class Robot:
def __init__(self):
self.supervisor = Supervisor()
self.timeStep = int(4 * self.supervisor.getBasicTimeStep())
# Create the arm chain from the URDF
with tempfile.NamedTemporaryFile(suffix='.urdf', delete=False) as file:
filename = file.name
file.write(self.supervisor.getUrdf().encode('utf-8'))
armChain = Chain.from_urdf_file(filename)
armChain.active_links_mask[0] = False
# Initialize the arm motors and encoders.
self.motors = []
for link in armChain.links:
if 'motor' in link.name:
motor = self.supervisor.getDevice(link.name)
motor.setVelocity(1.0)
position_sensor = motor.getPositionSensor()
position_sensor.enable(self.timeStep)
self.motors.append(motor)
self.arm = self.supervisor.getSelf()
self.positions = [0 for _ in self.motors]
def update(self):
for motor, position in zip(self.motors, self.positions):
motor.setPosition(position * 0.01745277777)
def simulate(self):
self.supervisor.step(self.timeStep)
sys.exit(
'The "ikpy" Python module version is too old. '
'Please upgrade "ikpy" Python module to version "3.0" or newer with this command: "pip install --upgrade ikpy"'
)
IKPY_MAX_ITERATIONS = 4
# Initialize the Webots Supervisor.
supervisor = Supervisor()
timeStep = int(4 * supervisor.getBasicTimeStep())
# Create the arm chain from the URDF
filename = None
with tempfile.NamedTemporaryFile(suffix='.urdf', delete=False) as file:
filename = file.name
file.write(supervisor.getUrdf().encode('utf-8'))
armChain = Chain.from_urdf_file(filename)
for i in [0, 6]:
armChain.active_links_mask[0] = False
# Initialize the arm motors and encoders.
motors = []
for link in armChain.links:
if 'motor' in link.name:
motor = supervisor.getDevice(link.name)
motor.setVelocity(1.0)
position_sensor = motor.getPositionSensor()
position_sensor.enable(timeStep)
motors.append(motor)
# Get the arm and target nodes.
