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Convert pelvis to base node

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This commit is contained in:
Aditya Vasantharao 2021-02-05 23:31:38 -05:00
parent 8b2501fa46
commit f51d4d9578
2 changed files with 213 additions and 111 deletions
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10
simulation/controllers/olympian/olympian.py
View File

@ -10,14 +10,14 @@ def main():
print("Initializing world...") print("Initializing world...")
robot = Robot() robot = Robot()
head_motor = robot.getDevice("shoulder_pitch") head_motor = robot.getDevice("torso_yaw")
motor2 = robot.getDevice("shoulder_roll") motor2 = robot.getDevice("right_elbow_pitch")
motor3 = robot.getDevice("shoulder_yaw") motor3 = robot.getDevice("shoulder_yaw")
head_motor.setVelocity(1) head_motor.setVelocity(0.3)
motor2.setVelocity(1) motor2.setVelocity(9)
motor3.setVelocity(1) motor3.setVelocity(1)
pos = 0 pos = 0
add = True add = False
# get the time step of the current world. # get the time step of the current world.
timestep = int(robot.getBasicTimeStep()) timestep = int(robot.getBasicTimeStep())

314
simulation/worlds/olympian.wbt
View File

@ -3,8 +3,8 @@ WorldInfo {
coordinateSystem "NUE" coordinateSystem "NUE"
} }
Viewpoint { Viewpoint {
orientation -0.8818525787650351 -0.3767457987150442 0.28354652612229425 0.08625071663475813 orientation -0.9813700309948942 0.19129400760775186 -0.017873581578575073 0.13058708003813205
position -0.1906315418853935 1.7802839159550832 2.8464267843684885 position -0.03208588854364594 1.3324969290146145 4.187568303045968
} }
TexturedBackground { TexturedBackground {
} }
@ -17,7 +17,7 @@ Robot {
translation 0 0.03 0 translation 0 0.03 0
children [ children [
DEF Body Transform { DEF Body Transform {
translation 0 1.3 0 translation 0 1.05 0
children [ children [
Shape { Shape {
appearance PBRAppearance { appearance PBRAppearance {
@ -25,60 +25,14 @@ Robot {
metalness 0 metalness 0
} }
geometry Box { geometry Box {
size 0.5 0.7 0.25 size 0.2 0.2 0.25
} }
} }
] ]
} }
BallJoint { BallJoint {
jointParameters BallJointParameters { jointParameters BallJointParameters {
anchor -0.33 1.6 0 anchor 0 1.15 0
}
jointParameters2 JointParameters {
}
jointParameters3 JointParameters {
axis 1 0 0
}
device [
RotationalMotor {
name "shoulder_roll"
}
]
device2 [
RotationalMotor {
name "shoulder_yaw"
minPosition -1.5707963267948966
maxPosition 1.5707963267948966
}
]
device3 [
RotationalMotor {
name "shoulder_pitch"
}
]
endPoint Solid {
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 Capsule {
height 0.35
radius 0.075
}
}
]
boundingObject USE shoulder
physics Physics {
}
}
}
BallJoint {
jointParameters BallJointParameters {
anchor 0 1.78 0
} }
jointParameters2 JointParameters { jointParameters2 JointParameters {
axis 1 0 0 axis 1 0 0
@ -87,83 +41,231 @@ Robot {
} }
device [ device [
RotationalMotor { RotationalMotor {
name "neck_pitch" name "torso_pitch"
} }
] ]
device2 [ device2 [
RotationalMotor { RotationalMotor {
name "neck_yaw" name "torso_yaw"
minPosition -1.5707963267948966 minPosition -1.5707963267948966
maxPosition 1.5707963267948966 maxPosition 1.5707963267948966
} }
] ]
device3 [ device3 [
RotationalMotor { RotationalMotor {
name "neck_roll" name "torso_roll"
} }
] ]
endPoint Solid { endPoint Solid {
translation 1.5688930727008528e-10 1.775023867890655 0.000487964374053785 translation 0 1.51 0
rotation 0.9999999999997564 -6.209227482014029e-07 -3.186911752856171e-07 5.228680744087191 rotation 1 0 0 0
children [ children [
DEF head Shape { DEF torso Shape {
appearance PBRAppearance { appearance PBRAppearance {
roughness 1 roughness 1
metalness 0 metalness 0
} }
geometry Sphere { geometry Box {
radius 0.125 size 0.5 0.7 0.25
}
}
BallJoint {
jointParameters BallJointParameters {
anchor -0.33 0.25 0
}
jointParameters2 JointParameters {
}
jointParameters3 JointParameters {
axis 1 0 0
}
device [
RotationalMotor {
name "shoulder_roll"
}
]
device2 [
RotationalMotor {
name "shoulder_yaw"
minPosition -1.5707963267948966
maxPosition 1.5707963267948966
}
]
device3 [
RotationalMotor {
name "shoulder_pitch"
}
]
endPoint Solid {
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 Capsule {
height 0.3
radius 0.075
}
}
]
boundingObject USE shoulder
physics Physics {
}
}
}
BallJoint {
jointParameters BallJointParameters {
anchor 0 0.48 0
}
jointParameters2 JointParameters {
axis 1 0 0
}
jointParameters3 JointParameters {
}
device [
RotationalMotor {
name "neck_pitch"
}
]
device2 [
RotationalMotor {
name "neck_yaw"
minPosition -1.5707963267948966
maxPosition 1.5707963267948966
}
]
device3 [
RotationalMotor {
name "neck_roll"
}
]
endPoint Solid {
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 {
roughness 1
metalness 0
}
geometry Sphere {
radius 0.125
}
}
]
name "solid(2)"
boundingObject USE head
physics Physics {
}
}
}
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)" name "solid(2)"
boundingObject USE head boundingObject USE torso
physics Physics {
}
}
}
BallJoint {
jointParameters BallJointParameters {
anchor 0.33 1.6 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 1.37 0
children [
DEF right_shoulder Shape {
appearance PBRAppearance {
roughness 1
metalness 0
}
geometry Capsule {
height 0.35
radius 0.075
}
}
]
name "solid(1)"
boundingObject USE right_shoulder
physics Physics { physics Physics {
} }
} }