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Change arm design

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This commit is contained in:
Aditya Vasantharao 2021-01-29 23:53:04 -05:00
parent 7c3a56e314
commit 6a92c5c734
2 changed files with 17 additions and 10 deletions
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10
simulation/controllers/olympian/olympian.py
View File

@ -10,8 +10,12 @@ def main():
print("Initializing world...") print("Initializing world...")
robot = Robot() robot = Robot()
head_motor = robot.getDevice("shoulder_yaw") head_motor = robot.getDevice("shoulder_pitch")
head_motor.setVelocity(2) motor2 = robot.getDevice("shoulder_roll")
motor3 = robot.getDevice("shoulder_yaw")
head_motor.setVelocity(1)
motor2.setVelocity(1)
motor3.setVelocity(1)
pos = 0 pos = 0
add = True add = True
@ -22,6 +26,8 @@ def main():
# - perform simulation steps until Webots is stopping the controller # - perform simulation steps until Webots is stopping the controller
while robot.step(timestep) != -1: while robot.step(timestep) != -1:
head_motor.setPosition(pos) head_motor.setPosition(pos)
# motor2.setPosition(pos)
# motor3.setPosition(pos)
if add: if add:
pos += 0.2 pos += 0.2

17
simulation/worlds/olympian.wbt
View File

@ -3,8 +3,8 @@ WorldInfo {
coordinateSystem "NUE" coordinateSystem "NUE"
} }
Viewpoint { Viewpoint {
orientation -0.7707051565946416 0.5749837457788743 0.2746038122250384 0.10201305223849001 orientation -0.8818525787650351 -0.3767457987150442 0.28354652612229425 0.08625071663475813
position 0.17553049541245647 1.56726630970089 2.900501446043397 position -0.1906315418853935 1.7802839159550832 2.8464267843684885
} }
TexturedBackground { TexturedBackground {
} }
@ -32,7 +32,7 @@ Robot {
} }
BallJoint { BallJoint {
jointParameters BallJointParameters { jointParameters BallJointParameters {
anchor -0.33 1.55 0 anchor -0.33 1.6 0
} }
jointParameters2 JointParameters { jointParameters2 JointParameters {
} }
@ -57,15 +57,16 @@ Robot {
} }
] ]
endPoint Solid { endPoint Solid {
translation -0.33 1.55 0 translation -0.330806 1.37 -2.28548e-05
rotation -7.180852017348988e-16 2.3056730324661623e-15 0.9999999999999999 0.34697753906142764 rotation 0.0008954593566532848 0.9999525246665688 -0.009702915309103947 0.12741759639284905
children [ children [
DEF shoulder Shape { DEF shoulder Shape {
appearance PBRAppearance { appearance PBRAppearance {
roughness 1 roughness 1
metalness 0 metalness 0
} }
geometry Sphere { geometry Capsule {
height 0.35
radius 0.075 radius 0.075
} }
} }
@ -102,8 +103,8 @@ Robot {
} }
] ]
endPoint Solid { endPoint Solid {
translation 2.498805482365059e-25 1.775 1.6655908016964734e-18 translation 1.5688930727008528e-10 1.775023867890655 0.000487964374053785
rotation 0.999999999999905 -3.872645888957525e-07 -2.0081645019838704e-07 5.326429205090776 rotation 0.9999999999997564 -6.209227482014029e-07 -3.186911752856171e-07 5.228680744087191
children [ children [
DEF head Shape { DEF head Shape {
appearance PBRAppearance { appearance PBRAppearance {