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Standardize motor names

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This commit is contained in:
Aditya Vasantharao 2021-02-13 14:27:39 -05:00
parent 8535d1b1d3
commit 0d15396ac5
3 changed files with 141 additions and 32 deletions
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15
simulation/controllers/olympian/olympian.py
View File

@ -11,11 +11,11 @@ def main():
robot = Robot() robot = Robot()
head_motor = robot.getDevice("torso_yaw") head_motor = robot.getDevice("torso_yaw")
motor2 = robot.getDevice("right_elbow_pitch") motor2 = robot.getDevice("right_hip_pitch")
motor3 = robot.getDevice("shoulder_yaw") motor3 = robot.getDevice("right_knee_pitch")
head_motor.setVelocity(0.3) head_motor.setVelocity(1)
motor2.setVelocity(9) motor2.setVelocity(9)
motor3.setVelocity(1) motor3.setVelocity(9)
pos = 0 pos = 0
add = False add = False
@ -27,16 +27,17 @@ def main():
while robot.step(timestep) != -1: while robot.step(timestep) != -1:
head_motor.setPosition(pos) head_motor.setPosition(pos)
# motor2.setPosition(pos) # motor2.setPosition(pos)
# motor3.setPosition(pos) # motor2.setPosition(pos)
# motor3.setPosition(-pos)
if add: if add:
pos += 0.2 pos += 0.2
else: else:
pos -= 0.2 pos -= 0.2
if pos >= 6: if pos >= 1.4:
add = False add = False
elif pos <= -6: elif pos <= -1.4:
add = True add = True
# Enter here exit cleanup code. # Enter here exit cleanup code.

2
simulation/worlds/.olympian.wbproj
View File

@ -5,5 +5,5 @@ sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa01000000020100000
maximizedDockId: -1 maximizedDockId: -1
centralWidgetVisible: 1 centralWidgetVisible: 1
orthographicViewHeight: 1 orthographicViewHeight: 1
textFiles: 0 "controllers/olympian/standingBalance.py" "controllers/olympian/olympian.py" textFiles: 1 "controllers/olympian/standingBalance.py" "controllers/olympian/olympian.py"
consoles: Console:All:All consoles: Console:All:All

156
simulation/worlds/olympian.wbt
View File

@ -104,20 +104,20 @@ Robot {
} }
device [ device [
RotationalMotor { RotationalMotor {
name "left_foot_pitch" name "left_ankle_pitch"
maxTorque 100 maxTorque 100
} }
] ]
device2 [ device2 [
RotationalMotor { RotationalMotor {
name "left_foot_yaw" name "left_ankle_yaw"
minPosition -1.5707963267948966 minPosition -1.5707963267948966
maxPosition 1.5707963267948966 maxPosition 1.5707963267948966
} }
] ]
device3 [ device3 [
RotationalMotor { RotationalMotor {
name "left_foot_roll" name "left_ankle_roll"
maxTorque 100 maxTorque 100
} }
] ]
@ -136,18 +136,45 @@ Robot {
] ]
boundingObject USE left_foot boundingObject USE left_foot
physics Physics { physics Physics {
density -1
mass 4.000000000000001
centerOfMass [
0 0 0
]
inertiaMatrix [
0.054166666666666696 0.0666666666666667 0.014166666666666675
0 0 0
]
} }
} }
} }
] ]
boundingObject USE left_shin boundingObject USE left_shin
physics Physics { physics Physics {
density -1
mass 7.068583470577034
centerOfMass [
0 0 0
]
inertiaMatrix [
0.10586308213356384 0.018886371460448012 0.10586308213356384
0 0 0
]
} }
} }
} }
] ]
boundingObject USE upperLeftLeg boundingObject USE upperLeftLeg
physics Physics { physics Physics {
density -1
mass 7.068583470577034
centerOfMass [
0 0 0
]
inertiaMatrix [
0.10586308213356384 0.018886371460448012 0.10586308213356384
0 0 0
]
} }
} }
} }
@ -225,20 +252,20 @@ Robot {
} }
device [ device [
RotationalMotor { RotationalMotor {
name "right_foot_pitch" name "right_ankle_pitch"
maxTorque 100 maxTorque 100
} }
] ]
device2 [ device2 [
RotationalMotor { RotationalMotor {
name "right_foot_yaw" name "right_ankle_yaw"
minPosition -1.5707963267948966 minPosition -1.5707963267948966
maxPosition 1.5707963267948966 maxPosition 1.5707963267948966
} }
] ]
device3 [ device3 [
RotationalMotor { RotationalMotor {
name "right_foot_roll" name "right_ankle_roll"
maxTorque 100 maxTorque 100
} }
] ]
@ -257,6 +284,15 @@ Robot {
] ]
boundingObject USE right_foot boundingObject USE right_foot
physics Physics { physics Physics {
density -1
mass 4.000000000000001
centerOfMass [
0 0 0
]
inertiaMatrix [
0.054166666666666696 0.0666666666666667 0.014166666666666675
0 0 0
]
} }
} }
} }
@ -279,6 +315,15 @@ Robot {
name "upperRightLegMotor" name "upperRightLegMotor"
boundingObject USE upperRightLeg boundingObject USE upperRightLeg
physics Physics { physics Physics {
density -1
mass 7.068583470577034
centerOfMass [
0 0 0
]
inertiaMatrix [
0.10586308213356384 0.018886371460448012 0.10586308213356384
0 0 0
]
} }
} }
} }
@ -332,19 +377,19 @@ Robot {
} }
device [ device [
RotationalMotor { RotationalMotor {
name "shoulder_roll" name "right_shoulder_roll"
} }
] ]
device2 [ device2 [
RotationalMotor { RotationalMotor {
name "shoulder_yaw" name "right_shoulder_yaw"
minPosition -1.5707963267948966 minPosition -1.5707963267948966
maxPosition 1.5707963267948966 maxPosition 1.5707963267948966
} }
] ]
device3 [ device3 [
RotationalMotor { RotationalMotor {
name "shoulder_pitch" name "right_shoulder_pitch"
} }
] ]
endPoint Solid { endPoint Solid {
@ -356,14 +401,14 @@ Robot {
} }
device [ device [
RotationalMotor { RotationalMotor {
name "elbow_pitch" name "right_elbow_pitch"
} }
] ]
endPoint Solid { endPoint Solid {
translation 0 -0.42499999999726895 -1.5235950555825944e-06 translation 0 -0.42499999999726895 -1.5235950555825944e-06
rotation 1 0 0 3.5849604925388305e-06 rotation 0.9999999999999999 0 0 3.5849604925388305e-06
children [ children [
DEF elbow Shape { DEF right_elbow Shape {
appearance PBRAppearance { appearance PBRAppearance {
roughness 1 roughness 1
metalness 0 metalness 0
@ -374,12 +419,21 @@ Robot {
} }
} }
] ]
boundingObject USE elbow boundingObject USE right_elbow
physics Physics { physics Physics {
density -1
mass 6.185010536754905
centerOfMass [
0 0 0
]
inertiaMatrix [
0.07323531077523626 0.016401322584073275 0.07323531077523626
0 0 0
]
} }
} }
} }
DEF shoulder Shape { DEF right_shoulder Shape {
appearance PBRAppearance { appearance PBRAppearance {
roughness 1 roughness 1
metalness 0 metalness 0
@ -390,8 +444,17 @@ Robot {
} }
} }
] ]
boundingObject USE shoulder boundingObject USE right_shoulder
physics Physics { physics Physics {
density -1
mass 7.068583470577034
centerOfMass [
0 0 0
]
inertiaMatrix [
0.10586308213356384 0.018886371460448012 0.10586308213356384
0 0 0
]
} }
} }
} }
@ -438,6 +501,15 @@ Robot {
name "solid(2)" name "solid(2)"
boundingObject USE head boundingObject USE head
physics Physics { physics Physics {
density -1
mass 8.18123086872342
centerOfMass [
0 0 0
]
inertiaMatrix [
0.05113269292952138 0.05113269292952138 0.05113269292952138
0 0 0
]
} }
} }
} }
@ -452,19 +524,19 @@ Robot {
} }
device [ device [
RotationalMotor { RotationalMotor {
name "right_shoulder_roll" name "left_shoulder_roll"
} }
] ]
device2 [ device2 [
RotationalMotor { RotationalMotor {
name "right_shoulder_yaw" name "left_shoulder_yaw"
minPosition -1.5707963267948966 minPosition -1.5707963267948966
maxPosition 1.5707963267948966 maxPosition 1.5707963267948966
} }
] ]
device3 [ device3 [
RotationalMotor { RotationalMotor {
name "right_shoulder_pitch" name "left_shoulder_pitch"
} }
] ]
endPoint Solid { endPoint Solid {
@ -475,14 +547,14 @@ Robot {
} }
device [ device [
RotationalMotor { RotationalMotor {
name "right_elbow_pitch" name "left_elbow_pitch"
} }
] ]
endPoint Solid { endPoint Solid {
translation 0 -0.42499999999726895 -1.5235950555825944e-06 translation 0 -0.42499999999726895 -1.5235950555825944e-06
rotation 1 0 0 3.5849604925388305e-06 rotation 0.9999999999999999 0 0 3.5849604925388305e-06
children [ children [
DEF right_elbow Shape { DEF left_elbow Shape {
appearance PBRAppearance { appearance PBRAppearance {
roughness 1 roughness 1
metalness 0 metalness 0
@ -493,12 +565,21 @@ Robot {
} }
} }
] ]
boundingObject USE right_elbow boundingObject USE left_elbow
physics Physics { physics Physics {
density -1
mass 6.185010536754905
centerOfMass [
0 0 0
]
inertiaMatrix [
0.07323531077523626 0.016401322584073275 0.07323531077523626
0 0 0
]
} }
} }
} }
DEF right_shoulder Shape { DEF left_shoulder Shape {
appearance PBRAppearance { appearance PBRAppearance {
roughness 1 roughness 1
metalness 0 metalness 0
@ -510,8 +591,17 @@ Robot {
} }
] ]
name "solid(1)" name "solid(1)"
boundingObject USE right_shoulder boundingObject USE left_shoulder
physics Physics { physics Physics {
density -1
mass 7.068583470577034
centerOfMass [
0 0 0
]
inertiaMatrix [
0.10586308213356384 0.018886371460448012 0.10586308213356384
0 0 0
]
} }
} }
} }
@ -519,12 +609,30 @@ Robot {
name "solid(2)" name "solid(2)"
boundingObject USE torso boundingObject USE torso
physics Physics { physics Physics {
density -1
mass 87.5
centerOfMass [
0 0 0
]
inertiaMatrix [
4.028645833333333 2.2786458333333335 5.395833333333334
0 0 0
]
} }
} }
} }
] ]
boundingObject USE Body boundingObject USE Body
physics Physics { physics Physics {
density -1
mass 10.000000000000002
centerOfMass [
0 1.05 0
]
inertiaMatrix [
11.11041666666667 0.08541666666666668 11.091666666666669
0 0 0
]
} }
controller "olympian" controller "olympian"
} }