How to set up boundaryObject for a bipedal robot construction?

[huiduan-25]

Hello,
I build a bipedal robot in SolidWorks and import the model into Webots. All the parts are lost their mates and become transform nodes. I change them to solid nodes and move them into new solid nodes shown in Figure1. These new solid nodes are in a robot node. I also create a transform node called body_trans and a Box shape node in the children. So, the boundaryObject can select the body_trans node or any transform node shown in Figure 2.

I am not sure how I can make the boundaryObject select the robot node, not a simple box or a specific transform node of part.

Thank you very much for your kind help!

[omichel]

You should define a bounding object for each articulated component of the robot. I would recommend you follow the Webots tutorials to learn how to create bounding objects for a robot, especially tutorials 5 and 6.

[huiduan-25]

Hi, Michel

Thank you for your reply. Most of components of the robot have complex shape, I am not sure how to define their boundaryObject by adding shape node. Could you please give me more information?

Thank you

[omichel]

You should create a compound bounding object as explained in tutorial 5. Such a bounding object combines several primitives (spheres, cylinders, boxes, capsules, etc.) into a single bounding object.