python controller code darwin-op?

[DavidMansolino]

Yes, Webots now supports Python 2.7 controllers for the Darwin-op and Robotis-op2.

Here is a simple example controller:

"""This controller uses built-in motion manager modules to get the OP2 to walk.."""

import os
import sys
from controller import Robot
from controller import LED

# Path operations to correctly locate the managers.
if sys.version_info.major > 2:
    sys.exit("RobotisOpManager library is available ony for Python 2.7")

libraryPath = os.path.join(os.environ.get("WEBOTS_HOME"), 'projects', 'robots', 'robotis', 'darwin-op', 'libraries', 'python')
libraryPath = libraryPath.replace('/', os.sep)
sys.path.append(libraryPath)

from managers import RobotisOp2GaitManager, RobotisOp2MotionManager

# Names of position sensors needed to get the corresponding device and read the measurements.
positionSensorNames = ('ShoulderR', 'ShoulderL', 'ArmUpperR', 'ArmUpperL',
                       'ArmLowerR', 'ArmLowerL', 'PelvYR', 'PelvYL',
                       'PelvR', 'PelvL', 'LegUpperR', 'LegUpperL',
                       'LegLowerR', 'LegLowerL', 'AnkleR', 'AnkleL',
                       'FootR', 'FootL', 'Neck', 'Head')
# List of position sensor devices.
positionSensors = []

# Create the Robot instance.
robot = Robot()
basicTimeStep = int(robot.getBasicTimeStep())
# Initialize motion manager.
motionManager = RobotisOp2MotionManager(robot)
# Get the time step of the current world.
timestep = int(robot.getBasicTimeStep())

# Retrieve devices.
headLed = robot.getLED('HeadLed')
eyeLed = robot.getLED('EyeLed')
gyro = robot.getGyro('Gyro')

# Enable all the position sensors and populate the 'positionSensor' list.
for i in range(0, len(positionSensorNames)):
    positionSensors.append(robot.getPositionSensor(positionSensorNames[i] + 'S'))
    positionSensors[i].enable(basicTimeStep)

# Initialize the LED devices.
headLed.set(0xff0000)
eyeLed.set(0xa0a0ff)
# Enable gyro device.
gyro.enable(basicTimeStep)

# Perform one simulation step to get sensors working properly.
robot.step(timestep)

# Page 1: stand up.
# Page 9: assume walking position.
motionManager.playPage(1, True)
motionManager.playPage(9, True)

# Initialize OP2 gait manager.
gaitManager = None
gaitManager = RobotisOp2GaitManager(robot, "")
gaitManager.start()
gaitManager.setXAmplitude(0.0)
gaitManager.setYAmplitude(0.0)
gaitManager.setBalanceEnable(True)
gaitAmplitude = 0.5
looptimes = 0

# Main loop: perform a simulation step until the simulation is over.
# At the beginning, start walking on the spot.
# After 45 timesteps, begin taking steps forward.
while robot.step(timestep) != -1:
    if looptimes == 45:
        gaitManager.setXAmplitude(gaitAmplitude)

    gaitManager.step(basicTimeStep)
    looptimes += 1

Note that this controller will work out of the box in the simulation and in remote-controle mode with the real robot too. However, the cross-compilation is not working out of the box for python controllers (if you need cross-compilation for python controller let us know).

Sincerely, David

[aysegulucar2016]

Dear David,

Many thanks for your support.

Sincerely

On Tue, Mar 13, 2018 at 10:44 AM, David Mansolino notifications@github.com wrote:

Yes, Webots now supports Python 2.7 controllers for the Darwin-op and Robotis-op2.

Here is a simple example controller:

"""This controller uses built-in motion manager modules to get the OP2 to walk..""" import osimport sysfrom controller import Robotfrom controller import LED

Path operations to correctly locate the managers.if sys.version_info.major > 2:

sys.exit("RobotisOpManager library is available ony for Python 2.7")

libraryPath = os.path.join(os.environ.get("WEBOTS_HOME"), 'projects', 'robots', 'robotis', 'darwin-op', 'libraries', 'python') libraryPath = libraryPath.replace('/', os.sep) sys.path.append(libraryPath) from managers import RobotisOp2GaitManager, RobotisOp2MotionManager

Names of position sensors needed to get the corresponding device and read the measurements.

positionSensorNames = ('ShoulderR', 'ShoulderL', 'ArmUpperR', 'ArmUpperL', 'ArmLowerR', 'ArmLowerL', 'PelvYR', 'PelvYL', 'PelvR', 'PelvL', 'LegUpperR', 'LegUpperL', 'LegLowerR', 'LegLowerL', 'AnkleR', 'AnkleL', 'FootR', 'FootL', 'Neck', 'Head')# List of position sensor devices. positionSensors = []

Create the Robot instance.

robot = Robot() basicTimeStep = int(robot.getBasicTimeStep())# Initialize motion manager. motionManager = RobotisOp2MotionManager(robot)# Get the time step of the current world. timestep = int(robot.getBasicTimeStep())

Retrieve devices.

headLed = robot.getLED('HeadLed') eyeLed = robot.getLED('EyeLed') gyro = robot.getGyro('Gyro')

Enable all the position sensors and populate the 'positionSensor' list.for i in range(0, len(positionSensorNames)):

positionSensors.append(robot.getPositionSensor(positionSensorNames[i] + 'S'))
positionSensors[i].enable(basicTimeStep)

Initialize the LED devices.

headLed.set(0xff0000) eyeLed.set(0xa0a0ff)# Enable gyro device. gyro.enable(basicTimeStep)

Perform one simulation step to get sensors working properly.

robot.step(timestep)

Page 1: stand up.# Page 9: assume walking position.

motionManager.playPage(1, True) motionManager.playPage(9, True)

Initialize OP2 gait manager.

gaitManager = None gaitManager = RobotisOp2GaitManager(robot, "") gaitManager.start() gaitManager.setXAmplitude(0.0) gaitManager.setYAmplitude(0.0) gaitManager.setBalanceEnable(True) gaitAmplitude = 0.5 looptimes = 0

Main loop: perform a simulation step until the simulation is over.# At the beginning, start walking on the spot.# After 45 timesteps, begin taking steps forward.while robot.step(timestep) != -1:

if looptimes == 45:
    gaitManager.setXAmplitude(gaitAmplitude)

gaitManager.step(basicTimeStep)
looptimes += 1

Note that this controller will work out of the box in the simulation and in remote-controle mode with the real robot too. However, the cross-compilation is not working out of the box for python controllers (if you need cross-compilation for python controller let us know).

Sincerely, David

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