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https://github.com/PotentiaRobotics/engine-software.git
synced 2025-04-09 23:00:21 -04:00
Merge branch 'master' of https://github.com/tjhrc/engine-software into master
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John_Kim
commit
9fd64d47db
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@ -3,42 +3,84 @@
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# You may need to import some classes of the controller module. Ex:
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# from controller import Robot, Motor, DistanceSensor
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from controller import Robot
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import time
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def main():
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# create the Robot instance.
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print("Initializing world...")
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robot = Robot()
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head_motor = robot.getDevice("torso_yaw")
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motor2 = robot.getDevice("right_hip_pitch")
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motor3 = robot.getDevice("right_knee_pitch")
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head_motor.setVelocity(1)
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motor2.setVelocity(9)
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motor3.setVelocity(9)
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pos = 0
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add = False
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timestep = 64
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start = 0
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while robot.step(32) != -1:
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start += 32/1000.0
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head_motor = robot.getDevice("torso_yaw")
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# motor2 = robot.getDevice("neck_roll")
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lknee = robot.getDevice("left_knee_pitch")
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rknee = robot.getDevice("right_knee_pitch")
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lhip = robot.getDevice("left_hip_pitch")
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rhip = robot.getDevice("right_hip_pitch")
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lfoot = robot.getDevice("left_ankle_pitch")
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rfoot = robot.getDevice("right_ankle_pitch")
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torso_pitch = robot.getDevice("torso_pitch")
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head_motor.setVelocity(1)
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lknee.setVelocity(2)
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rknee.setVelocity(2)
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lknee.setPosition(2)
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rknee.setPosition(2)
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torso_pitch.setVelocity(10)
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# torso_pitch.setTorque(10)
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lhip.setVelocity(2)
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rhip.setVelocity(2)
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lhip.setPosition(-0.7)
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rhip.setPosition(-0.7)
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lfoot.setVelocity(2)
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rfoot.setVelocity(2)
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lfoot.setPosition(0.3)
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rfoot.setPosition(0.3)
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pos = 0
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add = False
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if start > 6:
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while robot.step(32) != -1:
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torso_pitch.setPosition(pos)
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# time.sleep(0.1)
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if add:
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pos += 0.2
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else:
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pos -= 0.2
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if pos >= 2:
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add = False
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elif pos <= 0:
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add = True
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# get the time step of the current world.
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timestep = int(robot.getBasicTimeStep())
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# timestep = int(robot.getBasicTimeStep())
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# motor2.setPosition(3)
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# Main loop:
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# - perform simulation steps until Webots is stopping the controller
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while robot.step(timestep) != -1:
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head_motor.setPosition(pos)
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# while robot.step(timestep) != -1:
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# head_motor.setPosition(pos)
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# motor2.setPosition(pos)
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# motor2.setPosition(pos)
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# motor3.setPosition(-pos)
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# time.sleep(0.1)
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if add:
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pos += 0.2
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else:
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pos -= 0.2
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# if add:
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# pos += 0.2
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# else:
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# pos -= 0.2
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if pos >= 1.4:
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add = False
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elif pos <= -1.4:
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add = True
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# if pos >= 3:
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# add = False
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# elif pos <= 3:
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# add = True
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# Enter here exit cleanup code.
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@ -1,6 +1,6 @@
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Webots Project File version R2021a
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perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a000003ccfc0200000002fb0000001400540065007800740045006400690074006f00720100000016000002f90000008900fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000311000000d10000003900ffffff0000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007400000000000000000000004fc000003cc00000004000000040000000100000008fc00000000
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simulationViewPerspectives: 000000ff00000001000000020000016c000003d60100000002010000000101
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perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a000003b6fc0200000002fb0000001400540065007800740045006400690074006f0072010000001a000002e30000008700fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000002ff000000d10000003900ffffff0000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c0065010000000000000740000000000000000000000544000003b600000004000000040000000100000008fc00000000
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simulationViewPerspectives: 000000ff0000000100000002000001dd000003650100000002010000000101
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sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000201
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maximizedDockId: -1
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centralWidgetVisible: 1
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@ -1,10 +1,11 @@
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#VRML_SIM R2021a utf8
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WorldInfo {
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gravity 0.2
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coordinateSystem "NUE"
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}
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Viewpoint {
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orientation -0.7108788721149584 -0.6798276004460428 -0.18023779529371817 0.7628366439986357
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position -1.529898492340523 2.6913118496032213 2.7543281313960564
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orientation -0.048379992001633905 -0.9988161558244542 -0.005065889653491801 0.7456617071754322
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position -3.612561450129352 1.0571051522533501 1.7706349845759928
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}
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TexturedBackground {
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}
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@ -14,7 +15,8 @@ RectangleArena {
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floorSize 5 5
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}
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Robot {
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translation 0 -0.12 0
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translation -1 2 0
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rotation -1 0 0 1.57
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children [
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DEF Body Transform {
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translation 0 1.05 0
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@ -32,7 +34,7 @@ Robot {
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}
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BallJoint {
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jointParameters BallJointParameters {
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anchor 0.185 0.85 0
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anchor 0.185 1.15 0
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}
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jointParameters2 JointParameters {
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axis 1 0 0
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@ -72,7 +74,7 @@ Robot {
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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anchor 0 -0.45 0
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anchor 0 -0.225 0
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}
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device [
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RotationalMotor {
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@ -104,20 +106,20 @@ Robot {
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}
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device [
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RotationalMotor {
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name "left_ankle_pitch"
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name "left_ankle_yaw"
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maxTorque 100
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}
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]
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device2 [
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RotationalMotor {
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name "left_ankle_yaw"
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name "left_ankle_roll"
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minPosition -1.5707963267948966
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maxPosition 1.5707963267948966
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}
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]
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device3 [
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RotationalMotor {
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name "left_ankle_roll"
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name "left_ankle_pitch"
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maxTorque 100
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}
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]
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@ -180,7 +182,7 @@ Robot {
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}
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BallJoint {
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jointParameters BallJointParameters {
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anchor -0.185 0.85 0
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anchor -0.185 1.15 0
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}
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jointParameters2 JointParameters {
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axis 1 0 0
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@ -220,7 +222,7 @@ Robot {
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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anchor 0 -0.45 0
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anchor 0 -0.225 0
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}
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device [
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RotationalMotor {
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@ -243,7 +245,7 @@ Robot {
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}
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BallJoint {
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jointParameters BallJointParameters {
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anchor 0 -0.25 0
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anchor 0 -0.225 0
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}
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jointParameters2 JointParameters {
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}
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@ -252,20 +254,20 @@ Robot {
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}
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device [
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RotationalMotor {
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name "right_ankle_pitch"
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name "right_ankle_yaw"
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maxTorque 100
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}
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]
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device2 [
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RotationalMotor {
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name "right_ankle_yaw"
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name "right_ankle_roll"
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minPosition -1.5707963267948966
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maxPosition 1.5707963267948966
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}
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]
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device3 [
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RotationalMotor {
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name "right_ankle_roll"
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name "right_ankle_pitch"
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maxTorque 100
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}
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]
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@ -398,6 +400,7 @@ Robot {
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children [
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HingeJoint {
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jointParameters HingeJointParameters {
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anchor 0 -0.2125 0
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}
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device [
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RotationalMotor {
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@ -544,6 +547,7 @@ Robot {
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children [
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HingeJoint {
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jointParameters HingeJointParameters {
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anchor 0 -0.2125 0
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}
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device [
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RotationalMotor {
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