Add head and test head rotation

simulation/controllers/olympian/olympian.py

@@ -4,29 +4,25 @@
 #  from controller import Robot, Motor, DistanceSensor
 from controller import Robot
 
-# create the Robot instance.
-robot = Robot()
 
-# get the time step of the current world.
-timestep = int(robot.getBasicTimeStep())
+def main():
+    # create the Robot instance.
+    print("Initializing world...")
+    robot = Robot()
     
-# You should insert a getDevice-like function in order to get the
-# instance of a device of the robot. Something like:
-#  motor = robot.getMotor('motorname')
-#  ds = robot.getDistanceSensor('dsname')
-#  ds.enable(timestep)
+    head_motor = robot.getDevice("neck_pitch")
+    head_motor.setVelocity(1)
     
-# Main loop:
-# - perform simulation steps until Webots is stopping the controller
-while robot.step(timestep) != -1:
-    # Read the sensors:
-    # Enter here functions to read sensor data, like:
-    #  val = ds.getValue()
+    # get the time step of the current world.
+    timestep = int(robot.getBasicTimeStep())
     
-    # Process sensor data here.
+    # Main loop:
+    # - perform simulation steps until Webots is stopping the controller
+    while robot.step(timestep) != -1:
+        head_motor.setPosition(6)
     
-    # Enter here functions to send actuator commands, like:
-    #  motor.setPosition(10.0)
-    pass
+    # Enter here exit cleanup code.
     
-# Enter here exit cleanup code.
+    
+if __name__ == '__main__':
+    main()

simulation/worlds/.olympian.wbproj

@@ -1,9 +1,9 @@
 Webots Project File version R2021a
-perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a00000395fc0200000001fb0000001400540065007800740045006400690074006f00720100000015000003950000004100ffffff000000030000078000000039fc0100000002fb0000000e0043006f006e0073006f006c00650100000000000007400000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff000005440000039500000004000000040000000100000008fc00000000
-simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000002010000000101
-sceneTreePerspectives: 000000ff0000000100000002000000c0000001120100000002010000000201
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000023a000003b6fc0200000002fb0000001400540065007800740045006400690074006f0072010000001a0000023d0000008700fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000259000001770000003900ffffff0000000300000780000001e8fc0100000001fb0000000e0043006f006e0073006f006c0065010000000000000740000000000000000000000544000003b600000004000000040000000100000008fc00000000
+simulationViewPerspectives: 000000ff00000001000000020000016c000003d60100000002010000000101
+sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000201
 maximizedDockId: -1
 centralWidgetVisible: 1
 orthographicViewHeight: 1
-textFiles: -1
+textFiles: 0 "controllers/olympian/olympian.py"
 consoles: Console:All:All

simulation/worlds/olympian.wbt

@@ -3,8 +3,8 @@ WorldInfo {
   coordinateSystem "NUE"
 }
 Viewpoint {
-  orientation -0.7623894855422976 0.6273329238621066 0.1587944425134923 0.327301231606098
-  position 1.0070228999748558 2.3086338771870616 3.1708017471662577
+  orientation -0.7241113403564003 0.6708542148873753 0.16005433182235554 0.3286771770738909
+  position 0.9187932527597619 1.807787251982618 3.3212186235849788
 }
 TexturedBackground {
 }
@@ -32,9 +32,10 @@ Robot {
     }
     BallJoint {
       jointParameters BallJointParameters {
-        anchor 0 1.77 0
+        anchor 0 1.775 0
       }
       jointParameters2 JointParameters {
+        axis 1 0 0
       }
       jointParameters3 JointParameters {
       }
@@ -56,19 +57,22 @@ Robot {
         }
       ]
       endPoint Solid {
-        translation 0 1.77 0
+        translation 0 1.775 0
         children [
-          Shape {
+          DEF head Shape {
             appearance PBRAppearance {
               roughness 1
+              metalness 0
             }
-            geometry Cylinder {
-              height 0.25
-              radius 0.2
+            geometry Sphere {
+              radius 0.125
             }
           }
         ]
         name "solid(2)"
+        boundingObject USE head
+        physics Physics {
+        }
       }
     }
     HingeJoint {
@@ -102,6 +106,7 @@ Robot {
     }
     HingeJoint {
       jointParameters HingeJointParameters {
+        axis 0 0 1
         anchor -0.375 1.55 0
       }
       device [
@@ -125,4 +130,5 @@ Robot {
   boundingObject USE Body
   physics Physics {
   }
+  controller "olympian"
 }