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

17
simulation/worlds/olympian.wbt
View File

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