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21 lines
777 B
Python
21 lines
777 B
Python
import math
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from controller import Robot, Supervisor, Display
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import time
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supervisor = Supervisor()
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global TIMESTEP
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TIMESTEP = int(supervisor.getBasicTimeStep())
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startTime = time.time()
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robotNode = supervisor.getRoot()
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children = robotNode.getField("children")
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robot = children.getMFNode(5)
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right_torso_roll = supervisor.getDevice("Rev13")
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left_torso_roll = supervisor.getDevice("Rev21")
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right_ankle_roll = supervisor.getDevice("Rev16")
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left_ankle_roll = supervisor.getDevice("Rev24")
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for i in range(0, 1000):
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right_torso_roll.setPosition(-1 * i/1000)
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left_torso_roll.setPosition(-1 * i/1000)
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right_ankle_roll.setPosition(-1 * i/1000)
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left_ankle_roll.setPosition(-1 * i/1000)
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print(robot.getCenterOfMass())
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supervisor.step(TIMESTEP) |