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liboncilla-webots/webots-data/worlds/Oncilla-ASLP.wbt
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Oncilla-ASLP.wbt
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#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
}
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