Some updates:
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Location of motor axis (anchor point & wheel relative locations) have been calculated.
-
A simple controller is added to move the paperbot.
- Trying to write down all RoCo-extracted information into Webots program.
The plan is to write a script file following the template of building a paperbot in webots, and automatically plug in RoCo-extracted information.
- Environment information
- Background
- Robot
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- Body
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- Solid:
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- Location
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- Coordinate
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- Facet normal
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- Coordinate Index
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- Left wheel
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- HingeJoint
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- Parameters: Anchor point
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- Device: Rotational motor
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- Solid:
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- Location (Anchor point)
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- Coordinate
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- Facet normal
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- Coordinate Index
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- Right wheel
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- HingeJoint
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- Parameters: Anchor point
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- Device: Rotational motor
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- Solid:
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- Location (Anchor point)
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- Coordinate
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- Facet normal
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- Coordinate Index
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An example code for the paperbot shown in the video
#VRML_SIM R2021a utf8
WorldInfo {
coordinateSystem "NUE"
contactProperties [
ContactProperties {
bounce 0
bounceVelocity 1e-07
}
]
}
Viewpoint {
orientation 0.1575181698415192 0.9454202568029908 0.2852517558164109 4.082650890366556
position -0.5331694579855164 0.3842359596442273 -0.5543078321878591
}
TexturedBackground {
}
TexturedBackgroundLight {
}
RectangleArena {
}
Robot {
translation 0 0.035 0
children [
DEF Left_Joint HingeJoint {
jointParameters HingeJointParameters {
anchor 0.0485 -0.0061 -0.072
}
device [
RotationalMotor {
name "left_rotational_motor"
}
]
endPoint Solid {
translation 0.048511111070087855 -0.0057146924441048436 -0.07183190542373223
rotation 0.0031689662963557104 0.9999899564307588 0.0031693359275411894 1.570810986103391
children [
DEF Left_Wheel_SHAPE Shape {
appearance PBRAppearance {
roughness 1
metalness 0
name "DefaultMaterial"
}
geometry IndexedFaceSet {
coord Coordinate {
point [
0.025 0 0
0.0177 0.0177 0
0 0.025 0
-0.0177 0.0177 0
-0.025 0 0
-0.0177 -0.0177 0
0 -0.025 0
0.0177 -0.0177 0
]
}
normal Normal {
vector [
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
]
}
coordIndex [
5, 6, 4, -1, 3, 4, 6, -1, 6, 1
3, -1, 0, 1, 6, -1, 2, 3, 1, -1
6, 7, 0, -1
]
}
}
]
name "python(1)"
boundingObject USE Left_Wheel_SHAPE
physics Physics {
density -1
mass 1
}
}
}
DEF Right_Joint HingeJoint {
jointParameters HingeJointParameters {
anchor -0.0485 -0.0061 -0.072
}
device [
RotationalMotor {
name "right_rotational_motor"
}
]
endPoint Solid {
translation -0.048488379009435874 -0.005687355762147376 -0.07179421197281106
rotation 0.003174785232571169 -0.9999899218418752 -0.00317442174376679 1.5708068025122137
children [
DEF Right_Wheel_SHAPE Shape {
appearance PBRAppearance {
roughness 1
metalness 0
name "DefaultMaterial"
}
geometry IndexedFaceSet {
coord Coordinate {
point [
0.025 0 0
0.0177 0.0177 0
0 0.025 0
-0.0177 0.0177 0
-0.025 0 0
-0.0177 -0.0177 0
0 -0.025 0
0.0177 -0.0177 0
]
}
normal Normal {
vector [
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
]
}
coordIndex [
5, 6, 4, -1, 3, 4, 6, -1, 6, 1
3, -1, 0, 1, 6, -1, 2, 3, 1, -1
6, 7, 0, -1
]
}
}
]
name "python(2)"
boundingObject USE Right_Wheel_SHAPE
physics Physics {
density -1
mass 1
}
}
}
DEF Body Solid {
children [
DEF BODY_SHAPE Shape {
appearance PBRAppearance {
roughness 1
metalness 0
name "DefaultMaterial"
}
geometry IndexedFaceSet {
coord Coordinate {
point [
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]
}
normal Normal {
vector [
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]
}
coordIndex [
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]
}
}
]
name "python"
}
]
boundingObject USE BODY_SHAPE
physics Physics {
density -1
mass 1
}
controller "Wheel_Controller"
}