCompilerFlag)
add_subdirectory(src)
################################################################################
# webots world file generation
################################################################################
set(WORLD_FILES_DIR ${PROJECT_SOURCE_DIR}/webots-data/worlds)
set(WORLD_FILES_BUILD_DIR ${PROJECT_BINARY_DIR}/webots-data/worlds)
execute_process(COMMAND ${PKG_CONFIG_EXECUTABLE} --variable example_list liboncilla-0
OUTPUT_VARIABLE LIBONCILLA_EXAMPLE_LIST
OUTPUT_STRIP_TRAILING_WHITESPACE)
foreach(e ${LIBONCILLA_EXAMPLE_LIST})
set(CONTROLLER ${e})
configure_file(${WORLD_FILES_DIR}/Oncilla.wbt.in ${WORLD_FILES_BUILD_DIR}/Oncilla-${e}.wbt @ONLY)
endforeach(e ${LIBONCILLA_EXAMPLE_LIST})
diff --git a/src/liboncilla-webots/LegParameters.h b/src/liboncilla-webots/LegParameters.h
index 96b6803..37763d8 100644
--- a/src/liboncilla-webots/LegParameters.h
+++ b/src/liboncilla-webots/LegParameters.h
@@ -1,31 +1,31 @@
/**
* \file LegParameters.h
*
* \date Jun 22, 2012
* \author Alexandre Tuleu
*/
#ifndef LIBONCILLA_WEBOTS_LEGPARAMETERS_H_
#define LIBONCILLA_WEBOTS_LEGPARAMETERS_H_
#include <Eigen/Core>
class LegParameters{
public :
enum Config {
UNDEFINED = 0,
- DEFINED = 1 >> 0,
- OPEN_PANTOGRAPH = 1 >> 1,
- SPRING_FOOT = 1 >> 2
+ DEFINED = 1 << 0,
+ OPEN_PANTOGRAPH = 1 << 1,
+ SPRING_FOOT = 1 << 2
};
double l1,l2,l3,deltaL;
Eigen::Vector3d l2L3AxisInL3,posOfD2inL3;
uint32_t jD1D2;
Config config;
LegParameters();
~LegParameters();
};
#endif // LIBONCILLA_WEBOTS_LEGPARAMETERS_H_
diff --git a/src/liboncilla-webots/WebotsOncillaBackend.cpp b/src/liboncilla-webots/WebotsOncillaBackend.cpp
index 89da115..830b073 100644
--- a/src/liboncilla-webots/WebotsOncillaBackend.cpp
+++ b/src/liboncilla-webots/WebotsOncillaBackend.cpp
@@ -1,305 +1,304 @@
/*
* WebotsOncillaBackend.cpp
*
* Created on: Jan 22, 2013
* Author: tuleu
*/
#include "WebotsOncillaBackend.h"
#include "Synchronizer.h"
#include <liboncilla/Oncilla.h>
#include <liboncilla/nodes/Nodes.h>
#include <liboncilla/nodes/SupervisorNodes.h>
#include <liboncilla-webots/nodes/Nodes.h>
#include <libwebots/communication/client.hh>
#include <libwebots/plugin/modules/jointmanager/jointmanagerbuilder.hh>
#include <webots/Supervisor.hpp>
#include <webots/Node.hpp>
#include "WebotsNodeWrapper.h"
#include <biorob-cpp/log/Logger.h>
using namespace boost;
namespace ro = rci::oncilla;
namespace low = liboncilla::webots;
BIOROB_CPP_EXPORT_PLUGIN(OncillaBackend,WebotsOncillaBackend)
const char * WebotsOncillaBackend::LEG_PREFIXES[4] = {"LEFT_FORE",
"RIGHT_FORE",
"LEFT_HIND",
"RIGHT_HIND"};
//we don't accept any throw in this constructor !!!!
WebotsOncillaBackend::WebotsOncillaBackend()
: d_supervisor(new webots::Supervisor())
, d_synchronizer()
, d_legParameters(){
//this constructor should not fail, never otherwise the exception is not
//propagated to webots. Initialization is Lazily performed in InitIfNeeded()
}
WebotsOncillaBackend::~WebotsOncillaBackend(){
}
shared_ptr<ro::Synchronizer> WebotsOncillaBackend::CreateSynchronizer(){
InitIfNeeded();
return boost::static_pointer_cast<ro::Synchronizer,low::Synchronizer>(d_synchronizer);
}
boost::shared_ptr<rci::oncilla::L0>
WebotsOncillaBackend::CreateL0(rci::oncilla::Leg leg ,
const std::string& name){
InitIfNeeded();
return ro::L0::Ptr(new low::L0(name,
d_supervisor->getServo(LEG_PREFIXES[leg] + std::string("_L_0"))));
}
boost::shared_ptr<rci::oncilla::L1>
WebotsOncillaBackend::CreateL1(rci::oncilla::Leg leg ,
const std::string& name){
InitIfNeeded();
std::string servoName (LEG_PREFIXES[leg]);
servoName += "_L_1";
return ro::L1::Ptr(new low::L1(*d_synchronizer,
name,
d_supervisor->getServo(servoName),
WebotsNodeWrapper(*d_supervisor,
servoName)));
}
boost::shared_ptr<rci::oncilla::L2>
WebotsOncillaBackend::CreateL2(rci::oncilla::Leg leg ,
const std::string& name){
InitIfNeeded();
std::string servoPrefix (LEG_PREFIXES[leg]);
return ro::L2::Ptr(new low::L2(*d_synchronizer,
name,
GetJointIdentifier(leg,D1_D2),
d_supervisor->getServo(servoPrefix + "_L_2"),
d_supervisor->getServo(servoPrefix + "_D_2"),
LegConfigSection(leg)));
}
boost::shared_ptr<rci::oncilla::L3>
WebotsOncillaBackend::CreateL3(rci::oncilla::Leg leg ,
const std::string& name){
InitIfNeeded();
std::string prefix(LEG_PREFIXES[leg]);
return ro::L3::Ptr(new low::L3(name,
d_supervisor->getServo(prefix + "_L_3")));
}
boost::shared_ptr<rci::oncilla::Trunk> WebotsOncillaBackend::CreateTrunk(){
InitIfNeeded();
return ro::Trunk::Ptr(new low::Trunk(d_supervisor->getFromDef("ONCILLA")));
}
boost::shared_ptr<rci::oncilla::SupervisorTrunk>
WebotsOncillaBackend::CreateSupervisorTrunk(){
InitIfNeeded();
return ro::SupervisorTrunk::Ptr(new low::SupervisorTrunk(d_supervisor->getFromDef("ONCILLA")));
}
boost::shared_ptr<rci::oncilla::SupervisorL4>
WebotsOncillaBackend::CreateSupervisorL4(rci::oncilla::Leg leg ,
const std::string& name){
InitIfNeeded();
std::string prefix(LEG_PREFIXES[leg]);
return ro::SupervisorL4::Ptr(new low::SupervisorL4(name,
*d_supervisor,
d_config.Contact(),
prefix + "_FOOT"));
}
void WebotsOncillaBackend::InitIfNeeded(){
if(!d_synchronizer){
Init();
}
}
void WebotsOncillaBackend::Init(){
d_config.LoadConfigFile();
d_synchronizer = SynchronizerPtr(new low::Synchronizer(d_supervisor,
d_config.Main()));
d_legParameters.assign(rci::oncilla::NUM_LEGS,LegParameters());
for(ListOfLegParameters::iterator lp = d_legParameters.begin();
lp != d_legParameters.end();
++lp){
rci::oncilla::Leg l = (rci::oncilla::Leg)(lp - d_legParameters.begin());
ExtractLegParametersAndInitModel(l,*lp);
}
}
void WebotsOncillaBackend::ExtractLegParametersAndInitModel(rci::oncilla::Leg l,
LegParameters & params){
if(l < 0 || l >= rci::oncilla::NUM_LEGS){
std::ostringstream os;
os << "Leg id " << l << " is out of range ([0 , "
<< rci::oncilla::NUM_LEGS << "].";
throw std::runtime_error(os.str());
}
namespace c = liboncilla::webots::config;
std::string l1Name(LEG_PREFIXES[l]), l2Name(LEG_PREFIXES[l]),
l3Name(LEG_PREFIXES[l]), footName(LEG_PREFIXES[l]),
p1Name(LEG_PREFIXES[l]), d2Name(LEG_PREFIXES[l]),
p2Name(LEG_PREFIXES[l]), d1Name(LEG_PREFIXES[l]);
l1Name.append("_L_1");
l2Name.append("_L_2");
l3Name.append("_L_3");
p1Name.append("_P_1");
p2Name.append("_P_2");
footName.append("_FOOT");
d1Name.append("_D_1");
d2Name.append("_D_2");
const c::LegSection & lConf = LegConfigSection(l);
ExtractLegParameters(WebotsNodeWrapper(*d_supervisor,l1Name),
WebotsNodeWrapper(*d_supervisor,l2Name),
WebotsNodeWrapper(*d_supervisor,l3Name),
WebotsNodeWrapper(*d_supervisor,p1Name),
WebotsNodeWrapper(*d_supervisor,footName),
- d2Name,
+ p2Name,
params);
log(debug, rci::oncilla::Oncilla::nameOfLeg(l), " leg has dimensions l1=",
params.l1,
" l2=" , params.l2,
" l3=" , params.l3,
" deltaL=", params.deltaL);
- params.config = LegParameters::DEFINED;
+
//Now we init the model
params.jD1D2 = GetJointIdentifier(l,D1_D2);
using namespace libwebots::communication;
using namespace libwebots::plugin::modules::messages;
using namespace libwebots::plugin::modules::messages;
double drawSize = 0.04;
Client & client = Client::Instance();
//create the missing joints
client.Send(builders::JointManager::CreateHingeJoint(GetJointIdentifier(l,L2_L3),
l2Name,
l3Name,
jointmanager::JointDefinition::CHILD,
params.posOfD2inL3,
params.l2L3AxisInL3,
drawSize));
client.Send(builders::JointManager::CreateHingeJoint(GetJointIdentifier(l,D2_L3),
d2Name,
l3Name,
jointmanager::JointDefinition::CHILD,
params.posOfD2inL3,
params.l2L3AxisInL3,
drawSize));
client.Send(builders::JointManager::AddManagedjoint(GetJointIdentifier(l,D1_D2),
d1Name,d2Name));
lConf.Diagonal().SendJointDefinition(GetJointIdentifier(l,D1_D2));
///\todo refactor this
if(params.config & LegParameters::OPEN_PANTOGRAPH){
client.Send(builders::JointManager::AddManagedjoint(GetJointIdentifier(l,P1_P2),
p1Name,p2Name));
lConf.Parallel().SendJointDefinition(GetJointIdentifier(l,P1_P2));
}
if(params.config & LegParameters::SPRING_FOOT){
client.Send(builders::JointManager::AddManagedjoint(GetJointIdentifier(l,L3_FOOT),
l3Name,footName));
lConf.Foot().SendJointDefinition(GetJointIdentifier(l,L3_FOOT));
}
}
template <typename T>
bool abs_compare( T a, T b){
return std::abs<T>(a) < std::abs(b);
}
inline double GetAbsMaxOfArray(const double * val, unsigned int size){
return std::abs(*std::max_element(val,val+size,abs_compare<double>));
}
void WebotsOncillaBackend::ExtractLegParameters(const WebotsNodeWrapper & l1,
const WebotsNodeWrapper & l2,
const WebotsNodeWrapper & l3,
const WebotsNodeWrapper & p1,
const WebotsNodeWrapper & foot,
- const std::string & d2name,
+ const std::string & p2name,
LegParameters & params){
params.l1 = GetAbsMaxOfArray(l2.GetField<const double *>("translation"),3);
params.l2 = GetAbsMaxOfArray(l3.GetField<const double *>("translation"),3);
const double * fPos = foot.GetField<const double *>("translation");
params.l3 = GetAbsMaxOfArray(fPos,3);
params.l2L3AxisInL3 = Eigen::Vector3d(l3.GetField<webots::Field*>("rotation")->getSFRotation());
params.deltaL = std::abs(GetAbsMaxOfArray(p1.GetField<const double *>("translation"),3)-params.l1);
//now look for the maximal index of the position of the foot
unsigned int index(0);
for(unsigned int i = 1; i < 3; ++i){
if(std::abs(fPos[i]) > std::abs(fPos[index])){
index = i;
}
}
bool posDirection= fPos[index] < 0.0;
params.posOfD2inL3.setZero(3,1);
double offset = params.l3 / 2.0 - params.deltaL;
params.posOfD2inL3.coeffRef(index) = (posDirection ? 1.0 : -1.0) * offset;
params.config = LegParameters::DEFINED;
if(foot.Type() == webots::Node::SERVO){
params.config = static_cast<LegParameters::Config>(params.config | LegParameters::SPRING_FOOT);
}
- if(!d_supervisor->getFromDef(d2name)){
+ if(d_supervisor->getFromDef(p2name)){
params.config = static_cast<LegParameters::Config>(params.config | LegParameters::OPEN_PANTOGRAPH);
}
-
}
uint32_t WebotsOncillaBackend::GetJointIdentifier(rci::oncilla::Leg l ,
JointIdentifier j){
return (j << 8) + l;
}
const liboncilla::webots::config::LegSection & WebotsOncillaBackend::LegConfigSection (rci::oncilla::Leg l){
using namespace rci::oncilla;
if(l == LEFT_FORE || l == RIGHT_FORE){
return d_config.ForeLeg();
} else {
return d_config.HindLeg();
}
}
diff --git a/src/liboncilla-webots/nodes/Trunk.cpp b/src/liboncilla-webots/nodes/Trunk.cpp
index 823ebe2..69646f4 100644
--- a/src/liboncilla-webots/nodes/Trunk.cpp
+++ b/src/liboncilla-webots/nodes/Trunk.cpp
@@ -1,60 +1,60 @@
/**
* \file Trunk.cpp
*
* \date Jan 22, 2013
* \author tuleu
*/
#include "Trunk.h"
#include <liboncilla-webots/Common.h>
namespace liboncilla {
namespace webots {
Trunk::Trunk(::webots::Node * node)
: d_node(node)
, d_initialized(0){
if(node == NULL){
throw std::runtime_error("Coquld not find suitable node for teh trunk.");
}
}
Trunk::~Trunk(){
}
void Trunk::PostStep(double ts){
const double * posVal(d_node->getPosition());
if(posVal == NULL){
throw std::runtime_error("Could not find Trunk current position.");
}
- Eigen::Vector3d newPos(d_node->getPosition());
+ Eigen::Vector3d newPos(posVal);
if(d_initialized == 2){
Eigen::Vector3d newVel = (newPos - d_position) / ts;
Eigen::Vector3d accel = (newVel - d_velocity) / ts;
d_velocity = newVel;
updateTranslationalAcceleration(rci::TranslationalAcceleration::fromM_s2(accel[0],accel[1],accel[2]));
} else if(d_initialized == 1){
d_velocity = (newPos - d_position) /ts;
updateTranslationalAcceleration(rci::TranslationalAcceleration::fromM_s2(0,0,0));
++ d_initialized;
} else if (d_initialized == 0){
updateTranslationalAcceleration(rci::TranslationalAcceleration::fromM_s2(0,0,0));
++d_initialized;
}
d_position = newPos;
const double * ori(d_node->getOrientation());
if(ori == NULL){
throw std::runtime_error("Could not find Trunk Orientation.");
}
updateOrientation(rci::Orientation::fromRotationMatrix(ori[0],ori[1],ori[2],
ori[3],ori[4],ori[5],
ori[6],ori[7],ori[8]));
}
} /* namespace webots */
} /* namespace liboncilla */
diff --git a/webots-data/config/liboncilla-webots.config b/webots-data/config/liboncilla-webots.config
index 8241e76..414c576 100644
--- a/webots-data/config/liboncilla-webots.config
+++ b/webots-data/config/liboncilla-webots.config
@@ -1,73 +1,130 @@
[simulation]
## if true willo flood webots console with developper information
debug-libwebots = false
## time needed to initialize the position of passive joints
init-time = 1.0
## timestep that will be used to OncillaSynchronier::process() the robot
process-loop-time = 0.006
## contact modelisation section
[contact]
bounce = 0.5
bounce-velocity = 0.01
coulomb = 1
erp = 0.2
cfm = 5e-03
fds = 0.05
draw = true
[fore-leg]
## cfm of the joint
cfm = 1e-4 # (default value)
## erp of the joint
erp = 0.4 # (default value)
## Diagonal spring property of the leg
max-speed = 0.4 # (defaut value)
##margin used internally to compute max stop position od the d1-d2 joint
# margin = 0.05 # default value
[fore-leg.diagonal-spring]
## damping of the spring
damping = 0.1 # (default value)
## precompression of the spring
precompression = 0.0034 # (default value)
## maximum length of the spring
max-length = 0.01425 # (default value)
## minimum length of the spring
min-length = 0.000 # (default value)
## precompression of the spring
## stiffness of the spring
stiffness = 7000 # (default value)
+
+[fore-leg.parallel-spring]
+
+## damping of the spring
+damping = 0.1 # (default value)
+## precompression of the spring
+precompression = 0.0035 # (default value)
+## maximum length of the spring
+max-length = 0.0037 # (default value)
+## minimum length of the spring
+min-length = 0.000 # (default value)
+## precompression of the spring
+## stiffness of the spring
+stiffness = 7410 # (default value)
+
+
+[fore-leg.foot-spring]
+
+## damping of the spring
+damping = 0 # (default value)
+## precompression of the spring
+precompression = 0.5 # (default value)
+## maximum length of the spring
+max-length =2.0 # (default value)
+## minimum length of the spring
+min-length = 0.000 # (default value)
+## precompression of the spring
+## stiffness of the spring
+stiffness = 0.1135 # (default value)
+
[hind-leg]
## cfm of the joint
cfm = 1e-4 # (default value)
## erp of the joint
erp = 0.2 # (default value)
## Diagonal spring property of the leg
max-speed = 0.4
##margin used internally to compute max stop position od the d1-d2 joint
# margin = 0.05 # default value
[hind-leg.diagonal-spring]
## damping of the spring
damping = 0.0 # (default value)
## maximum length of the spring
max-length = 0.020 # (default value)
## minimum length of the spring
min-length = 0.000 # (default value)
## precompression of the spring
precompression = 0.0023 # (default value)
## stiffness of the spring
stiffness = 5800 # (default value)
+[hind-leg.parallel-spring]
+
+## damping of the spring
+damping = 0.1 # (default value)
+## precompression of the spring
+precompression = 0.0035 # (default value)
+## maximum length of the spring
+max-length = 0.0037 # (default value)
+## minimum length of the spring
+min-length = 0.000 # (default value)
+## precompression of the spring
+## stiffness of the spring
+stiffness = 7410 # (default value)
+
+[hind-leg.foot-spring]
+
+## damping of the spring
+damping = 0 # (default value)
+## precompression of the spring
+precompression = 0.5 # (default value)
+## maximum length of the spring
+max-length =2.0 # (default value)
+## minimum length of the spring
+min-length = 0.000 # (default value)
+## precompression of the spring
+## stiffness of the spring
+stiffness = 0.1135 # (default value)
\ No newline at end of file
diff --git a/webots-data/controllers/with-cca/Makefile b/webots-data/controllers/with-cca/Makefile
index 8693d5d..6a8d5a1 100644
--- a/webots-data/controllers/with-cca/Makefile
+++ b/webots-data/controllers/with-cca/Makefile
@@ -1,7 +1,7 @@
space :=
space +=
-CFLAGS=`pkg-config --cflags liboncilla-webots-0 cca-oncilla` -O3
-LIBRARIES=`pkg-config --libs liboncilla-webots-0 cca-oncilla`
+CFLAGS=`pkg-config --cflags liboncilla-0 cca-oncilla` -O3
+LIBRARIES=`pkg-config --libs liboncilla-0 cca-oncilla`
WEBOTS_HOME_PATH=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))
include $(WEBOTS_HOME_PATH)/resources/projects/default/controllers/Makefile.include
diff --git a/webots-data/controllers/with-rci/Makefile b/webots-data/controllers/with-rci/Makefile
index dfb9c11..902d603 100644
--- a/webots-data/controllers/with-rci/Makefile
+++ b/webots-data/controllers/with-rci/Makefile
@@ -1,7 +1,7 @@
space :=
space +=
-CFLAGS=`pkg-config --cflags liboncilla-webots-0` -O3
-LIBRARIES=`pkg-config --libs liboncilla-webots-0`
+CFLAGS=`pkg-config --cflags liboncilla-0` -O3
+LIBRARIES=`pkg-config --libs liboncilla-0`
WEBOTS_HOME_PATH=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))
include $(WEBOTS_HOME_PATH)/resources/projects/default/controllers/Makefile.include
diff --git a/webots-data/worlds/Oncilla-ASLP.wbt b/webots-data/worlds/Oncilla-ASLP.wbt
new file mode 100644
index 0000000..86e6196
--- /dev/null
+++ b/webots-data/worlds/Oncilla-ASLP.wbt
@@ -0,0 +1,2014 @@
+#VRML_SIM V6.0 utf8
+WorldInfo {
+ info [
+ "Description: Oncilla Robot - www.amarsi-project.eu"
+ "Author: Yvan Bourquin - www.cyberbotics.com - Alexandre Tuleu"
+ "Date: 01 July 2012"
+ ]
+ title "AMARSi Oncilla"
+ physics "liboncilla-webots-plugin"
+ basicTimeStep 2
+ displayRefresh 20
+}
+Viewpoint {
+ orientation -0.0133898 -0.99971 -0.0200246 1.96271
+ position -0.506073 0.0515984 -0.316813
+}
+Background {
+ skyColor [
+ 0.4 0.7 1
+ ]
+}
+DirectionalLight {
+ ambientIntensity 1
+ direction 0.5 -2 2
+}
+PointLight {
+ ambientIntensity 1
+ location 0.1 0.5 0.3
+}
+DEF ONCILLA Supervisor {
+ translation 0 0.22 0
+ rotation 0 1 0 0.001
+ children [
+ DEF LEFT_FORE_L_0 Servo {
+ translation 0.175 0 -0.069
+ rotation 1 0 0 0
+ children [
+ DEF LEFT_FORE_L_1 Servo {
+ translation -0.0625 0 0
+ rotation 0 0 1 0.142241
+ children [
+ DEF LEFT_FORE_P_1 Servo {
+ translation 0 -0.0465 0.005
+ rotation 0 0 1 -0.467557
+ children [
+ DEF LEFT_FORE_P_2 Servo {
+ translation 0 -0.0275 0
+ rotation 1 0 0 1.5708
+ children [
+ DEF LEFT_FORE_L_3 Servo {
+ translation 0 -0.005 0.0275
+ rotation 0 1 0 0.467557
+ children [
+ DEF FORE_L_3_GROUP Group {
+ children [
+ DEF FORE_L_3_LINK Transform {
+ translation 0 0 0.0385
+ rotation 0 0 1 0
+ children [
+ Shape {
+ appearance DEF METAL Appearance {
+ material Material {
+ diffuseColor 0.45098 0.45098 0.45098
+ specularColor 0.870588 0.870588 0.870588
+ }
+ }
+ geometry Box {
+ size 0.01 0.006 0.0775
+ }
+ }
+ ]
+ }
+ DEF L_3_TOP_CYLINDER Transform {
+ rotation 1 0 0 0
+ children [
+ DEF L_3_CYL_SHAPE Shape {
+ appearance USE METAL
+ geometry Cylinder {
+ height 0.0061
+ radius 0.005
+ }
+ }
+ ]
+ }
+ DEF FORE_L_3_BOTTOM_CYLINDER Transform {
+ translation 0 0 0.0775
+ rotation 1 0 0 0
+ children [
+ USE L_3_CYL_SHAPE
+ ]
+ }
+ ]
+ }
+ DEF LEFT_FORE_FOOT Servo {
+ translation 0 0 0.0775
+ rotation 0 1 0 0.872664
+ children [
+ DEF FOOT_BOUND Group {
+ children [
+ Transform {
+ translation 0 0 0.016
+ rotation 1 0 0 -0
+ children [
+ Shape {
+ appearance DEF WHITE_PLASTIC Appearance {
+ material Material {
+ diffuseColor 1 1 0.905882
+ }
+ }
+ geometry Cylinder {
+ height 0.025
+ radius 0.003
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.009
+ rotation 1 0 0 -0
+ children [
+ Shape {
+ appearance DEF WHITE_PLASTIC Appearance {
+ material Material {
+ diffuseColor 1 1 0.905882
+ }
+ }
+ geometry Cylinder {
+ height 0.025
+ radius 0.003872
+ }
+ }
+ ]
+ }
+ Transform {
+ translation -0.001189 0 0.007728
+ rotation 0 1 0 0.142593
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Box {
+ size 0.006 0.025 0.01673
+ }
+ }
+ ]
+ }
+ Transform {
+ translation -0.001624 0 -0.004394
+ rotation 0 1 0 -0.159349
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Box {
+ size 0.006 0.025 0.009608
+ }
+ }
+ ]
+ }
+ ]
+ }
+ ]
+ name "LEFT_FORE_FOOT"
+ boundingObject USE FOOT_BOUND
+ physics DEF FOOT_PHYSICS Physics {
+ }
+ maxForce 0
+ maxStop 2
+ }
+ ]
+ name "LEFT_FORE_L_3"
+ boundingObject USE FORE_L_3_LINK
+ physics DEF FORE_L_3_PHYSICS Physics {
+ centerOfMass 0 0 0.0385
+ }
+ maxForce 0
+ dampingConstant 0.0001
+ }
+ DEF FORE_P_2_BOTTOM_CYLINDER Transform {
+ translation 0 0 0.0275
+ rotation 1 0 0 0
+ children [
+ DEF P_CYL_SHAPE Shape {
+ appearance DEF CARBON Appearance {
+ material Material {
+ diffuseColor 0.466667 0.466667 0.466667
+ specularColor 0.741176 0.741176 0.741176
+ }
+ texture ImageTexture {
+ url [
+ "textures/carbon.png"
+ ]
+ }
+ }
+ geometry Cylinder {
+ height 0.00151
+ radius 0.003
+ }
+ }
+ ]
+ }
+ DEF FORE_P_2_LINK Transform {
+ translation 0 0 0.01375
+ rotation 1 0 0 -1.5708
+ children [
+ Shape {
+ appearance DEF CARBON Appearance {
+ material Material {
+ diffuseColor 0.466667 0.466667 0.466667
+ specularColor 0.741176 0.741176 0.741176
+ }
+ texture ImageTexture {
+ url [
+ "textures/carbon.png"
+ ]
+ }
+ }
+ geometry Box {
+ size 0.006 0.0275 0.0015
+ }
+ }
+ ]
+ }
+ ]
+ name "LEFT_FORE_P_2"
+ boundingObject USE FORE_P_2_LINK
+ physics DEF FORE_P_2_PHYSICS Physics {
+ centerOfMass 0 0 0.01375
+ }
+ type "linear"
+ maxForce 0
+ controlP 1
+ maxStop 0.0037
+ }
+ DEF FORE_P_1_LINK Transform {
+ translation 0 -0.01375 0
+ children [
+ Shape {
+ appearance DEF CARBON Appearance {
+ material Material {
+ diffuseColor 0.466667 0.466667 0.466667
+ specularColor 0.741176 0.741176 0.741176
+ }
+ texture ImageTexture {
+ url [
+ "textures/carbon.png"
+ ]
+ }
+ }
+ geometry Box {
+ size 0.006 0.0275 0.0015
+ }
+ }
+ ]
+ }
+ DEF P_1_TOP_CYLINDER Transform {
+ rotation 1 0 0 1.5708
+ children [
+ USE P_CYL_SHAPE
+ ]
+ }
+ ]
+ name "LEFT_FORE_P_1"
+ boundingObject USE FORE_P_1_LINK
+ physics DEF FORE_P_1_PHYSICS Physics {
+ centerOfMass 0 -0.0275 0
+ }
+ maxForce 0
+ dampingConstant 0.0001
+ }
+ DEF LEFT_FORE_D_1 Servo {
+ translation 0 -0.0465 -0.0175
+ rotation 0 0 1 -0.366417
+ children [
+ DEF D_1_GROUP Group {
+ children [
+ DEF D_1_LINK Transform {
+ translation 0 -0.00775 0
+ children [
+ Shape {
+ appearance DEF WHITE_PLASTIC Appearance {
+ material Material {
+ diffuseColor 1 1 0.905882
+ }
+ }
+ geometry Box {
+ size 0.011 0.0155 0.011
+ }
+ }
+ ]
+ }
+ DEF D_1_CYL Transform {
+ rotation 1 0 0 1.5708
+ children [
+ DEF D_1_CYL_SHAPE Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.01101
+ radius 0.0055
+ }
+ }
+ ]
+ }
+ ]
+ }
+ DEF LEFT_FORE_D_2 Servo {
+ translation 0 -0.056 0
+ rotation 1 0 0 -1.5708
+ children [
+ DEF D_2_GROUP Group {
+ children [
+ DEF D_2_LINK Transform {
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Box {
+ size 0.011 0.011 0.027
+ }
+ }
+ ]
+ }
+ DEF D_2_CYL_BOTTOM Transform {
+ translation 0 0 -0.0135
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.01101
+ radius 0.0055
+ }
+ }
+ ]
+ }
+ DEF D_2_PIN Transform {
+ translation 0 0 0.03
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance DEF METAL Appearance {
+ material Material {
+ diffuseColor 0.45098 0.45098 0.45098
+ specularColor 0.870588 0.870588 0.870588
+ }
+ }
+ geometry Cylinder {
+ height 0.06
+ radius 0.0015
+ }
+ }
+ ]
+ }
+ ]
+ }
+ ]
+ name "LEFT_FORE_D_2"
+ boundingObject USE D_2_LINK
+ physics DEF D_2_PHYSICS Physics {
+ }
+ type "linear"
+ maxForce 0
+ maxPosition 0.033
+ minStop -0.001
+ maxStop 0.0331
+ }
+ ]
+ name "LEFT_FORE_D_1"
+ boundingObject USE D_1_LINK
+ physics DEF D1_PHYSICS Physics {
+ centerOfMass 0 -0.008 0
+ }
+ maxForce 0
+ dampingConstant 0.02
+ }
+ DEF LEFT_FORE_L_1_BOUND Group {
+ children [
+ Transform {
+ translation 0 0 -0.03
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.038
+ radius 0.018
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 0.0125
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.047
+ radius 0.013
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 -0.031 0
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Box {
+ size 0.015 0.062 0.006
+ }
+ }
+ ]
+ }
+ ]
+ }
+ DEF LEFT_FORE_L_1_GROUP Group {
+ children [
+ Transform {
+ translation 0 0 -0.048
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance DEF BLACK_PLASTIC Appearance {
+ material Material {
+ diffuseColor 0.117647 0.117647 0.117647
+ specularColor 0.262745 0.25098 0.25098
+ }
+ }
+ geometry Cylinder {
+ height 0.003
+ radius 0.019
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 -0.062 0
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.0061
+ radius 0.0075
+ }
+ }
+ ]
+ }
+ ]
+ }
+ DEF LEFT_FORE_L_2 Servo {
+ translation 0 -0.062 0
+ rotation 0 0 1 -0.467557
+ children [
+ DEF FORE_L2_BOUND Group {
+ children [
+ Transform {
+ translation 0.002 -0.0275 0.008
+ children [
+ DEF FORE_L2_LINK Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Box {
+ size 0.008 0.055 0.007
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0.002 -0.0275 -0.008
+ children [
+ USE FORE_L2_LINK
+ ]
+ }
+ Transform {
+ translation 0.002 -0.0275 0
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Box {
+ size 0.008 0.039 0.009
+ }
+ }
+ ]
+ }
+ ]
+ }
+ DEF FORE_L2_CYLS Transform {
+ rotation 1 0 0 1.5708
+ children [
+ DEF L2_TOP_CYLS Group {
+ children [
+ Transform {
+ translation 0 0.008 0
+ children [
+ DEF L2_CYL_SHAPE Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.0071
+ radius 0.006
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 -0.008 0
+ children [
+ DEF L2_CYL_SHAPE Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.0071
+ radius 0.006
+ }
+ }
+ ]
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 0.055
+ children [
+ USE L2_TOP_CYLS
+ ]
+ }
+ ]
+ }
+ ]
+ name "LEFT_FORE_L_2"
+ boundingObject USE FORE_L2_BOUND
+ physics DEF FORE_L_2_PHYSICS Physics {
+ centerOfMass 0 -0.0275 0
+ }
+ maxForce 0
+ minPosition -1.248
+ minStop -1.249
+ dampingConstant 0.002
+ }
+ ]
+ name "LEFT_FORE_L_1"
+ boundingObject USE LEFT_FORE_L_1_BOUND
+ physics DEF LEFT_L_1_PHYSICS Physics {
+ density -1
+ mass 0.24
+ centerOfMass 0 0 0.021
+ }
+ controlP 50
+ minPosition -0.872665
+ maxPosition 0.872665
+ minStop -0.873665
+ maxStop 0.873665
+ }
+ DEF LEFT_L_0_GROUP Group {
+ children [
+ Transform {
+ translation 0 0 0.01875
+ children [
+ Shape {
+ appearance DEF CARBON Appearance {
+ material Material {
+ diffuseColor 0.466667 0.466667 0.466667
+ specularColor 0.741176 0.741176 0.741176
+ }
+ texture ImageTexture {
+ url [
+ "textures/carbon.png"
+ ]
+ }
+ }
+ geometry Box {
+ size 0.0015 0.035 0.0545
+ }
+ }
+ ]
+ }
+ Transform {
+ translation -0.0815 0 0.02875
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.0015 0.035 0.0345
+ }
+ }
+ ]
+ }
+ Transform {
+ translation -0.0565 0 0.011
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.113 0.035 0.0015
+ }
+ }
+ ]
+ }
+ Transform {
+ translation -0.04 0 0.0455
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.08 0.035 0.0015
+ }
+ }
+ ]
+ }
+ Transform {
+ translation -0.117 0 0.003
+ children [
+ Shape {
+ geometry Box {
+ size 0.015 0.012 0.015
+ }
+ }
+ ]
+ }
+ DEF LEFT_L_1_MOTOR Transform {
+ translation -0.023 0 0.055
+ rotation 1 0 0 1.5708
+ children [
+ DEF L_0_MOTOR_SHAPE Shape {
+ appearance USE METAL
+ geometry Cylinder {
+ height 0.091
+ radius 0.011
+ }
+ }
+ ]
+ }
+ ]
+ }
+ ]
+ name "LEFT_FORE_L_0"
+ boundingObject DEF LEFT_L_0_BOUND Group {
+ children [
+ USE LEFT_L_1_MOTOR
+ Transform {
+ translation -0.04 0 0.02875
+ children [
+ Box {
+ size 0.08 0.035 0.0345
+ }
+ ]
+ }
+ ]
+ }
+ physics DEF LEFT_L_0_PHYSICS Physics {
+ density -1
+ mass 0.238
+ centerOfMass -0.023 0 0.053
+ }
+ }
+ DEF RIGHT_FORE_L_0 Servo {
+ translation 0.175 0 0.069
+ rotation 1 0 0 0
+ children [
+ DEF RIGHT_FORE_L_1 Servo {
+ translation -0.0625 0 -0.001
+ rotation 0 0 1 0.142241
+ children [
+ DEF RIGHT_FORE_P_1 Servo {
+ translation 0 -0.0465 -0.005
+ rotation 0 0 1 -0.467557
+ children [
+ DEF RIGHT_FORE_P_2 Servo {
+ translation 0 -0.0275 0
+ rotation 1 0 0 1.5708
+ children [
+ DEF RIGHT_FORE_L_3 Servo {
+ translation 0 0.005 0.0275
+ rotation 0 1 0 0.467557
+ children [
+ DEF RIGHT_FORE_FOOT Servo {
+ translation 0 0 0.0775
+ rotation 0 1 0 0.872664
+ children [
+ USE FOOT_BOUND
+ ]
+ name "RIGHT_FORE_FOOT"
+ boundingObject USE FOOT_BOUND
+ physics USE FOOT_PHYSICS
+ maxForce 0
+ maxStop 2
+ }
+ USE FORE_L_3_GROUP
+ ]
+ name "RIGHT_FORE_L_3"
+ boundingObject USE FORE_L_3_LINK
+ physics USE FORE_L_3_PHYSICS
+ maxForce 0
+ dampingConstant 0.0001
+ }
+ USE FORE_P_2_LINK
+ USE FORE_P_2_BOTTOM_CYLINDER
+ ]
+ name "RIGHT_FORE_P_2"
+ boundingObject USE FORE_P_2_LINK
+ physics USE FORE_P_2_PHYSICS
+ type "linear"
+ maxForce 0
+ maxStop 0.0037
+ }
+ USE FORE_P_1_LINK
+ USE P_1_TOP_CYLINDER
+ ]
+ name "RIGHT_FORE_P_1"
+ boundingObject USE FORE_P_1_LINK
+ physics USE FORE_P_1_PHYSICS
+ maxForce 0
+ dampingConstant 0.0001
+ }
+ DEF RIGHT_FORE_D_1 Servo {
+ translation 0 -0.0465 0.0175
+ rotation 0 0 1 -0.366417
+ children [
+ USE D_1_GROUP
+ DEF RIGHT_FORE_D_2 Servo {
+ translation 0 -0.056 0
+ rotation 1 0 0 -1.5708
+ children [
+ USE D_2_GROUP
+ ]
+ name "RIGHT_FORE_D_2"
+ boundingObject USE D_2_LINK
+ physics USE D_2_PHYSICS
+ type "linear"
+ maxForce 0
+ maxPosition 0.033
+ minStop -0.001
+ maxStop 0.0331
+ }
+ ]
+ name "RIGHT_FORE_D_1"
+ boundingObject USE D_1_LINK
+ physics USE D1_PHYSICS
+ maxForce 0
+ dampingConstant 0.02
+ }
+ DEF RIGHT_FORE_L_1_BOUND Group {
+ children [
+ Transform {
+ translation 0 0 0.03
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance DEF WHITE_PLASTIC Appearance {
+ material Material {
+ diffuseColor 1 1 0.905882
+ }
+ }
+ geometry Cylinder {
+ height 0.038
+ radius 0.018
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.0125
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.047
+ radius 0.013
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 -0.031 0
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Box {
+ size 0.015 0.062 0.006
+ }
+ }
+ ]
+ }
+ ]
+ }
+ DEF RIGHT_FORE_L_1_GROUP Group {
+ children [
+ Transform {
+ translation 0 0 0.048
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance DEF BLACK_PLASTIC Appearance {
+ material Material {
+ diffuseColor 0.117647 0.117647 0.117647
+ specularColor 0.262745 0.25098 0.25098
+ }
+ }
+ geometry Cylinder {
+ height 0.003
+ radius 0.019
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 -0.062 0
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.0061
+ radius 0.0075
+ }
+ }
+ ]
+ }
+ ]
+ }
+ DEF RIGHT_FORE_L_2 Servo {
+ translation 0 -0.062 0
+ rotation 0 0 1 -0.467557
+ children [
+ USE FORE_L2_BOUND
+ USE FORE_L2_CYLS
+ ]
+ name "RIGHT_FORE_L_2"
+ boundingObject USE FORE_L2_BOUND
+ physics USE FORE_L_2_PHYSICS
+ maxForce 0
+ minPosition -1.248
+ minStop -1.249
+ maxStop 0.001
+ dampingConstant 0.002
+ }
+ ]
+ name "RIGHT_FORE_L_1"
+ boundingObject USE RIGHT_FORE_L_1_BOUND
+ physics DEF RIGHT_L_1_PHYSICS Physics {
+ density -1
+ mass 0.24
+ centerOfMass 0 0 -0.021
+ }
+ controlP 50
+ minPosition -0.872665
+ maxPosition 0.872665
+ minStop -0.873665
+ maxStop 0.873665
+ }
+ DEF RIGHT_L0_GROUP Group {
+ children [
+ Transform {
+ translation -0.125 0 -0.01875
+ children [
+ Shape {
+ appearance DEF CARBON Appearance {
+ material Material {
+ diffuseColor 0.466667 0.466667 0.466667
+ specularColor 0.741176 0.741176 0.741176
+ }
+ texture ImageTexture {
+ url [
+ "textures/carbon.png"
+ ]
+ }
+ }
+ geometry Box {
+ size 0.0015 0.035 0.0545
+ }
+ }
+ ]
+ }
+ Transform {
+ translation -0.0435 0 -0.02875
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.0015 0.035 0.0345
+ }
+ }
+ ]
+ }
+ Transform {
+ translation -0.068 0 -0.011
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.113 0.035 0.0015
+ }
+ }
+ ]
+ }
+ Transform {
+ translation -0.085 0 -0.0455
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.08 0.035 0.0015
+ }
+ }
+ ]
+ }
+ Transform {
+ translation -0.008 0 -0.003
+ children [
+ Shape {
+ geometry Box {
+ size 0.015 0.012 0.015
+ }
+ }
+ ]
+ }
+ DEF RIGHT_L_1_MOTOR Transform {
+ translation -0.102 0 -0.055
+ rotation 1 0 0 1.5708
+ children [
+ DEF L_0_MOTOR_SHAPE Shape {
+ appearance DEF METAL Appearance {
+ material Material {
+ diffuseColor 0.45098 0.45098 0.45098
+ specularColor 0.870588 0.870588 0.870588
+ }
+ }
+ geometry Cylinder {
+ height 0.091
+ radius 0.011
+ }
+ }
+ ]
+ }
+ ]
+ }
+ ]
+ name "RIGHT_FORE_L_0"
+ boundingObject DEF RIGHT_L_0_BOUND Group {
+ children [
+ USE RIGHT_L_1_MOTOR
+ Transform {
+ translation -0.085 0 -0.02875
+ children [
+ Box {
+ size 0.08 0.035 0.0345
+ }
+ ]
+ }
+ ]
+ }
+ physics DEF RIGHT_L0_PHYSICS Physics {
+ density -1
+ mass 0.238
+ centerOfMass -0.102 0 -0.053
+ }
+ }
+ DEF LEFT_HIND_L_0 Servo {
+ translation -0.05 0 -0.069
+ rotation 1 0 0 0
+ children [
+ DEF LEFT_HIND_L_1 Servo {
+ translation -0.0625 0 0.001
+ rotation 0 0 1 0.1923
+ children [
+ DEF LEFT_HIND_P_1 Servo {
+ translation 0 -0.0645 0.005
+ rotation 0 0 1 -0.600477
+ children [
+ DEF LEFT_HIND_P_2 Servo {
+ translation 0 -0.0325 0
+ rotation 1 0 0 1.5708
+ children [
+ DEF LEFT_HIND_L_3 Servo {
+ translation 0 -0.005 0.0325
+ rotation 0 1 0 0.600477
+ children [
+ DEF LEFT_HIND_FOOT Servo {
+ translation 0 0 0.0705
+ rotation 0 1 0 0.872664
+ children [
+ USE FOOT_BOUND
+ ]
+ name "LEFT_HIND_FOOT"
+ boundingObject USE FOOT_BOUND
+ physics USE FOOT_PHYSICS
+ maxForce 0
+ maxStop 2
+ }
+ DEF HIND_L_3_GROUP Group {
+ children [
+ USE L_3_TOP_CYLINDER
+ DEF HIND_L_3_LINK Transform {
+ translation 0 0 0.03525
+ children [
+ Shape {
+ appearance USE METAL
+ geometry Box {
+ size 0.01 0.006 0.0705
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 0.0705
+ rotation 1 0 0 0
+ children [
+ DEF L_3_CYL_SHAPE Shape {
+ appearance USE METAL
+ geometry Cylinder {
+ height 0.0061
+ radius 0.005
+ }
+ }
+ ]
+ }
+ ]
+ }
+ ]
+ name "LEFT_HIND_L_3"
+ boundingObject USE HIND_L_3_LINK
+ physics DEF HIND_L_3_PHYSICS Physics {
+ centerOfMass 0 0 0.03525
+ }
+ maxForce 0
+ dampingConstant 0.001
+ }
+ DEF HIND_P_2_LINK Transform {
+ translation 0 0 0.01625
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.006 0.0015 0.0325
+ }
+ }
+ ]
+ }
+ DEF HIND_P_2_BOTTOM_CYLINDER Transform {
+ translation 0 0 0.0325
+ children [
+ USE P_CYL_SHAPE
+ ]
+ }
+ ]
+ name "LEFT_HIND_P_2"
+ boundingObject USE HIND_P_2_LINK
+ physics DEF HIND_P_2_PHYSICS Physics {
+ centerOfMass 0 0 0.01625
+ }
+ type "linear"
+ maxStop 0.0037
+ }
+ DEF HIND_P_1_LINK Transform {
+ translation 0 -0.01625 0
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.006 0.0325 0.0015
+ }
+ }
+ ]
+ }
+ USE P_1_TOP_CYLINDER
+ ]
+ name "LEFT_HIND_P_1"
+ boundingObject USE HIND_P_1_LINK
+ physics DEF HIND_P_1_PHYSICS Physics {
+ centerOfMass 0 -0.01625 0
+ }
+ maxForce 0
+ dampingConstant 0.001
+ }
+ DEF LEFT_HIND_D_1 Servo {
+ translation 0 -0.0645 -0.0175
+ rotation 0 0 1 -0.488361
+ children [
+ USE D_1_GROUP
+ DEF LEFT_HIND_D_2 Servo {
+ translation 0 -0.065 0
+ rotation 1 0 0 -1.5708
+ children [
+ USE D_2_GROUP
+ ]
+ name "LEFT_HIND_D_2"
+ boundingObject USE D_2_LINK
+ physics USE D_2_PHYSICS
+ type "linear"
+ maxForce 0
+ maxPosition 0.033
+ minStop -0.001
+ maxStop 0.0331
+ dampingConstant 5
+ }
+ ]
+ name "LEFT_HIND_D_1"
+ boundingObject USE D_1_LINK
+ physics USE D1_PHYSICS
+ maxForce 0
+ dampingConstant 0.02
+ }
+ DEF LEFT_HIND_L_1_BOUND Group {
+ children [
+ Transform {
+ translation 0 0 -0.03
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance DEF WHITE_PLASTIC Appearance {
+ material Material {
+ diffuseColor 1 1 0.905882
+ }
+ }
+ geometry Cylinder {
+ height 0.038
+ radius 0.018
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 0.0125
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.047
+ radius 0.013
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 -0.04 0
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Box {
+ size 0.015 0.08 0.006
+ }
+ }
+ ]
+ }
+ ]
+ }
+ DEF LEFT_HIND_L_1_GROUP Group {
+ children [
+ Transform {
+ translation 0 0 -0.048
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance DEF BLACK_PLASTIC Appearance {
+ material Material {
+ diffuseColor 0.117647 0.117647 0.117647
+ specularColor 0.262745 0.25098 0.25098
+ }
+ }
+ geometry Cylinder {
+ height 0.003
+ radius 0.019
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 -0.08 0
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.0061
+ radius 0.0075
+ }
+ }
+ ]
+ }
+ ]
+ }
+ DEF LEFT_HIND_L_2 Servo {
+ translation 0 -0.08 0
+ rotation 0 0 1 -0.600477
+ children [
+ DEF HIND_L2_BOUND Group {
+ children [
+ Transform {
+ translation 0.002 -0.0325 0.008
+ children [
+ DEF HIND_L2_LINK Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Box {
+ size 0.008 0.065 0.007
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0.002 -0.0325 -0.008
+ children [
+ USE HIND_L2_LINK
+ ]
+ }
+ Transform {
+ translation 0.002 -0.0325 0
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Box {
+ size 0.008 0.049 0.009
+ }
+ }
+ ]
+ }
+ ]
+ }
+ DEF HIND_L2_CYLS Transform {
+ rotation 1 0 0 1.5708
+ children [
+ USE L2_TOP_CYLS
+ Transform {
+ translation 0 0 0.065
+ children [
+ USE L2_TOP_CYLS
+ ]
+ }
+ ]
+ }
+ ]
+ name "LEFT_HIND_L_2"
+ boundingObject USE HIND_L2_BOUND
+ physics DEF HIND_L_2_PHYSICS Physics {
+ centerOfMass 0 -0.0325 0
+ }
+ maxForce 0
+ minPosition -1.587
+ minStop -1.587
+ maxStop 0.001
+ dampingConstant 0.005
+ }
+ ]
+ name "LEFT_HIND_L_1"
+ boundingObject USE LEFT_HIND_L_1_BOUND
+ physics USE LEFT_L_1_PHYSICS
+ controlP 50
+ minPosition -0.872665
+ maxPosition 0.872665
+ minStop -0.873665
+ maxStop 0.873665
+ }
+ USE LEFT_L_0_GROUP
+ ]
+ name "LEFT_HIND_L_0"
+ boundingObject USE LEFT_L_0_BOUND
+ physics USE LEFT_L_0_PHYSICS
+ }
+ DEF RIGHT_HIND_L_0 Servo {
+ translation -0.05 0 0.069
+ rotation 1 0 0 0
+ children [
+ DEF RIGHT_HIND_L_1 Servo {
+ translation -0.0625 0 -0.001
+ rotation 0 0 1 0.1923
+ children [
+ DEF RIGHT_HIND_P_1 Servo {
+ translation 0 -0.0645 -0.005
+ rotation 0 0 1 -0.600477
+ children [
+ DEF RIGHT_HIND_P_2 Servo {
+ translation 0 -0.0325 0
+ rotation 1 0 0 1.5708
+ children [
+ DEF RIGHT_HIND_L_3 Servo {
+ translation 0 0.005 0.0325
+ rotation 0 1 0 0.600477
+ children [
+ DEF RIGHT_HIND_FOOT Servo {
+ translation 0 0 0.0705
+ rotation 0 1 0 0.872664
+ children [
+ USE FOOT_BOUND
+ ]
+ name "RIGHT_HIND_FOOT"
+ boundingObject USE FOOT_BOUND
+ physics USE FOOT_PHYSICS
+ maxForce 0
+ maxStop 2
+ }
+ USE HIND_L_3_GROUP
+ ]
+ name "RIGHT_HIND_L_3"
+ boundingObject DEF HIND_L_3_LINK Transform {
+ translation 0 0 0.03525
+ children [
+ Shape {
+ appearance USE METAL
+ geometry Box {
+ size 0.01 0.006 0.0705
+ }
+ }
+ ]
+ }
+ physics USE HIND_L_3_PHYSICS
+ maxForce 0
+ dampingConstant 0.001
+ }
+ USE HIND_P_2_LINK
+ USE HIND_P_2_BOTTOM_CYLINDER
+ ]
+ name "RIGHT_HIND_L_3"
+ boundingObject USE HIND_P_2_LINK
+ physics USE HIND_P_2_PHYSICS
+ type "linear"
+ maxStop 0.0037
+ }
+ USE HIND_P_1_LINK
+ USE P_1_TOP_CYLINDER
+ ]
+ name "RIGHT_HIND_P_1"
+ boundingObject USE HIND_P_1_LINK
+ physics USE HIND_P_1_PHYSICS
+ maxForce 0
+ dampingConstant 0.001
+ }
+ DEF RIGHT_HIND_D_1 Servo {
+ translation 0 -0.0645 0.0175
+ rotation 0 0 1 -0.488361
+ children [
+ USE D_1_GROUP
+ DEF RIGHT_HIND_D_2 Servo {
+ translation 0 -0.065 0
+ rotation 1 0 0 -1.5708
+ children [
+ USE D_2_GROUP
+ ]
+ name "RIGHT_HIND_D_2"
+ boundingObject USE D_2_LINK
+ physics USE D_2_PHYSICS
+ type "linear"
+ maxForce 0
+ maxPosition 0.033
+ minStop -0.001
+ maxStop 0.0331
+ dampingConstant 5
+ }
+ ]
+ name "RIGHT_HIND_D_1"
+ boundingObject USE D_1_LINK
+ physics USE D1_PHYSICS
+ maxForce 0
+ dampingConstant 0.02
+ }
+ DEF RIGHT_HIND_L_1_BOUND Group {
+ children [
+ Transform {
+ translation 0 0 0.03
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.038
+ radius 0.018
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.0125
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.047
+ radius 0.013
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 -0.04 0
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Box {
+ size 0.015 0.08 0.006
+ }
+ }
+ ]
+ }
+ ]
+ }
+ DEF RIGHT_HIND_L_1_GROUP Group {
+ children [
+ Transform {
+ translation 0 0 0.048
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance DEF BLACK_PLASTIC Appearance {
+ material Material {
+ diffuseColor 0.117647 0.117647 0.117647
+ specularColor 0.262745 0.25098 0.25098
+ }
+ }
+ geometry Cylinder {
+ height 0.003
+ radius 0.019
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 -0.08 0
+ rotation 1 0 0 1.5708
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.0061
+ radius 0.0075
+ }
+ }
+ ]
+ }
+ ]
+ }
+ DEF RIGHT_HIND_L_2 Servo {
+ translation 0 -0.08 0
+ rotation 0 0 1 -0.600477
+ children [
+ USE HIND_L2_BOUND
+ USE HIND_L2_CYLS
+ ]
+ name "RIGHT_HIND_L_2"
+ boundingObject USE HIND_L2_BOUND
+ physics USE HIND_L_2_PHYSICS
+ maxForce 0
+ minPosition -1.587
+ minStop -1.588
+ dampingConstant 0.005
+ }
+ ]
+ name "RIGHT_HIND_L_1"
+ boundingObject USE RIGHT_HIND_L_1_BOUND
+ physics USE RIGHT_L_1_PHYSICS
+ controlP 50
+ minPosition -0.872665
+ maxPosition 0.872665
+ minStop -0.873665
+ maxStop 0.873665
+ }
+ USE RIGHT_L0_GROUP
+ ]
+ name "RIGHT_HIND_L_0"
+ boundingObject USE RIGHT_L_0_BOUND
+ physics USE RIGHT_L0_PHYSICS
+ }
+ DEF TRUNK_SHAPE Transform {
+ children [
+ DEF TRUNK_CBN_SHAPE Transform {
+ children [
+ Transform {
+ translation 0.10825 0.035 0
+ children [
+ DEF TRUNK_BAR_HZ Shape {
+ appearance DEF CARBON Appearance {
+ material Material {
+ diffuseColor 0.466667 0.466667 0.466667
+ specularColor 0.741176 0.741176 0.741176
+ }
+ texture ImageTexture {
+ url [
+ "textures/carbon.png"
+ ]
+ }
+ }
+ geometry Box {
+ size 0.1415 0.01 0.022
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0.10825 -0.035 0
+ children [
+ USE TRUNK_BAR_HZ
+ ]
+ }
+ Transform {
+ translation -0.10825 -0.035 0
+ children [
+ USE TRUNK_BAR_HZ
+ ]
+ }
+ Transform {
+ translation -0.10825 0.035 0
+ children [
+ USE TRUNK_BAR_HZ
+ ]
+ }
+ Transform {
+ translation 0.17325 0 0
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.0115 0.06 0.022
+ }
+ }
+ ]
+ }
+ Transform {
+ translation -0.17325 0 0
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.0115 0.06 0.022
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0.0525 0 0
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.01 0.06 0.022
+ }
+ }
+ ]
+ }
+ Transform {
+ translation -0.0525 0 0
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.01 0.06 0.022
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 -0.0175 0
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.075 0.135 0.002
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0.0575 0.0675 0
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.01 0.055 0.002
+ }
+ }
+ ]
+ }
+ Transform {
+ translation -0.0575 0.0675 0
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.01 0.055 0.002
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 0.1 0
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.125 0.01 0.002
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0.178249 0 0
+ children [
+ DEF EXT_BUMPER_SHAPE Transform {
+ children [
+ Transform {
+ children [
+ Shape {
+ appearance USE CARBON
+ geometry Box {
+ size 0.0015 0.019 0.152
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0.00575 0 0.064
+ children [
+ DEF BUMPER_END_SHAPE Shape {
+ appearance USE METAL
+ geometry Box {
+ size 0.01 0.01901 0.02401
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0.00575 0 -0.064
+ children [
+ USE BUMPER_END_SHAPE
+ ]
+ }
+ ]
+ }
+ ]
+ }
+ Transform {
+ translation -0.17824 0 0
+ rotation 0 0 1 3.14159
+ children [
+ USE EXT_BUMPER_SHAPE
+ ]
+ }
+ Transform {
+ translation 0.0425 0 0
+ children [
+ DEF INT_BUMP_SHAPE Transform {
+ children [
+ Transform {
+ children [
+ Shape {
+ appearance USE METAL
+ geometry Box {
+ size 0.00995 0.01 0.15
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 0.064
+ children [
+ USE BUMPER_END_SHAPE
+ ]
+ }
+ Transform {
+ translation 0 0 -0.064
+ children [
+ USE BUMPER_END_SHAPE
+ ]
+ }
+ ]
+ }
+ ]
+ }
+ Transform {
+ translation -0.0425 0 0
+ children [
+ USE INT_BUMP_SHAPE
+ ]
+ }
+ Transform {
+ translation 0 0.103 0
+ rotation 0 0 1 1.5708
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.1
+ radius 0.007
+ }
+ }
+ ]
+ }
+ ]
+ }
+ DEF CIRCUITS_GROUP Transform {
+ translation 0 -0.0175 0
+ children [
+ DEF MDV_BOARD_1 Transform {
+ translation 0 0 -0.006
+ children [
+ DEF MDV_BOARD_SHAPE Group {
+ children [
+ DEF MDV_PCB_SHAPE Transform {
+ children [
+ Shape {
+ appearance Appearance {
+ texture ImageTexture {
+ url [
+ "textures/pcb.jpg"
+ ]
+ }
+ }
+ geometry Box {
+ size 0.06 0.134 0.0015
+ }
+ }
+ ]
+ }
+ DEF MDV_BOARD_CONNECTOR Transform {
+ translation 0 0.071 -0.003
+ children [
+ DEF MDVV_BOARD_CONNECTOR Shape {
+ appearance DEF BLACK_PLASTIC Appearance {
+ material Material {
+ diffuseColor 0.117647 0.117647 0.117647
+ specularColor 0.262745 0.25098 0.25098
+ }
+ }
+ geometry Box {
+ size 0.042 0.009 0.009
+ }
+ }
+ ]
+ }
+ ]
+ }
+ ]
+ }
+ DEF MDV_BOARD_2 Transform {
+ translation 0 0 -0.016
+ children [
+ DEF MDV_BOARD_SHAPE Group {
+ children [
+ DEF MDV_PCB_SHAPE Transform {
+ children [
+ Shape {
+ appearance Appearance {
+ texture ImageTexture {
+ url [
+ "textures/pcb.jpg"
+ ]
+ }
+ }
+ geometry Box {
+ size 0.06 0.134 0.0015
+ }
+ }
+ ]
+ }
+ DEF MDV_BOARD_CONNECTOR Transform {
+ translation 0 0.071 -0.003
+ children [
+ DEF MDVV_BOARD_CONNECTOR Shape {
+ appearance USE BLACK_PLASTIC
+ geometry Box {
+ size 0.042 0.009 0.009
+ }
+ }
+ ]
+ }
+ ]
+ }
+ ]
+ }
+ DEF MDV_BOARD_3 Transform {
+ translation 0 0 0.006
+ rotation 0 1 0 -9.42478
+ children [
+ DEF MDV_BOARD_SHAPE Group {
+ children [
+ DEF MDV_PCB_SHAPE Transform {
+ children [
+ Shape {
+ appearance Appearance {
+ texture ImageTexture {
+ url [
+ "textures/pcb.jpg"
+ ]
+ }
+ }
+ geometry Box {
+ size 0.06 0.134 0.0015
+ }
+ }
+ ]
+ }
+ DEF MDV_BOARD_CONNECTOR Transform {
+ translation 0 0.071 -0.003
+ children [
+ DEF MDVV_BOARD_CONNECTOR Shape {
+ appearance USE BLACK_PLASTIC
+ geometry Box {
+ size 0.042 0.009 0.009
+ }
+ }
+ ]
+ }
+ ]
+ }
+ ]
+ }
+ DEF MDV_BOARD_4 Transform {
+ translation 0 0 0.016
+ rotation 0 1 0 3.14159
+ children [
+ DEF MDV_BOARD_SHAPE Group {
+ children [
+ DEF MDV_PCB_SHAPE Transform {
+ children [
+ Shape {
+ appearance Appearance {
+ texture ImageTexture {
+ url [
+ "textures/pcb.jpg"
+ ]
+ }
+ }
+ geometry Box {
+ size 0.06 0.134 0.0015
+ }
+ }
+ ]
+ }
+ DEF MDV_BOARD_CONNECTOR Transform {
+ translation 0 0.071 -0.003
+ children [
+ DEF MDVV_BOARD_CONNECTOR Shape {
+ appearance USE BLACK_PLASTIC
+ geometry Box {
+ size 0.042 0.009 0.009
+ }
+ }
+ ]
+ }
+ ]
+ }
+ ]
+ }
+ ]
+ }
+ DEF RIGHT_FORE_SERVO Transform {
+ translation 0.1015 -0.0685 0.0115
+ children [
+ DEF SERVO_SHAPE Group {
+ children [
+ Shape {
+ appearance USE BLACK_PLASTIC
+ geometry Box {
+ size 0.038 0.041 0.02
+ }
+ }
+ Shape {
+ appearance USE BLACK_PLASTIC
+ geometry Box {
+ size 0.025 0.057 0.0199
+ }
+ }
+ Transform {
+ translation 0.023 0.011 0
+ rotation 0 0 1 1.5708
+ children [
+ Shape {
+ appearance DEF BLUE_METAL Appearance {
+ material Material {
+ diffuseColor 0 0.482353 1
+ shininess 0.12
+ specularColor 0 1 0.988235
+ }
+ }
+ geometry Cylinder {
+ height 0.002
+ radius 0.01
+ }
+ }
+ Transform {
+ translation 0 0.002 0
+ children [
+ Shape {
+ appearance USE BLUE_METAL
+ geometry Cylinder {
+ height 0.004
+ radius 0.005
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0 -0.004 0
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.006
+ radius 0.01
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0.025 -0.01 0.008
+ rotation 0 1 0 -0.1
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Box {
+ size 0.04 0.006 0.012
+ }
+ }
+ Transform {
+ translation -0.02 0 0
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.0059
+ radius 0.006
+ }
+ }
+ ]
+ }
+ Transform {
+ translation 0.02 0 0
+ children [
+ Shape {
+ appearance USE WHITE_PLASTIC
+ geometry Cylinder {
+ height 0.0059
+ radius 0.006
+ }
+ }
+ ]
+ }
+ ]
+ }
+ ]
+ }
+ ]
+ }
+ ]
+ }
+ DEF LEFT_FORE_SERVO Transform {
+ translation 0.1215 -0.0685 -0.0115
+ rotation 0 1 0 3.14159
+ children [
+ USE SERVO_SHAPE
+ ]
+ }
+ DEF RIGHT_HIND_SERVO Transform {
+ translation -0.1215 -0.0685 0.0115
+ children [
+ USE SERVO_SHAPE
+ ]
+ }
+ DEF LEFT_HIND_SERVO Transform {
+ translation -0.1015 -0.0685 -0.0115
+ rotation 0 1 0 3.14159
+ children [
+ USE SERVO_SHAPE
+ ]
+ }
+ ]
+ }
+ ]
+ boundingObject DEF TRUNK_BOUNDARIES Group {
+ children [
+ Transform {
+ translation 0 -0.0285 0
+ children [
+ Box {
+ size 0.358 0.137 0.022
+ }
+ ]
+ }
+ ]
+ }
+ physics DEF TRUNK_PHYSICS Physics {
+ density -1
+ mass 1.05
+ centerOfMass 0 -0.035 0
+ }
+ controller "TestController"
+}
+DEF GROUND Solid {
+ translation 0 -0.1 0
+ children [
+ DEF FLOOR_SHAPE Shape {
+ appearance Appearance {
+ material Material {
+ }
+ texture ImageTexture {
+ url [
+ "textures/floor.jpg"
+ ]
+ }
+ textureTransform TextureTransform {
+ scale 200 200
+ }
+ }
+ geometry Box {
+ size 40 0.2 40
+ }
+ }
+ ]
+ boundingObject USE FLOOR_SHAPE
+}
+DEF STAND Solid {
+ translation 0 -1.06 0
+ children [
+ DEF STAND_SHAPE Shape {
+ geometry Box {
+ size 0.4 0.12 0.05
+ }
+ }
+ ]
+ boundingObject USE STAND_SHAPE
+}