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May 11, 2021 11:52
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| #VRML_SIM R2021a utf8 | |
| # license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. | |
| # license url: https://cyberbotics.com/webots_assets_license | |
| # documentation url: https://www.cyberbotics.com/doc/guide/salamander | |
| # The "Salamander" robot is a salamander-like robot developed by the EPFL BioRob laboratory. | |
| PROTO Salamander-kadai-4 [ | |
| field SFVec3f translation 0 0 0 # Is `Transform.translation`. | |
| field SFRotation rotation 0 1 0 0 # Is `Transform.rotation`. | |
| field SFString name "Salamander-kadai-4" # Is `Solid.name`. | |
| field SFString controller "salamander" # Is `Robot.controller`. | |
| field MFString controllerArgs [] # Is `Robot.controllerArgs`. | |
| field SFString customData "" # Is `Robot.customData`. | |
| field SFBool supervisor FALSE # Is `Robot.supervisor`. | |
| field SFBool synchronization TRUE # Is `Robot.synchronization`. | |
| field MFNode extensionSlot [] # Extends the robot with new nodes in the extension slot. | |
| field SFFloat camera_fieldOfView 0.84 # Is `Camera.fieldOfView`. | |
| field SFInt32 camera_width 52 # Is `Camera.width`. | |
| field SFInt32 camera_height 39 # Is `Camera.height`. | |
| field SFBool camera_antiAliasing FALSE # Is `Camera.antiAliasing`. | |
| field SFRotation camera_rotation 1 0 0 0 # Is `Camera.rotation`. Interesting setup: set `1 0 0 -0.47` in order to simulate the linear camera mode. | |
| field SFFloat camera_noise 0.0 # Is `Camera.noise`. | |
| field SFFloat camera_motionBlur 0.0 # Is `Camera.motionBlur`. | |
| ] | |
| { | |
| Robot { | |
| translation IS translation | |
| rotation IS rotation | |
| controller IS controller | |
| controllerArgs IS controllerArgs | |
| customData IS customData | |
| supervisor IS supervisor | |
| synchronization IS synchronization | |
| name IS name | |
| children [ | |
| Group { | |
| children IS extensionSlot | |
| } | |
| GPS { | |
| } | |
| DEF SMALL_SEGMENT Group { | |
| children [ | |
| Transform { | |
| children [ | |
| Shape { | |
| appearance DEF SALAMANDER_COLOR PBRAppearance { | |
| baseColor 1 0.8 0.3 | |
| roughness 0.3 | |
| metalness 0 | |
| } | |
| geometry Cylinder { | |
| height 0.0561 | |
| radius 0.019 | |
| } | |
| } | |
| ] | |
| } | |
| Transform { | |
| translation 0 0 0.038 | |
| children [ | |
| Shape { | |
| appearance USE SALAMANDER_COLOR | |
| geometry Box { | |
| size 0.038 0.056 0.076 | |
| } | |
| } | |
| ] | |
| } | |
| ] | |
| } | |
| DEF LEFT_EYE DistanceSensor { | |
| translation -0.02 0.03 0 | |
| rotation 0 1 0 2.356 | |
| children [ | |
| DEF EYE_SHAPE Shape { | |
| appearance DEF EYE_APPEARANCE PBRAppearance { | |
| baseColor 0.2 0.2 0.2 | |
| roughness 0.2 | |
| metalness 0 | |
| } | |
| geometry Sphere { | |
| radius 0.005 | |
| subdivision 2 | |
| } | |
| } | |
| ] | |
| name "ds_left" | |
| lookupTable [ | |
| 0 0 0 | |
| 0.7 0.7 0 | |
| ] | |
| numberOfRays 6 | |
| aperture 0.8 | |
| } | |
| DEF RIGHT_EYE DistanceSensor { | |
| translation 0.02 0.03 0 | |
| rotation 0 1 0 0.785 | |
| children [ | |
| USE EYE_SHAPE | |
| ] | |
| name "ds_right" | |
| lookupTable [ | |
| 0 0 0 | |
| 0.7 0.7 0 | |
| ] | |
| numberOfRays 6 | |
| aperture 0.8 | |
| } | |
| DEF EPUCK_CAMERA Camera { | |
| translation 0 0.028 -0.03 | |
| rotation IS camera_rotation | |
| children [ | |
| Transform { | |
| rotation 0 0.707107 0.707107 3.14159 | |
| children [ | |
| Transform { | |
| rotation IS camera_rotation | |
| children [ | |
| Shape { | |
| appearance PBRAppearance { | |
| baseColor 0 0 0 | |
| roughness 0.4 | |
| metalness 0 | |
| } | |
| geometry IndexedFaceSet { | |
| coord Coordinate { | |
| point [ | |
| -0.003 -0.000175564 0.003 -0.003 -0.00247555 -0.003 -0.003 -0.00247555 -4.65661e-09 -0.003 -0.00247555 0.003 -0.003 -2.55639e-05 0.0035 -0.003 -2.55639e-05 -0.003 -0.003 0.000427256 0.00574979 -0.003 -0.000175564 0.0035 -0.003 0.000557156 0.0056748 -0.003 0.00207465 0.00739718 -0.003 0.00214964 0.00726728 -0.003 0.00432444 0.008 -0.003 0.00432444 0.00785 -0.003 0.00757444 0.008 -0.003 0.00757444 0.0095 -0.003 0.0115744 0.0095 -0.003 0.0115744 0.008 -0.003 0.0128244 0.008 -0.003 0.0128244 0.00785 0.003 -2.55639e-05 -0.003 0.003 -0.000175564 0.0035 0.003 -0.000175564 0.003 0.003 -0.00247555 0.003 0.003 -0.00247555 -4.65661e-09 0.003 -0.00247555 -0.003 0.003 -2.55639e-05 0.0035 0.003 0.000427256 0.00574979 0.003 0.000557156 0.0056748 0.003 0.00207465 0.00739718 0.003 0.00214964 0.00726728 0.003 0.00432444 0.00785 0.003 0.00432444 0.008 0.003 0.0115744 0.0095 0.003 0.00757444 0.0095 0.003 0.0115744 0.008 0.003 0.00757444 0.008 0.003 0.0128244 0.00785 0.003 0.0128244 0.008 0 -0.00247555 -0.003 -0.00149971 -0.00247555 -0.0025982 0.00149971 -0.00247555 -0.0025982 0.00259801 -0.00247555 -0.00150004 -0.00259801 -0.00247555 -0.00150004 0.00149971 -0.00247555 0.00259821 0.00259801 -0.00247555 0.00150005 0 -0.00247555 0.003 -0.00149971 -0.00247555 0.00259821 -0.00259801 -0.00247555 0.00150005 0.00212127 -0.00377555 0.00212128 0 -0.00377555 0.003 -0.00212127 -0.00377555 0.00212128 -0.0015 -0.00377555 0.002 -0.002 -0.00377555 0.0015 -0.003 -0.00377555 -4.65661e-09 0.0015 -0.00377555 0.002 0.002 -0.00377555 0.0015 0.003 -0.00377555 -4.65661e-09 -0.002 -0.00377555 -0.0015 0.002 -0.00377555 -0.0015 -0.00212127 -0.00377555 -0.0021213 0.0015 -0.00377555 -0.002 -0.0015 -0.00377555 -0.002 0.00212127 -0.00377555 -0.0021213 0 -0.00377555 -0.003 -0.00256063 -0.00377555 0.00106064 -0.00106063 -0.00377555 0.00256064 0.00106063 -0.00377555 0.00256064 0.00256063 -0.00377555 0.00106064 0.00256063 -0.00377555 -0.00106063 0.00106063 -0.00377555 -0.0025606 -0.00106063 -0.00377555 -0.0025606 -0.00256063 -0.00377555 -0.00106063 0.0015 -0.00417556 -0.002 0.002 -0.00417556 -0.0015 -0.0015 -0.00417556 -0.002 -0.002 -0.00417556 -0.0015 0.002 -0.00417556 0.0015 0 -0.00417556 0.000245125 0.00021198 -0.00417556 0.000122716 0.00021198 -0.00417556 -0.000122714 0 -0.00417556 -0.000245124 -0.00021198 -0.00417556 -0.000122714 -0.00021198 -0.00417556 0.000122716 -0.002 -0.00417556 0.0015 0.0015 -0.00417556 0.002 -0.0015 -0.00417556 0.002 | |
| ] | |
| } | |
| coordIndex [ | |
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| ] | |
| creaseAngle 0.785398 | |
| } | |
| } | |
| ] | |
| } | |
| ] | |
| } | |
| ] | |
| fieldOfView IS camera_fieldOfView | |
| width IS camera_width | |
| height IS camera_height | |
| near 0.0055 | |
| antiAliasing IS camera_antiAliasing | |
| motionBlur IS camera_motionBlur | |
| noise IS camera_noise | |
| zoom Zoom { | |
| } | |
| } | |
| HingeJoint { # Simulation of backlash. | |
| jointParameters HingeJointParameters { | |
| axis 0 1 0 | |
| anchor 0 0 0.108 | |
| minStop -0.0001 | |
| maxStop 0.0001 | |
| } | |
| endPoint DEF SOLID_THORAX Solid { | |
| translation 0 0 0.108 | |
| children [ | |
| DEF BIG_SEGMENT Group { | |
| children [ | |
| Transform { | |
| children [ | |
| Shape { | |
| appearance USE SALAMANDER_COLOR | |
| geometry Cylinder { | |
| height 0.0561 | |
| radius 0.032 | |
| } | |
| } | |
| ] | |
| } | |
| Transform { | |
| translation 0 0 0.0235 | |
| children [ | |
| Shape { | |
| appearance USE SALAMANDER_COLOR | |
| geometry Box { | |
| size 0.064 0.056 0.047 | |
| } | |
| } | |
| ] | |
| } | |
| ] | |
| } | |
| DEF HINGE_JOINT_LEG_1 HingeJoint { | |
| jointParameters HingeJointParameters { | |
| anchor -0.032 0 0.02 | |
| } | |
| device [ | |
| RotationalMotor { | |
| name "motor_leg_1" | |
| maxVelocity 20 | |
| maxTorque 100 | |
| } | |
| ] | |
| endPoint DEF SOLID_LEG_1 Solid { | |
| translation -0.032 0 0.02 | |
| rotation 1 0 0 0 | |
| children [ | |
| DEF GROUP_FEMUR_1 Group { | |
| children [ | |
| DEF TRANSFORM_HIP_1 Transform { | |
| translation -0.004 0 0 | |
| rotation 0 0 1 1.5708 | |
| children [ | |
| DEF SHAPE_HIP Shape { | |
| appearance DEF LEG_COLOR PBRAppearance { | |
| baseColor 0.2 0.2 0.2 | |
| roughness 0.2 | |
| metalness 0 | |
| } | |
| geometry Cylinder { | |
| height 0.008 | |
| radius 0.00975 | |
| } | |
| } | |
| ] | |
| } | |
| DEF TRANSFORM_FEMUR_1 Transform { | |
| translation -0.016 0 0 | |
| rotation 0 0 1 1.5708 | |
| children [ | |
| DEF FEMUR Shape { | |
| appearance USE LEG_COLOR | |
| geometry Capsule { | |
| height 0.016 | |
| radius 0.00575 | |
| } | |
| } | |
| ] | |
| } | |
| ] | |
| } | |
| DEF JOINT_TIBIA_1 Solid { | |
| translation -0.024 0 0 | |
| rotation 0 0 1 1.0472 | |
| children [ | |
| DEF GROUP_TIBIA_1 Group { | |
| children [ | |
| DEF TRANSFORM_TIBIA_1 Transform { | |
| translation -0.0225 0 0 | |
| rotation 0 0 1 1.5708 | |
| children [ | |
| DEF TIBIA Shape { | |
| appearance USE LEG_COLOR | |
| geometry Capsule { | |
| height 0.042 | |
| radius 0.00575 | |
| } | |
| } | |
| ] | |
| } | |
| DEF TRANSFORM_FOOT_1 Transform { | |
| translation -0.045 -0.002 -0.0055 | |
| rotation 0 0 1 -1.0472 | |
| children [ | |
| DEF FOOT Shape { | |
| appearance USE LEG_COLOR | |
| geometry Cylinder { | |
| height 0.0075 | |
| radius 0.013 | |
| } | |
| } | |
| ] | |
| } | |
| ] | |
| } | |
| ] | |
| contactMaterial "leg" | |
| immersionProperties [ | |
| DEF IMMERSION_PROP_TIBIA ImmersionProperties { | |
| fluidName "fluid" | |
| dragForceCoefficients 0.95 0.15 0.15 | |
| } | |
| ] | |
| boundingObject USE GROUP_TIBIA_1 | |
| physics Physics { | |
| density -1 | |
| mass 0.0045704 | |
| centerOfMass [ | |
| -0.03 0 0 | |
| ] | |
| inertiaMatrix [ | |
| 2.59057e-7 1.32103e-6 1.25007e-6 | |
| -2.73481e-8 -1.64256e-7 -2.19008e-8 | |
| ] | |
| } | |
| } | |
| ] | |
| name "leg 1" | |
| contactMaterial "body" | |
| immersionProperties [ | |
| DEF IMMERSION_PROP_FEMUR ImmersionProperties { | |
| fluidName "fluid" | |
| dragForceCoefficients 0 0.15 0.15 | |
| } | |
| ] | |
| boundingObject USE GROUP_FEMUR_1 | |
| physics Physics { | |
| density -1 | |
| mass 0.00242371 | |
| centerOfMass [ | |
| -0.012 0 0 | |
| ] | |
| inertiaMatrix [ | |
| 7.57828e-8 1.99961e-7 1.99961e-7 | |
| -1.03066e-13 0 0 | |
| ] | |
| } | |
| } | |
| } | |
| DEF HINGE_JOINT_LEG_2 HingeJoint { | |
| jointParameters HingeJointParameters { | |
| anchor 0.032 0 0.02 | |
| } | |
| device [ | |
| RotationalMotor { | |
| name "motor_leg_2" | |
| maxVelocity 20 | |
| maxTorque 100 | |
| } | |
| ] | |
| endPoint DEF SOLID_LEG_2 Solid { | |
| translation 0.032 0 0.02 | |
| rotation 1 0 0 3.14159 | |
| children [ | |
| DEF GROUP_FEMUR_2 Group { | |
| children [ | |
| DEF TRANSFORM_HIP_2 Transform { | |
| translation 0.004 0 0 | |
| rotation 0 0 1 1.5708 | |
| children [ | |
| USE SHAPE_HIP | |
| ] | |
| } | |
| DEF TRANSFORM_FEMUR_2 Transform { | |
| translation 0.016 0 0 | |
| rotation 0 0 1 1.5708 | |
| children [ | |
| DEF FEMUR Shape { | |
| appearance USE LEG_COLOR | |
| geometry Capsule { | |
| height 0.016 | |
| radius 0.00575 | |
| } | |
| } | |
| ] | |
| } | |
| ] | |
| } | |
| DEF JOINT_TIBIA_2 Solid { | |
| translation 0.024 0 0 | |
| rotation 0 0 1 1.0472 | |
| children [ | |
| DEF GROUP_TIBIA_2 Group { | |
| children [ | |
| DEF TRANSFORM_TIBIA_2 Transform { | |
| translation 0.0225 0 0 | |
| rotation 0 0 1 1.5708 | |
| children [ | |
| DEF TIBIA Shape { | |
| appearance USE LEG_COLOR | |
| geometry Capsule { | |
| height 0.042 | |
| radius 0.00575 | |
| } | |
| } | |
| ] | |
| } | |
| DEF TRANSFORM_FOOT_2 Transform { | |
| translation 0.045 0.002 0.0055 | |
| rotation 0 0 1 -1.0472 | |
| children [ | |
| DEF FOOT Shape { | |
| appearance USE LEG_COLOR | |
| geometry Cylinder { | |
| height 0.0075 | |
| radius 0.013 | |
| } | |
| } | |
| ] | |
| } | |
| ] | |
| } | |
| ] | |
| contactMaterial "leg" | |
| immersionProperties [ | |
| USE IMMERSION_PROP_TIBIA | |
| ] | |
| boundingObject USE GROUP_TIBIA_2 | |
| physics Physics { | |
| density -1 | |
| mass 0.0045704 | |
| centerOfMass [ | |
| 0.03 0 0 | |
| ] | |
| inertiaMatrix [ | |
| 2.59057e-7 1.32103e-6 1.25007e-6 | |
| -2.73481e-8 -1.64256e-7 -2.19008e-8 | |
| ] | |
| } | |
| } | |
| ] | |
| name "leg 2" | |
| contactMaterial "body" | |
| immersionProperties [ | |
| USE IMMERSION_PROP_FEMUR | |
| ] | |
| boundingObject USE GROUP_FEMUR_2 | |
| physics Physics { | |
| density -1 | |
| mass 0.00242371 | |
| centerOfMass [ | |
| 0.012 0 0 | |
| ] | |
| inertiaMatrix [ | |
| 7.57828e-8 1.99961e-7 1.99961e-7 | |
| -1.03066e-13 0 0 | |
| ] | |
| } | |
| } | |
| } | |
| HingeJoint { | |
| jointParameters HingeJointParameters { | |
| axis 0 1 0 | |
| anchor 0 0 0.066 | |
| } | |
| device [ | |
| RotationalMotor { | |
| name "motor_1" | |
| minPosition -1.13446 | |
| maxPosition 1.13446 | |
| maxTorque 100 | |
| } | |
| ] | |
| endPoint DEF SEGMENT_1 Solid { | |
| translation 0 0 0.066 | |
| children [ | |
| USE SMALL_SEGMENT | |
| HingeJoint { | |
| jointParameters HingeJointParameters { | |
| axis 0 1 0 | |
| anchor 0 0 0.095 | |
| } | |
| device [ | |
| RotationalMotor { | |
| name "motor_2" | |
| minPosition -1.13446 | |
| maxPosition 1.13446 | |
| maxTorque 100 | |
| } | |
| ] | |
| endPoint DEF SEGMENT_2 Solid { | |
| translation 0 0 0.095 | |
| children [ | |
| USE SMALL_SEGMENT | |
| HingeJoint { | |
| jointParameters HingeJointParameters { | |
| axis 0 1 0 | |
| anchor 0 0 0.095 | |
| } | |
| device [ | |
| RotationalMotor { | |
| name "motor_3" | |
| minPosition -1.13446 | |
| maxPosition 1.13446 | |
| maxTorque 100 | |
| } | |
| ] | |
| endPoint DEF SEGMENT_3 Solid { | |
| translation 0 0 0.095 | |
| children [ | |
| USE SMALL_SEGMENT | |
| HingeJoint { # Simulation of backlash. | |
| jointParameters HingeJointParameters { | |
| axis 0 1 0 | |
| anchor 0 0 0.108 | |
| minStop -0.0001 | |
| maxStop 0.0001 | |
| } | |
| endPoint DEF SEGMENT_PELVIS Solid { | |
| translation 0 0 0.108 | |
| children [ | |
| USE BIG_SEGMENT | |
| DEF HINGE_JOINT_LEG_3 HingeJoint { | |
| jointParameters HingeJointParameters { | |
| anchor -0.032 0 0.02 | |
| } | |
| device [ | |
| RotationalMotor { | |
| name "motor_leg_3" | |
| maxVelocity 20 | |
| maxTorque 100 | |
| } | |
| ] | |
| endPoint DEF SOLID_LEG_3 Solid { | |
| translation -0.032 0 0.02 | |
| rotation 1 0 0 0 | |
| children [ | |
| DEF GROUP_FEMUR_3 Group { | |
| children [ | |
| DEF TRANSFORM_HIP_3 Transform { | |
| translation -0.004 0 0 | |
| rotation 0 0 1 1.5708 | |
| children [ | |
| USE SHAPE_HIP | |
| ] | |
| } | |
| DEF TRANSFORM_FEMUR_3 Transform { | |
| translation -0.016 0 0 | |
| rotation 0 0 1 1.5708 | |
| children [ | |
| DEF FEMUR Shape { | |
| appearance USE LEG_COLOR | |
| geometry Capsule { | |
| height 0.016 | |
| radius 0.00575 | |
| } | |
| } | |
| ] | |
| } | |
| ] | |
| } | |
| DEF JOINT_TIBIA_3 Solid { | |
| translation -0.024 0 0 | |
| rotation 0 0 1 1.0472 | |
| children [ | |
| DEF GROUP_TIBIA_3 Group { | |
| children [ | |
| DEF TRANSFORM_TIBIA_3 Transform { | |
| translation -0.0225 0 0 | |
| rotation 0 0 1 1.5708 | |
| children [ | |
| DEF TIBIA Shape { | |
| appearance USE LEG_COLOR | |
| geometry Capsule { | |
| height 0.042 | |
| radius 0.00575 | |
| } | |
| } | |
| ] | |
| } | |
| DEF TRANSFORM_FOOT_3 Transform { | |
| translation -0.045 -0.002 -0.0055 | |
| rotation 0 0 1 -1.0472 | |
| children [ | |
| DEF FOOT Shape { | |
| appearance USE LEG_COLOR | |
| geometry Cylinder { | |
| height 0.0075 | |
| radius 0.013 | |
| } | |
| } | |
| ] | |
| } | |
| ] | |
| } | |
| ] | |
| contactMaterial "leg" | |
| immersionProperties [ | |
| USE IMMERSION_PROP_TIBIA | |
| ] | |
| boundingObject USE GROUP_TIBIA_3 | |
| physics Physics { | |
| density -1 | |
| mass 0.0045704 | |
| centerOfMass [ | |
| -0.03 0 0 | |
| ] | |
| inertiaMatrix [ | |
| 2.59057e-7 1.32103e-6 1.25007e-6 | |
| -2.73481e-8 -1.64256e-7 -2.19008e-8 | |
| ] | |
| } | |
| } | |
| ] | |
| name "leg 3" | |
| contactMaterial "body" | |
| immersionProperties [ | |
| USE IMMERSION_PROP_FEMUR | |
| ] | |
| boundingObject USE GROUP_FEMUR_3 | |
| physics Physics { | |
| density -1 | |
| mass 0.00242371 | |
| centerOfMass [ | |
| -0.012 0 0 | |
| ] | |
| inertiaMatrix [ | |
| 7.57828e-8 1.99961e-7 1.99961e-7 | |
| -1.03066e-13 0 0 | |
| ] | |
| } | |
| } | |
| } | |
| DEF HINGE_JOINT_LEG_4 HingeJoint { | |
| jointParameters HingeJointParameters { | |
| anchor 0.032 0 0.02 | |
| } | |
| device [ | |
| RotationalMotor { | |
| name "motor_leg_4" | |
| maxVelocity 20 | |
| maxTorque 100 | |
| } | |
| ] | |
| endPoint DEF SOLID_LEG_4 Solid { | |
| translation 0.032 0 0.02 | |
| rotation 1 0 0 3.14159 | |
| children [ | |
| DEF GROUP_FEMUR_4 Group { | |
| children [ | |
| DEF TRANSFORM_HIP_4 Transform { | |
| translation 0.004 0 0 | |
| rotation 0 0 1 1.5708 | |
| children [ | |
| USE SHAPE_HIP | |
| ] | |
| } | |
| DEF TRANSFORM_FEMUR_4 Transform { | |
| translation 0.016 0 0 | |
| rotation 0 0 1 1.5708 | |
| children [ | |
| DEF FEMUR Shape { | |
| appearance USE LEG_COLOR | |
| geometry Capsule { | |
| height 0.016 | |
| radius 0.00575 | |
| } | |
| } | |
| ] | |
| } | |
| ] | |
| } | |
| DEF JOINT_TIBIA_4 Solid { | |
| translation 0.024 0 0 | |
| rotation 0 0 1 1.0472 | |
| children [ | |
| DEF GROUP_TIBIA_4 Group { | |
| children [ | |
| DEF TRANSFORM_TIBIA_4 Transform { | |
| translation 0.0225 0 0 | |
| rotation 0 0 1 1.5708 | |
| children [ | |
| DEF TIBIA Shape { | |
| appearance USE LEG_COLOR | |
| geometry Capsule { | |
| height 0.042 | |
| radius 0.00575 | |
| } | |
| } | |
| ] | |
| } | |
| DEF TRANSFORM_FOOT_4 Transform { | |
| translation 0.045 0.002 0.0055 | |
| rotation 0 0 1 -1.0472 | |
| children [ | |
| DEF FOOT Shape { | |
| appearance USE LEG_COLOR | |
| geometry Cylinder { | |
| height 0.0075 | |
| radius 0.013 | |
| } | |
| } | |
| ] | |
| } | |
| ] | |
| } | |
| ] | |
| contactMaterial "leg" | |
| immersionProperties [ | |
| USE IMMERSION_PROP_TIBIA | |
| ] | |
| boundingObject USE GROUP_TIBIA_4 | |
| physics Physics { | |
| density -1 | |
| mass 0.0045704 | |
| centerOfMass [ | |
| 0.03 0 0 | |
| ] | |
| inertiaMatrix [ | |
| 2.59057e-7 1.32103e-6 1.25007e-6 | |
| -2.73481e-8 -1.64256e-7 -2.19008e-8 | |
| ] | |
| } | |
| } | |
| ] | |
| name "leg 4" | |
| contactMaterial "body" | |
| immersionProperties [ | |
| USE IMMERSION_PROP_FEMUR | |
| ] | |
| boundingObject USE GROUP_FEMUR_4 | |
| physics Physics { | |
| density -1 | |
| mass 0.00242371 | |
| centerOfMass [ | |
| 0.012 0 0 | |
| ] | |
| inertiaMatrix [ | |
| 7.57828e-8 1.99961e-7 1.99961e-7 | |
| -1.03066e-13 0 0 | |
| ] | |
| } | |
| } | |
| } | |
| HingeJoint { | |
| jointParameters HingeJointParameters { | |
| axis 0 1 0 | |
| anchor 0 0 0.066 | |
| } | |
| device [ | |
| RotationalMotor { | |
| name "motor_4" | |
| minPosition -1.13446 | |
| maxPosition 1.13446 | |
| maxTorque 100 | |
| } | |
| ] | |
| endPoint DEF SEGMENT_4 Solid { | |
| translation 0 0 0.066 | |
| children [ | |
| USE SMALL_SEGMENT | |
| HingeJoint { | |
| jointParameters HingeJointParameters { | |
| axis 0 1 0 | |
| anchor 0 0 0.095 | |
| } | |
| device [ | |
| RotationalMotor { | |
| name "motor_5" | |
| minPosition -1.13446 | |
| maxPosition 1.13446 | |
| maxTorque 100 | |
| } | |
| ] | |
| endPoint DEF SEGMENT_5 Solid { | |
| translation 0 0 0.095 | |
| children [ | |
| USE SMALL_SEGMENT | |
| HingeJoint { | |
| jointParameters HingeJointParameters { | |
| axis 0 1 0 | |
| anchor 0 0 0.095 | |
| } | |
| device [ | |
| RotationalMotor { | |
| name "motor_6" | |
| minPosition -1.13446 | |
| maxPosition 1.13446 | |
| maxTorque 100 | |
| } | |
| ] | |
| endPoint DEF SEGMENT_6 Solid { | |
| translation 0 0 0.095 | |
| children [ | |
| USE SMALL_SEGMENT | |
| ] | |
| contactMaterial "body" | |
| immersionProperties [ | |
| DEF IMMERSION_PROP_SEGMENT ImmersionProperties { | |
| fluidName "fluid" | |
| referenceArea "xyz-projection" | |
| dragForceCoefficients 3.1 1.3 0 | |
| viscousResistanceTorqueCoefficient 5 | |
| } | |
| ] | |
| boundingObject USE SMALL_SEGMENT | |
| physics DEF SEGMENT_PHYSICS Physics { | |
| density -1 | |
| mass 0.180281 | |
| centerOfMass [ | |
| 0 -0.014 0.038 | |
| ] | |
| inertiaMatrix [ | |
| 0.000222864 0.000160531 0.000102659 | |
| 0 0 2.70783e-5 | |
| ] | |
| } | |
| } | |
| } | |
| ] | |
| contactMaterial "body" | |
| immersionProperties [ | |
| USE IMMERSION_PROP_SEGMENT | |
| ] | |
| boundingObject USE SMALL_SEGMENT | |
| physics USE SEGMENT_PHYSICS | |
| } | |
| } | |
| ] | |
| contactMaterial "body" | |
| immersionProperties [ | |
| USE IMMERSION_PROP_SEGMENT | |
| ] | |
| boundingObject USE SMALL_SEGMENT | |
| physics USE SEGMENT_PHYSICS | |
| } | |
| } | |
| ] | |
| contactMaterial "body" | |
| immersionProperties [ | |
| DEF IMMERSION_PROP_BIG_SEGMENT ImmersionProperties { | |
| fluidName "fluid" | |
| referenceArea "xyz-projection" | |
| dragForceCoefficients 1.8 0.95 0.75 | |
| viscousResistanceTorqueCoefficient 5 | |
| } | |
| ] | |
| boundingObject USE BIG_SEGMENT | |
| physics DEF BIG_SEGMENT_PHYSICS Physics { | |
| density -1 | |
| mass 0.279137 | |
| centerOfMass [ | |
| 0 -0.014 0.0235 | |
| ] | |
| inertiaMatrix [ | |
| 0.000269294 0.000224459 0.000210752 | |
| 0 0 4.75005e-5 | |
| ] | |
| } | |
| } | |
| } | |
| ] | |
| contactMaterial "body" | |
| immersionProperties [ | |
| USE IMMERSION_PROP_SEGMENT | |
| ] | |
| boundingObject USE SMALL_SEGMENT | |
| physics USE SEGMENT_PHYSICS | |
| } | |
| } | |
| ] | |
| contactMaterial "body" | |
| immersionProperties [ | |
| USE IMMERSION_PROP_SEGMENT | |
| ] | |
| boundingObject USE SMALL_SEGMENT | |
| physics USE SEGMENT_PHYSICS | |
| } | |
| } | |
| ] | |
| contactMaterial "body" | |
| immersionProperties [ | |
| USE IMMERSION_PROP_SEGMENT | |
| ] | |
| boundingObject USE SMALL_SEGMENT | |
| physics USE SEGMENT_PHYSICS | |
| } | |
| } | |
| ] | |
| contactMaterial "body" | |
| immersionProperties [ | |
| USE IMMERSION_PROP_BIG_SEGMENT | |
| ] | |
| boundingObject USE BIG_SEGMENT | |
| physics USE BIG_SEGMENT_PHYSICS | |
| } | |
| } | |
| ] | |
| contactMaterial "body" | |
| immersionProperties [ | |
| DEF IMMERSION_PROP_HEAD ImmersionProperties { | |
| fluidName "fluid" | |
| referenceArea "xyz-projection" | |
| dragForceCoefficients 2 1 1 | |
| viscousResistanceTorqueCoefficient 5 | |
| } | |
| ] | |
| boundingObject USE SMALL_SEGMENT | |
| physics USE SEGMENT_PHYSICS | |
| } | |
| } |
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