Webots python highway cruse3/22/2023 ![]() self.mGaitManager = RobotisOp2GaitManager(self.robot, " Head ") # Initialize robot gait controllerĭefine the myStep() function in walk to complete a simulation step.ĭefine the wait() function in Walk, input as the number of milliseconds to wait for the robot for a period of time.Ĥ. self.mMotionManager = RobotisOp2MotionManager(self.robot) # Initialize robot action group controllerģ3. ![]() (self.mTimeStep) # Read from keyboard with mTimeStep as cycleģ2. self.mKeyboard = () # Initialize keyboard read in classģ0. for i in range(0, len(self.positionSensorNames)):Ģ6. # Acquire and activate each sensor, and update the value with mTimeStep as the cycleĢ5. 'FootR', 'FootL', 'Neck', 'Head' ) # Initialize each sensor nameĢ4. 'LegLowerR', 'LegLowerL', 'AnkleR', 'AnkleL' ,Ģ2. 'PelvR', 'PelvL', 'LegUpperR', 'LegUpperL' ,Ģ1. 'ArmLowerR', 'ArmLowerL', 'PelvYR', 'PelvYL' ,Ģ0. self.positionSensorNames = ( 'ShoulderR', 'ShoulderL', 'ArmUpperR', 'ArmUpperL' ,ġ9. self.positionSensors = # Initialize joint angle sensorġ8. (self.mTimeStep) # Activate gyroscope,and update the value with mTimeStep as the cycleġ7. self.mGyro = ( 'Gyro' ) # Get gyroscopeġ5. self.fdown = 0 # Two variables are defined to determine whether the robot falls or notġ4. (self.mTimeSt ep) # Activate the sensor and update the value with mtimestep as the cycleġ2. self.mAccelerometer = ( 'Accelerometer' ) # Acquire acceleration sensorġ0. (0xa0a0ff) # Turn on the eye led and set a colorĩ. (0xff0000) # Turn on the head led and set a colorĨ. self.EyeLed = ( 'EyeLed' ) # Get eye LED lightħ. self.HeadLed = ( 'HeadLed' ) # Get head LED lightĦ. self.mTimeStep = int(()) # Get the current simulation time of each simulation step mTimeStepĥ. self.robot = Robot() # Initialize robot to control robotĤ. Other versions of Python may have compatibility problems.ĭefine the walk class to control the robot. Note: this code is applicable to Python version 3.7. In order to operate normally in external IDEs such as Pysharm, path information needs to be added before importing these two libraries. The robot library which controls the robot environment includes the control of various robot components. RobotisOp2GaitManager and RobotisOp2MotionManager libraries are gait control database and action group database, respectively, to realize the robot's walking control and pre programmed action execution. from managers import RobotisOp2GaitManager, RobotisOp2MotionManager libraryPath = libraryPath.replace( '/' , os.sep)ĩ. libraryPath = os.path.join(os.environ.get( "WEBOTS_HOME" ), 'projects', 'robots', 'robotis', 'darwin-op', 'libraries' ,ħ. In walk.py to control the robot, we need to introduce several Python libraries.ĥ. Set robot controller as new controller and save the world. Copy the attachment code, overwrite the default code, and save. Click toolbar wizard new robot controller, select Python language, complete the creation, and open it in the text editor. Analysis and description of controller codeįirst of all, please visit:, open after downloading walk.wbt Documents.
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