mass of toe and sole now depends on toe ratio

LievenPetersen · LievenPetersen · commit 67a6f74e4395 · 2024-06-18T16:12:49.000+02:00
diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang.proto b/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang.proto
@@ -108,11 +108,11 @@ PROTO Wolfgang [
       0.2 0.2 0.2
     ]
     %{
-      TOE_FRACTION = 0.3
+      TOE_RATIO = 0.3
       FOOT_LENGTH = 0.18
       FOOT_MASS = 0.26824
-      TOE_LENGTH = FOOT_LENGTH * TOE_FRACTION
-      REAR_FOOT_LENGTH = FOOT_LENGTH * (1-TOE_FRACTION)
+      TOE_LENGTH = FOOT_LENGTH * TOE_RATIO
+      REAR_FOOT_LENGTH = FOOT_LENGTH * (1-TOE_RATIO)
     }%
     %{
       if fields.name.value ~= '' then
@@ -2169,7 +2169,7 @@ PROTO Wolfgang [
                                               }
                                               physics Physics {
                                                 density -1
-                                                mass 0.1
+                                                mass %{=TOE_RATIO * FOOT_MASS}%
                                               }
                                             }
                                           }
@@ -2204,7 +2204,7 @@ PROTO Wolfgang [
                                         %{if fields.enablePhysics.value then}%
                                           physics Physics {
                                             density -1
-                                            mass 0.268240
+                                            mass %{=(1-TOE_RATIO) * FOOT_MASS}%
                                             centerOfMass [ 0.011970 0.091109 -0.029858 ]
                                             inertiaMatrix [
                                               8.841070e-04 3.178300e-04 1.153640e-03
@@ -3595,7 +3595,7 @@ PROTO Wolfgang [
                                               }
                                               physics Physics {
                                                 density -1
-                                                mass 0.1
+                                                mass %{=TOE_RATIO * FOOT_MASS}%
                                               }
                                             }
                                           }
@@ -3631,7 +3631,7 @@ PROTO Wolfgang [
                                         %{if fields.enablePhysics.value then}%
                                           physics Physics {
                                             density -1
-                                            mass 0.168240
+                                            mass %{=(1-TOE_RATIO) * FOOT_MASS}%
                                             centerOfMass [ -0.012040 0.091109 -0.029858 ]
                                             inertiaMatrix [
                                               8.841070e-04 3.173780e-04 1.153190e-03

Original file line number	Diff line number	Diff line change
`@@ -108,11 +108,11 @@ PROTO Wolfgang [`
`108`	`108`	`0.2 0.2 0.2`
`109`	`109`	`]`
`110`	`110`	`%{`
`111`		`- TOE_FRACTION = 0.3`
	`111`	`+ TOE_RATIO = 0.3`
`112`	`112`	`FOOT_LENGTH = 0.18`
`113`	`113`	`FOOT_MASS = 0.26824`
`114`		`- TOE_LENGTH = FOOT_LENGTH * TOE_FRACTION`
`115`		`- REAR_FOOT_LENGTH = FOOT_LENGTH * (1-TOE_FRACTION)`
	`114`	`+ TOE_LENGTH = FOOT_LENGTH * TOE_RATIO`
	`115`	`+ REAR_FOOT_LENGTH = FOOT_LENGTH * (1-TOE_RATIO)`
`116`	`116`	`}%`
`117`	`117`	`%{`
`118`	`118`	`if fields.name.value ~= '' then`
`@@ -2169,7 +2169,7 @@ PROTO Wolfgang [`
`2169`	`2169`	`}`
`2170`	`2170`	`physics Physics {`
`2171`	`2171`	`density -1`
`2172`		`- mass 0.1`
	`2172`	`+ mass %{=TOE_RATIO * FOOT_MASS}%`
`2173`	`2173`	`}`
`2174`	`2174`	`}`
`2175`	`2175`	`}`
`@@ -2204,7 +2204,7 @@ PROTO Wolfgang [`
`2204`	`2204`	`%{if fields.enablePhysics.value then}%`
`2205`	`2205`	`physics Physics {`
`2206`	`2206`	`density -1`
`2207`		`- mass 0.268240`
	`2207`	`+ mass %{=(1-TOE_RATIO) * FOOT_MASS}%`
`2208`	`2208`	`centerOfMass [ 0.011970 0.091109 -0.029858 ]`
`2209`	`2209`	`inertiaMatrix [`
`2210`	`2210`	`8.841070e-04 3.178300e-04 1.153640e-03`
`@@ -3595,7 +3595,7 @@ PROTO Wolfgang [`
`3595`	`3595`	`}`
`3596`	`3596`	`physics Physics {`
`3597`	`3597`	`density -1`
`3598`		`- mass 0.1`
	`3598`	`+ mass %{=TOE_RATIO * FOOT_MASS}%`
`3599`	`3599`	`}`
`3600`	`3600`	`}`
`3601`	`3601`	`}`
`@@ -3631,7 +3631,7 @@ PROTO Wolfgang [`
`3631`	`3631`	`%{if fields.enablePhysics.value then}%`
`3632`	`3632`	`physics Physics {`
`3633`	`3633`	`density -1`
`3634`		`- mass 0.168240`
	`3634`	`+ mass %{=(1-TOE_RATIO) * FOOT_MASS}%`
`3635`	`3635`	`centerOfMass [ -0.012040 0.091109 -0.029858 ]`
`3636`	`3636`	`inertiaMatrix [`
`3637`	`3637`	`8.841070e-04 3.173780e-04 1.153190e-03`