Skip to content
This repository was archived by the owner on Jan 24, 2024. It is now read-only.

webots: add option for simplified foot shape #245

Draft
SammyRamone wants to merge 1 commit into
base: master
Choose a base branch
from
Draft

webots: add option for simplified foot shape #245

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions wolfgang_webots_sim/protos/Wolfgang.proto
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@ PROTO Wolfgang [
field SFBool enableBoundingObject TRUE # Is `Robot.enableBoundingObject`.
field SFBool enablePhysics TRUE # Is `Robot.enablePhysics`.
field SFBool enableFootSensors TRUE # Is `Robot.enableFootSensors`.
field SFBool simplifyFootCollision FALSE # Is `Robot.enableFootSensors`.
field SFFloat transparency 0 # Is `Robot.transparency`
field SFFloat cameraFOV 1.04
field SFInt32 cameraWidth 800
Expand Down Expand Up @@ -2282,6 +2283,7 @@ PROTO Wolfgang [
]
name "r_foot [foot]"
%{if fields.enableBoundingObject.value then}%
%{if not fields.simplifyFootCollision.value then}%
boundingObject Group {
children [
Transform {
Expand Down Expand Up @@ -2323,6 +2325,7 @@ PROTO Wolfgang [
]
}
%{ end }%
%{ end }%
%{if fields.enablePhysics.value then}%
physics Physics {
density -1
Expand Down Expand Up @@ -3757,6 +3760,7 @@ PROTO Wolfgang [
]
name "l_foot [foot]"
%{if fields.enableBoundingObject.value then}%
%{if not fields.simplifyFootCollision.value then}%
boundingObject Group {
children [
Transform {
Expand Down Expand Up @@ -3801,6 +3805,7 @@ PROTO Wolfgang [
]
}
%{ end }%
%{ end }%
%{if fields.enablePhysics.value then}%
physics Physics {
density -1
Expand Down
2 changes: 2 additions & 0 deletions wolfgang_webots_sim/protos/WolfgangOptimization.proto
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ PROTO WolfgangOptimization [
field SFBool enableBoundingObject TRUE # Is `Robot.enableBoundingObject`.
field SFBool enablePhysics TRUE # Is `Robot.enablePhysics`.
field SFBool enableFootSensors TRUE # Is `Robot.enableFootSensors`.
field SFBool simplifyFootCollision FALSE # Is `Robot.enableFootSensors`.
field SFFloat transparency 0 # Is `Robot.transparency`
field MFNode externalCamera NULL
]
Expand All @@ -32,6 +33,7 @@ PROTO WolfgangOptimization [
enablePhysics IS enablePhysics
transparency IS transparency
enableFootSensors IS enableFootSensors
simplifyFootCollision IS simplifyFootCollision
externalCamera IS externalCamera
}
}
1 change: 1 addition & 0 deletions wolfgang_webots_sim/worlds/deep_quintic_wolfgang.wbt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ DEF lernbot WolfgangOptimization {
name "lernbot"
controller "<extern>"
supervisor TRUE
simplifyFootCollision TRUE
externalCamera [
Camera {
translation 0 -1.5 0
Expand Down