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Fix shoulder motion

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This commit is contained in:
Aditya Vasantharao 2021-01-29 23:35:06 -05:00
parent 0409e5a3b7
commit 7c3a56e314
2 changed files with 23 additions and 13 deletions
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15
simulation/controllers/olympian/olympian.py
View File

@ -10,9 +10,10 @@ def main():
print("Initializing world...") print("Initializing world...")
robot = Robot() robot = Robot()
head_motor = robot.getDevice("shoulder_pitch") head_motor = robot.getDevice("shoulder_yaw")
head_motor.setVelocity(0.5) head_motor.setVelocity(2)
pos = 0 pos = 0
add = True
# get the time step of the current world. # get the time step of the current world.
timestep = int(robot.getBasicTimeStep()) timestep = int(robot.getBasicTimeStep())
@ -22,7 +23,15 @@ def main():
while robot.step(timestep) != -1: while robot.step(timestep) != -1:
head_motor.setPosition(pos) head_motor.setPosition(pos)
pos += 3.141 if add:
pos += 0.2
else:
pos -= 0.2
if pos >= 3:
add = False
elif pos <= -3:
add = True
# Enter here exit cleanup code. # Enter here exit cleanup code.

21
simulation/worlds/olympian.wbt
View File

@ -3,8 +3,8 @@ WorldInfo {
coordinateSystem "NUE" coordinateSystem "NUE"
} }
Viewpoint { Viewpoint {
orientation -0.9447688433364667 0.30168245796522575 0.12806063882682472 0.3152849474881078 orientation -0.7707051565946416 0.5749837457788743 0.2746038122250384 0.10201305223849001
position 0.2197976877928071 1.8786536179181716 2.8466989121991344 position 0.17553049541245647 1.56726630970089 2.900501446043397
} }
TexturedBackground { TexturedBackground {
} }
@ -32,7 +32,7 @@ Robot {
} }
BallJoint { BallJoint {
jointParameters BallJointParameters { jointParameters BallJointParameters {
anchor -0.325 1.55 0 anchor -0.33 1.55 0
} }
jointParameters2 JointParameters { jointParameters2 JointParameters {
} }
@ -41,23 +41,24 @@ Robot {
} }
device [ device [
RotationalMotor { RotationalMotor {
name "shoulder_pitch" name "shoulder_roll"
} }
] ]
device2 [ device2 [
RotationalMotor { RotationalMotor {
name "shoulder_roll" name "shoulder_yaw"
minPosition -1.5707963267948966 minPosition -1.5707963267948966
maxPosition 1.5707963267948966 maxPosition 1.5707963267948966
} }
] ]
device3 [ device3 [
RotationalMotor { RotationalMotor {
name "shoulder_yaw" name "shoulder_pitch"
} }
] ]
endPoint Solid { endPoint Solid {
translation -0.325 1.55 0 translation -0.33 1.55 0
rotation -7.180852017348988e-16 2.3056730324661623e-15 0.9999999999999999 0.34697753906142764
children [ children [
DEF shoulder Shape { DEF shoulder Shape {
appearance PBRAppearance { appearance PBRAppearance {
@ -76,7 +77,7 @@ Robot {
} }
BallJoint { BallJoint {
jointParameters BallJointParameters { jointParameters BallJointParameters {
anchor 0 1.775 0 anchor 0 1.78 0
} }
jointParameters2 JointParameters { jointParameters2 JointParameters {
axis 1 0 0 axis 1 0 0
@ -101,8 +102,8 @@ Robot {
} }
] ]
endPoint Solid { endPoint Solid {
translation 0 1.775 0 translation 2.498805482365059e-25 1.775 1.6655908016964734e-18
rotation 0.9999999999999999 3.671812525079458e-10 1.9040221549379054e-10 5.326429205090855 rotation 0.999999999999905 -3.872645888957525e-07 -2.0081645019838704e-07 5.326429205090776
children [ children [
DEF head Shape { DEF head Shape {
appearance PBRAppearance { appearance PBRAppearance {