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Robot.wbo
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Robot.wbo
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#VRML_OBJ R2019a utf8
DEF robot Robot {
translation 0 1.5 1.5
children [
HingeJoint {
jointParameters DEF j0 HingeJointParameters {
anchor 0 -0.1 -0.015
minStop -1.3
maxStop 0.8
}
endPoint Solid {
translation 2.906032333536155e-92 -0.3516592532979439 -0.0785882089803879
rotation 1 0 0 0.2618013061004256
children [
HingeJoint {
jointParameters DEF j4 HingeJointParameters {
anchor 0 -0.206 0.019
}
endPoint Solid {
translation 0 -0.23 0.033
rotation -1 0 0 0.6544996938995746
children [
DEF link Shape {
appearance PBRAppearance {
}
geometry Box {
size 0.05 0.06 0.005
}
}
]
name "femur link"
boundingObject USE link
physics Physics {
}
}
}
HingeJoint {
jointParameters DEF j1 HingeJointParameters {
anchor 0 -0.25 0
minStop -2.1
maxStop 1
}
endPoint Solid {
translation 0 -0.415 0.121
rotation -0.9999999999999999 0 0 0.6544996938995746
children [
DEF knee_slider HingeJoint {
jointParameters DEF knee_joint_parameters HingeJointParameters {
anchor 0 0.325 -0.01
}
endPoint DEF knee_solid Solid {
translation 0 0.325 -0.01
rotation 1 0 0 0
children [
SliderJoint {
jointParameters DEF knee_tendon JointParameters {
axis 0 1 1
springConstant 25786
}
endPoint SolidReference {
solidName "hip link"
}
}
DEF link Shape {
appearance PBRAppearance {
}
geometry Box {
size 0.05 0.019999999999999997 0.02
}
}
]
name "kneecap"
boundingObject USE link
physics Physics {
}
}
}
DEF calf_group Group {
children [
Transform {
translation 0 0.25 -0.01
children [
Shape {
appearance PBRAppearance {
}
geometry Box {
size 0.04 0.15 0.02
}
}
]
}
DEF calf Shape {
appearance PBRAppearance {
}
geometry Cylinder {
height 0.4
radius 0.02
}
}
]
}
HingeJoint {
jointParameters DEF j2 HingeJointParameters {
anchor 0 -0.2 0
minStop -1.1
maxStop 1.2
}
endPoint DEF foot Solid {
translation -6.461963887086545e-17 -0.20017633578375743 -0.07994277843800915
rotation -1 3.013319038710921e-13 -5.850706442372833e-13 0.0011605922251281776
children [
DEF heel_slider HingeJoint {
jointParameters DEF heel_joint_parameters HingeJointParameters {
anchor 0 0 0.15
}
endPoint DEF heel_solid Solid {
translation 0 0 0.15
rotation 1 0 0 0
children [
SliderJoint {
jointParameters DEF heel_tendon JointParameters {
axis 0 1 0
springConstant 22974
}
endPoint SolidReference {
solidName "femur link"
}
}
DEF link Shape {
appearance PBRAppearance {
}
geometry Box {
size 0.05 0.020000000000000004 0.02
}
}
]
name "heel"
boundingObject USE link
physics Physics {
}
}
}
DEF foot_group Group {
children [
Transform {
translation 0 0 0.1
children [
Shape {
appearance PBRAppearance {
}
geometry Box {
size 0.025 0.01 0.1
}
}
]
}
DEF foot Shape {
appearance PBRAppearance {
}
geometry Box {
size 0.1 0.01 0.2
}
}
]
}
]
name "foot"
boundingObject USE foot_group
physics Physics {
}
}
}
]
boundingObject USE calf_group
physics Physics {
}
}
}
DEF femurž Shape {
appearance PBRAppearance {
}
geometry Cylinder {
height 0.5
radius 0.02
}
}
]
name "solid(1)"
boundingObject USE femurž
physics Physics {
}
}
}
HingeJoint {
jointParameters DEF j3 HingeJointParameters {
anchor 0 -0.1 -0.095
}
endPoint Solid {
translation 0 -0.12505801168366637 -0.10118357619930253
rotation 1 0 0 0.10997784594628349
children [
DEF link Shape {
appearance PBRAppearance {
}
geometry Box {
size 0.05 0.06 0.005
}
}
]
name "hip link"
boundingObject USE link
physics Physics {
}
translationStep 0
rotationStep 0
}
}
DEF bodybox Shape {
appearance PBRAppearance {
}
geometry Box {
size 0.2 0.2 0.2
}
}
]
boundingObject USE bodybox
physics DEF physics_mass Physics {
density -1
mass 2
}
translationStep 0
rotationStep 0
controller ""
supervisor TRUE
selfCollision TRUE
}