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Merge pull request #2 from tjhrc/arm-testing

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Arm testing
This commit is contained in:
Aditya Vasantharao 2021-02-05 23:46:04 -05:00 committed by GitHub
commit cac68ac5ee
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 219 additions and 64 deletions
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16
simulation/controllers/olympian/olympian.py
View File

@ -10,10 +10,14 @@ def main():
print("Initializing world...")
robot = Robot()
head_motor = robot.getDevice("shoulder_yaw")
head_motor.setVelocity(2)
head_motor = robot.getDevice("torso_yaw")
motor2 = robot.getDevice("right_elbow_pitch")
motor3 = robot.getDevice("shoulder_yaw")
head_motor.setVelocity(0.3)
motor2.setVelocity(9)
motor3.setVelocity(1)
pos = 0
add = True
add = False
# get the time step of the current world.
timestep = int(robot.getBasicTimeStep())
@ -22,15 +26,17 @@ 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
else:
pos -= 0.2
if pos >= 3:
if pos >= 6:
add = False
elif pos <= -3:
elif pos <= -6:
add = True
# Enter here exit cleanup code.

173
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 -0.9813700309948942 0.19129400760775186 -0.017873581578575073 0.13058708003813205
position -0.03208588854364594 1.3324969290146145 4.187568303045968
}
TexturedBackground {
}
@ -17,9 +17,50 @@ Robot {
translation 0 0.03 0
children [
DEF Body Transform {
translation 0 1.3 0
translation 0 1.05 0
children [
Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Box {
size 0.2 0.2 0.25
}
}
]
}
BallJoint {
jointParameters BallJointParameters {
anchor 0 1.15 0
}
jointParameters2 JointParameters {
axis 1 0 0
}
jointParameters3 JointParameters {
}
device [
RotationalMotor {
name "torso_pitch"
}
]
device2 [
RotationalMotor {
name "torso_yaw"
minPosition -1.5707963267948966
maxPosition 1.5707963267948966
}
]
device3 [
RotationalMotor {
name "torso_roll"
}
]
endPoint Solid {
translation 0 1.51 0
rotation 1 0 0 0
children [
DEF torso Shape {
appearance PBRAppearance {
roughness 1
metalness 0
@ -28,11 +69,9 @@ Robot {
size 0.5 0.7 0.25
}
}
]
}
BallJoint {
jointParameters BallJointParameters {
anchor -0.33 1.55 0
anchor -0.33 0.25 0
}
jointParameters2 JointParameters {
}
@ -57,15 +96,44 @@ Robot {
}
]
endPoint Solid {
translation -0.33 1.55 0
rotation -7.180852017348988e-16 2.3056730324661623e-15 0.9999999999999999 0.34697753906142764
translation -0.330806 0.1 -2.28548e-05
rotation 0.0008954593566532848 0.9999525246665688 -0.009702915309103947 0.12741759639284905
children [
HingeJoint {
jointParameters HingeJointParameters {
}
device [
RotationalMotor {
name "elbow_pitch"
}
]
endPoint Solid {
translation 0 -0.42499999999726895 -1.5235950555825944e-06
rotation 0.9999999999999999 0 0 3.5849604925388305e-06
children [
DEF elbow Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Capsule {
height 0.25
radius 0.075
}
}
]
boundingObject USE elbow
physics Physics {
}
}
}
DEF shoulder Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Sphere {
geometry Capsule {
height 0.3
radius 0.075
}
}
@ -77,7 +145,7 @@ Robot {
}
BallJoint {
jointParameters BallJointParameters {
anchor 0 1.78 0
anchor 0 0.48 0
}
jointParameters2 JointParameters {
axis 1 0 0
@ -102,8 +170,8 @@ Robot {
}
]
endPoint Solid {
translation 2.498805482365059e-25 1.775 1.6655908016964734e-18
rotation 0.999999999999905 -3.872645888957525e-07 -2.0081645019838704e-07 5.326429205090776
translation 1.56889e-10 0.48 0.000487964
rotation 0.9999999999997564 -6.209227482014029e-07 -3.186911752856171e-07 5.228680744087191
children [
DEF head Shape {
appearance PBRAppearance {
@ -121,6 +189,87 @@ Robot {
}
}
}
BallJoint {
jointParameters BallJointParameters {
anchor 0.33 0.25 0
}
jointParameters2 JointParameters {
}
jointParameters3 JointParameters {
axis 1 0 0
}
device [
RotationalMotor {
name "right_shoulder_roll"
}
]
device2 [
RotationalMotor {
name "right_shoulder_yaw"
minPosition -1.5707963267948966
maxPosition 1.5707963267948966
}
]
device3 [
RotationalMotor {
name "right_shoulder_pitch"
}
]
endPoint Solid {
translation 0.33 0.1 0
children [
HingeJoint {
jointParameters HingeJointParameters {
}
device [
RotationalMotor {
name "right_elbow_pitch"
}
]
endPoint Solid {
translation 0 -0.42499999999726895 -1.5235950555825944e-06
rotation 0.9999999999999999 0 0 3.5849604925388305e-06
children [
DEF right_elbow Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Capsule {
height 0.25
radius 0.075
}
}
]
boundingObject USE right_elbow
physics Physics {
}
}
}
DEF right_shoulder Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Capsule {
height 0.3
radius 0.075
}
}
]
name "solid(1)"
boundingObject USE right_shoulder
physics Physics {
}
}
}
]
name "solid(2)"
boundingObject USE torso
physics Physics {
}
}
}
]
boundingObject USE Body
physics Physics {