diff --git a/sample/environments/CMakeLists.txt b/sample/environments/CMakeLists.txt index 80bb5f43ee4..08d7da6b2a9 100644 --- a/sample/environments/CMakeLists.txt +++ b/sample/environments/CMakeLists.txt @@ -2,5 +2,6 @@ install(FILES TerrainFloor.wrl DRCTestbedTerrainUSBlock.wrl DRCTestbedTerrainJPBlock.wrl + DRCTestbedStair.wrl DESTINATION share/hrpsys/samples/environments) diff --git a/sample/environments/DRCTestbedStair.wrl b/sample/environments/DRCTestbedStair.wrl new file mode 100644 index 00000000000..df8fdf99876 --- /dev/null +++ b/sample/environments/DRCTestbedStair.wrl @@ -0,0 +1,2208 @@ +#VRML V2.0 utf8 + +# Produced by EusLisp 9.11(f542489 cf136bb 66193) for Linux64 created on W540-nozawa(Thu Mar 19 17:30:45 JST 2015) +# Date: Sun Mar 29 03:18:57 2015 + + +PROTO Joint [ + exposedField SFVec3f center 0 0 0 + exposedField MFNode children [] + exposedField MFFloat llimit [] + exposedField SFRotation limitOrientation 0 0 1 0 + exposedField SFString name "" + exposedField SFRotation rotation 0 0 1 0 + exposedField SFVec3f scale 1 1 1 + exposedField SFRotation scaleOrientation 0 0 1 0 + exposedField MFFloat stiffness [ 0 0 0 ] + exposedField SFVec3f translation 0 0 0 + exposedField MFFloat ulimit [] + exposedField MFFloat dh [0 0 0 0] + exposedField SFString jointType "" + exposedField SFInt32 jointId -1 + exposedField SFVec3f jointAxis 0 0 1 +] +{ + Transform { + center IS center + children IS children + rotation IS rotation + scale IS scale + scaleOrientation IS scaleOrientation + translation IS translation + } +} + +PROTO Segment [ + field SFVec3f bboxCenter 0 0 0 + field SFVec3f bboxSize -1 -1 -1 + exposedField SFVec3f centerOfMass 0 0 0 + exposedField MFNode children [ ] + exposedField SFNode coord NULL + exposedField MFNode displacers [ ] + exposedField SFFloat mass 0 + exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] + exposedField SFString name "" + eventIn MFNode addChildren + eventIn MFNode removeChildren +] +{ + Group { + addChildren IS addChildren + bboxCenter IS bboxCenter + bboxSize IS bboxSize + children IS children + removeChildren IS removeChildren + } +} + + +PROTO Humanoid [ + field SFVec3f bboxCenter 0 0 0 + field SFVec3f bboxSize -1 -1 -1 + exposedField SFVec3f center 0 0 0 + exposedField MFNode humanoidBody [ ] + exposedField MFString info [ ] + exposedField MFNode joints [ ] + exposedField SFString name "" + exposedField SFRotation rotation 0 0 1 0 + exposedField SFVec3f scale 1 1 1 + exposedField SFRotation scaleOrientation 0 0 1 0 + exposedField MFNode segments [ ] + exposedField MFNode sites [ ] + exposedField SFVec3f translation 0 0 0 + exposedField SFString version "1.1" + exposedField MFNode viewpoints [ ] +] +{ + Transform { + bboxCenter IS bboxCenter + bboxSize IS bboxSize + center IS center + rotation IS rotation + scale IS scale + scaleOrientation IS scaleOrientation + translation IS translation + children [ + Group { + children IS viewpoints + } + Group { + children IS humanoidBody + } + ] + } +} + + +PROTO VisionSensor [ + exposedField SFVec3f translation 0 0 0 + exposedField SFRotation rotation 0 0 1 0 + #exposedField SFRotation orientation 0 0 1 0 + exposedField SFFloat fieldOfView 0.785398 + exposedField SFString name "" + exposedField SFFloat frontClipDistance 0.01 + exposedField SFFloat backClipDistance 10.0 + exposedField SFString type "NONE" + exposedField SFInt32 sensorId -1 + exposedField SFInt32 width 320 # + exposedField SFInt32 height 240 # + #exposedField MFNode children [] # for me +] +{ + Transform { + rotation IS rotation + translation IS translation + #children IS children # for me + } +} + + +PROTO ForceSensor [ + exposedField SFVec3f maxForce -1 -1 -1 + exposedField SFVec3f maxTorque -1 -1 -1 + exposedField SFVec3f translation 0 0 0 + exposedField SFRotation rotation 0 0 1 0 + exposedField SFInt32 sensorId -1 +] +{ + Transform { +translation IS translation + rotation IS rotation + } +} + +PROTO Gyro [ + exposedField SFVec3f maxAngularVelocity -1 -1 -1 + exposedField SFVec3f translation 0 0 0 + exposedField SFRotation rotation 0 0 1 0 + exposedField SFInt32 sensorId -1 +] +{ + Transform { + translation IS translation + rotation IS rotation + } +} + +PROTO AccelerationSensor [ + exposedField SFVec3f maxAcceleration -1 -1 -1 + exposedField SFVec3f translation 0 0 0 + exposedField SFRotation rotation 0 0 1 0 + exposedField SFInt32 sensorId -1 +] +{ + Transform { + translation IS translation + rotation IS rotation + } +} + +PROTO PressureSensor [ + exposedField SFFloat maxPressure -1 + exposedField SFVec3f translation 0 0 0 + exposedField SFRotation rotation 0 0 1 0 + exposedField SFInt32 sensorId -1 +] +{ + Transform { + translation IS translation + rotation IS rotation + } +} + + +NavigationInfo { + avatarSize 0.5 + headlight TRUE + type ["EXAMINE", "ANY"] +} +Viewpoint { + position 3 0 0.835 + orientation 0.5770 0.5775 0.5775 2.0935 +} +DEF DRCTestbedStair Humanoid { + humanoidBody [ + DEF WAIST Joint { + jointType "fixed" + dh [0 0 0 0] + translation 0.000000 0.000000 0.000000 + rotation 0.0 0.0 1.0 0 + children [ + DEF ROOT-LINK_S Segment { + centerOfMass 0.0 0.0 0.0 + mass 0.001 + momentsOfInertia [ 1.000000e-09 0.0 0.0 0.0 1.000000e-09 0.0 0.0 0.0 1.000000e-09 ] + children [ + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 0.500000 0.600000 -0.010000, + 0.500000 0.600000 0.000000, + 0.500000 -0.600000 -0.010000, + 0.500000 -0.600000 0.000000, + -0.500000 0.600000 -0.010000, + -0.500000 -0.600000 -0.010000, + -0.500000 -0.600000 0.000000, + -0.500000 0.600000 0.000000, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 0.290000 0.540000 0.000000, + 0.290000 0.540000 0.225000, + 0.290000 -0.540000 0.000000, + 0.290000 -0.540000 0.225000, + 0.000000 0.540000 0.000000, + 0.000000 -0.540000 0.000000, + 0.000000 -0.540000 0.225000, + 0.000000 0.540000 0.225000, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 0.580000 0.540000 0.225000, + 0.580000 0.540000 0.455000, + 0.580000 -0.540000 0.225000, + 0.580000 -0.540000 0.455000, + 0.290000 0.540000 0.225000, + 0.290000 -0.540000 0.225000, + 0.290000 -0.540000 0.455000, + 0.290000 0.540000 0.455000, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 0.850000 0.540000 0.455000, + 0.850000 0.540000 0.685000, + 0.850000 -0.540000 0.455000, + 0.850000 -0.540000 0.685000, + 0.580000 0.540000 0.455000, + 0.580000 -0.540000 0.455000, + 0.580000 -0.540000 0.685000, + 0.580000 0.540000 0.685000, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 2.055000 0.625000 0.820000, + 2.055000 0.625000 0.905000, + 2.055000 -1.805000 0.820000, + 2.055000 -1.805000 0.905000, + 0.850000 0.625000 0.820000, + 0.850000 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appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 0.810000 0.540000 0.685000, + 0.810000 0.540000 1.680000, + 0.810000 0.500000 0.685000, + 0.810000 0.500000 1.680000, + 0.760000 0.540000 0.685000, + 0.760000 0.500000 0.685000, + 0.760000 0.500000 1.680000, + 0.760000 0.540000 1.680000, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 0.810000 -0.500000 0.685000, + 0.810000 -0.500000 1.680000, + 0.810000 -0.540000 0.685000, + 0.810000 -0.540000 1.680000, + 0.760000 -0.500000 0.685000, + 0.760000 -0.540000 0.685000, + 0.760000 -0.540000 1.680000, + 0.760000 -0.500000 1.680000, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + -0.029336 0.510000 1.026351, + 0.790195 0.510000 1.666639, + -0.033843 0.502679 1.032120, + 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+ point[ + 0.885000 -1.805000 0.905000, + 0.885000 -1.805000 1.970000, + 0.885000 -1.855000 0.905000, + 0.885000 -1.855000 1.970000, + 0.850000 -1.805000 0.905000, + 0.850000 -1.855000 0.905000, + 0.850000 -1.855000 1.970000, + 0.850000 -1.805000 1.970000, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 2.090000 0.575000 0.905000, + 2.090000 0.575000 1.970000, + 2.090000 0.525000 0.905000, + 2.090000 0.525000 1.970000, + 2.055000 0.575000 0.905000, + 2.055000 0.525000 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material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 2.055000 0.675000 1.455000, + 2.055000 0.675000 1.495000, + 2.055000 0.625000 1.455000, + 2.055000 0.625000 1.495000, + 0.850000 0.675000 1.455000, + 0.850000 0.625000 1.455000, + 0.850000 0.625000 1.495000, + 0.850000 0.675000 1.495000, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 2.055000 -1.805000 1.970000, + 2.055000 -1.805000 2.010000, + 2.055000 -1.855000 1.970000, + 2.055000 -1.855000 2.010000, + 0.850000 -1.805000 1.970000, + 0.850000 -1.855000 1.970000, + 0.850000 -1.855000 2.010000, + 0.850000 -1.805000 2.010000, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 2.055000 -1.805000 1.455000, + 2.055000 -1.805000 1.495000, + 2.055000 -1.855000 1.455000, + 2.055000 -1.855000 1.495000, + 0.850000 -1.805000 1.455000, + 0.850000 -1.855000 1.455000, + 0.850000 -1.855000 1.495000, + 0.850000 -1.805000 1.495000, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 2.105000 0.625000 1.970000, + 2.105000 0.625000 2.010000, + 2.105000 -1.805000 1.970000, + 2.105000 -1.805000 2.010000, + 2.055000 0.625000 1.970000, + 2.055000 -1.805000 1.970000, + 2.055000 -1.805000 2.010000, + 2.055000 0.625000 2.010000, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 2.105000 0.625000 1.455000, + 2.105000 0.625000 1.495000, + 2.105000 -1.805000 1.455000, + 2.105000 -1.805000 1.495000, + 2.055000 0.625000 1.455000, + 2.055000 -1.805000 1.455000, + 2.055000 -1.805000 1.495000, + 2.055000 0.625000 1.495000, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 2.055000 -1.805000 0.872500, + 2.055000 -1.805000 0.977500, + 2.055000 -1.815000 0.872500, + 2.055000 -1.815000 0.977500, + 0.850000 -1.805000 0.872500, + 0.850000 -1.815000 0.872500, + 0.850000 -1.815000 0.977500, + 0.850000 -1.805000 0.977500, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 2.055000 0.625000 0.872500, + 2.055000 0.625000 0.977500, + 2.055000 0.615000 0.872500, + 2.055000 0.615000 0.977500, + 0.850000 0.625000 0.872500, + 0.850000 0.615000 0.872500, + 0.850000 0.615000 0.977500, + 0.850000 0.625000 0.977500, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + ] + } #Segment + ] + } #WAIST + ] # END of HumanoidBody + + joints [ + USE WAIST + ] + + segments [ + USE ROOT-LINK_S + ] + +} diff --git a/sample/environments/DRCTestbedTerrainJPBlock.wrl b/sample/environments/DRCTestbedTerrainJPBlock.wrl index c9fc195b495..99761c45bc5 100644 --- a/sample/environments/DRCTestbedTerrainJPBlock.wrl +++ b/sample/environments/DRCTestbedTerrainJPBlock.wrl @@ -1,7 +1,7 @@ #VRML V2.0 utf8 -# Produced by EusLisp 9.11(f542489 1.0.3 66193) for Linux64 created on W540-nozawa(Thu Mar 19 17:30:45 JST 2015) -# Date: Thu Mar 19 18:34:15 2015 +# Produced by EusLisp 9.11(f542489 cf136bb 66193) for Linux64 created on W540-nozawa(Thu Mar 19 17:30:45 JST 2015) +# Date: Sun Mar 29 03:18:57 2015 PROTO Joint [ @@ -8677,6 +8677,52 @@ DEF DRCTestbedTerrainJPBlock Humanoid { ] } } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 3.050000 2.700000 -0.010000, + 3.050000 2.700000 0.000000, + 3.050000 -0.600000 -0.010000, + 3.050000 -0.600000 0.000000, + -0.650000 2.700000 -0.010000, + -0.650000 -0.600000 -0.010000, + -0.650000 -0.600000 0.000000, + -0.650000 2.700000 0.000000, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } ] } #Segment ] diff --git a/sample/environments/DRCTestbedTerrainUSBlock.wrl b/sample/environments/DRCTestbedTerrainUSBlock.wrl index 70d045c8b63..2675ba523f4 100644 --- a/sample/environments/DRCTestbedTerrainUSBlock.wrl +++ b/sample/environments/DRCTestbedTerrainUSBlock.wrl @@ -1,7 +1,7 @@ #VRML V2.0 utf8 -# Produced by EusLisp 9.11(f542489 1.0.3 66193) for Linux64 created on W540-nozawa(Thu Mar 19 17:30:45 JST 2015) -# Date: Thu Mar 19 18:34:09 2015 +# Produced by EusLisp 9.11(f542489 cf136bb 66193) for Linux64 created on W540-nozawa(Thu Mar 19 17:30:45 JST 2015) +# Date: Sun Mar 29 03:18:57 2015 PROTO Joint [ @@ -8677,6 +8677,52 @@ DEF DRCTestbedTerrainUSBlock Humanoid { ] } } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-LINK-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.742188 0.742188 0.742188, + ] + } + coord DEF ROOT-LINK-COORD Coordinate { + point[ + 3.050000 2.700000 -0.010000, + 3.050000 2.700000 0.000000, + 3.050000 -0.600000 -0.010000, + 3.050000 -0.600000 0.000000, + -0.650000 2.700000 -0.010000, + -0.650000 -0.600000 -0.010000, + -0.650000 -0.600000 0.000000, + -0.650000 2.700000 0.000000, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } ] } #Segment ]