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Update optimisation for new robot model and better positioning #109

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Update optimisation for new robot model and better positioning #109

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Should this be here?

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154 changes: 132 additions & 22 deletions worlds/nuoptimiser.wbt
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Original file line number Diff line number Diff line change
@@ -1,14 +1,12 @@
#VRML_SIM R2022b utf8
#VRML_SIM R2023a utf8

EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/robots/robotis/darwin-op/protos/RobotisJersey.proto"
IMPORTABLE EXTERNPROTO "../protos/robocup_field/RobocupSoccerField.proto"
IMPORTABLE EXTERNPROTO "../protos/robocup_field/RobocupTexturedSoccerBall.proto"
IMPORTABLE EXTERNPROTO "../protos/robocup_field/lighting/RoboCupMainLight.proto"
IMPORTABLE EXTERNPROTO "../protos/robocup_field/lighting/RoboCupOffLight.proto"
IMPORTABLE EXTERNPROTO "../protos/robocup_field/lighting/RoboCupTopLight.proto"
IMPORTABLE EXTERNPROTO "../protos/robocup_field/RoboCupBackground.proto"

EXTERNPROTO "../protos/robot/NUgus/NUgus.proto"
IMPORTABLE EXTERNPROTO "../protos/robot/nugus/nugus.proto"

WorldInfo {
info [
Expand Down Expand Up @@ -44,36 +42,148 @@ WorldInfo {
}
]
}

Viewpoint {
orientation -0.175077 -0.367436 0.9134 5.32156
position -9.61058 11.1227 5.86
orientation -0.17508043773595672 -0.36744321481376185 0.9134179351258181 5.32156
position -5.8833984254670915 4.717390259099906 1.7155858321472701
}

RoboCupBackground {
texture "stadium_dry"
}
RoboCupMainLight {}
RoboCupOffLight {}
RoboCupTopLight {}

RoboCupMainLight {
}
RoboCupOffLight {
}
RoboCupTopLight {
}
DEF soccerField RobocupSoccerField {
size "kid"
}
DEF ball RobocupTexturedSoccerBall {
translation 0 -1.2605840975378444e-07 0.07852943586495187
rotation 0.9999999999999999 0 0 1.8715596617048374e-06
translation 0 -1.261991468080946e-07 0.07839305064224124
rotation 1 0 0 1.873570221899952e-06
}

DEF RED_PLAYER_1 NUgus {
supervisor TRUE
controller "optimisation"
nugus {
hidden position_0_0 0.03523007172401295
hidden position_0_1 -0.03523019683868693
hidden position_0_2 7.34579728464451e-08
hidden position_0_3 1.668861054772804
hidden position_0_4 1.6688610589322779
hidden linearVelocity_0 -0.0008482334993055832 -3.1956638502326513e-06 6.8808653223127e-06
hidden angularVelocity_0 5.735775138214575e-06 -0.0015228231950920115 7.015613435767712e-08
hidden rotation_3 0 0 1 0.03523007172401747
hidden position_3_0 0.164218225775925
hidden linearVelocity_3 -0.0006780164299632182 -1.7003384297297708e-06 -3.18832352153638e-05
hidden angularVelocity_3 6.176896229558641e-06 -0.0015228181576192124 2.783093647712252e-07
hidden rotation_4 0.08174244035421788 0.9932957287290679 0.08174208667220928 1.5775267950368337
hidden position_4_0 -0.9059627975766134
hidden linearVelocity_4 -0.0006097113762690548 -5.627937880422918e-07 -4.343857630175671e-05
hidden angularVelocity_4 7.268392791441075e-06 -0.001522779679698216 1.1220286034184827e-07
hidden rotation_5 -0.8237151308130811 -0.40093314549031633 -0.40093141073858146 1.7635261713729498
hidden position_5_0 1.2065400964228814
hidden linearVelocity_5 -0.0004199342288413432 1.2466337346198096e-06 8.60428521722578e-05
hidden angularVelocity_5 7.615866025162269e-06 -0.0015227424488722886 1.1495271894264303e-07
hidden rotation_6 0 0 1 1.2065400964228814
hidden position_6_0 -0.5129160387474201
hidden linearVelocity_6 -0.00020457255340408298 3.1863650170633387e-06 4.490432600747859e-05
hidden angularVelocity_6 7.800475770856468e-06 -0.0015226628178347183 5.191186657008953e-08
hidden rotation_7 0 0 -1 0.5129160387474202
hidden position_7_0 -0.16792228778075646
hidden linearVelocity_7 -9.526313693444996e-05 4.588194168440791e-06 -5.901188094075348e-05
hidden angularVelocity_7 7.840580902694953e-06 -0.0015224813551019847 9.033119589155506e-08
hidden rotation_8 0.992991659245204 0.08356920815780207 -0.08356884657176096 1.577832956454382
hidden linearVelocity_8 -3.294020432365901e-05 5.764743183511014e-06 2.4677592275375582e-05
hidden angularVelocity_8 7.969801116107718e-06 -0.0015224268736630715 1.0649838491483015e-07
hidden translation_10 0.037996804079202376 -0.054846997300490585 -0.08675047216623089
hidden rotation_10 0.008178962524834889 -0.10008034487439499 -0.994945741807984 4.498144363993047e-09
hidden linearVelocity_10 -1.4336930650745646e-05 6.059980856069461e-06 -0.0001586192907445107
hidden angularVelocity_10 7.971698704128267e-06 -0.0015224271379657213 1.0650528481563572e-07
hidden translation_11 0.03799680355875282 0.07673400269889097 -0.08675047107923728
hidden rotation_11 0.00817718307088061 -0.10224037850689617 -0.9947261123946589 4.49914313006605e-09
hidden linearVelocity_11 -1.435033915904191e-05 6.059988187776969e-06 -0.00015757035658464343
hidden angularVelocity_11 7.971698620954614e-06 -0.0015224271328253508 1.0650528606653512e-07
hidden translation_12 0.03799563243086557 0.07673399950571369 0.12907080571511642
hidden rotation_12 0.00781541352765657 0.3090179536567677 -0.9510240920340427 4.73604795122865e-09
hidden linearVelocity_12 -1.1675711004448528e-05 6.099010798953726e-06 0.00017077224415296374
hidden angularVelocity_12 7.971716606754736e-06 -0.0015224270636184775 1.065053127120612e-07
hidden translation_13 0.03799563295131504 -0.05484700049366831 0.1290708046281237
hidden rotation_13 0.007810394353233342 0.31089138746203593 -0.9504133537266705 4.739084480140899e-09
hidden linearVelocity_13 -1.16623025034729e-05 6.099003472261303e-06 0.00016972330999152622
hidden angularVelocity_13 7.971716631433102e-06 -0.0015224270687299553 1.065053125042335e-07
hidden rotation_14 0 0 -1 0.035230196838689415
hidden position_14_0 -0.16421956740106491
hidden linearVelocity_14 -0.0006780164067714774 -3.4127259902326486e-06 -3.2407528673456165e-05
hidden angularVelocity_14 5.295092067520378e-06 -0.0015228156185187554 -1.3649804412083474e-07
hidden rotation_15 -0.08174310221745497 0.9932956197941305 -0.08174274853258262 1.5775269047045521
hidden position_15_0 -0.9059628069891401
hidden linearVelocity_15 -0.0006099893789904867 -4.037924660902737e-06 -4.426767122437013e-05
hidden angularVelocity_15 4.2037726703530235e-06 -0.0015227748754378034 3.004130342248578e-08
hidden rotation_16 -0.8237151276459226 -0.40093314874378627 -0.40093141399203724 1.7635261751467284
hidden position_16_0 1.2065400906889856
hidden linearVelocity_16 -0.00041991059791685205 -4.404979173341559e-06 8.521420431710763e-05
hidden angularVelocity_16 3.856471070715474e-06 -0.0015227304624795624 2.68876406818528e-08
hidden rotation_17 0 0 1 1.2065400906889856
hidden position_17_0 -0.5129160385274139
hidden linearVelocity_17 -0.0002045819061671733 -4.726311698920734e-06 4.373864572918612e-05
hidden angularVelocity_17 3.6720493777097675e-06 -0.001522646132286745 8.99508108905705e-08
hidden rotation_18 0 0 -1 0.5129160385274135
hidden position_18_0 0.16792206276971458
hidden linearVelocity_18 -9.50197634398473e-05 -5.313937843792549e-06 -6.008253545272289e-05
hidden angularVelocity_18 3.6321442765468517e-06 -0.001522464374864616 5.229533509749191e-08
hidden rotation_19 0.9929916779177893 -0.08356909722092448 0.08356873563536335 1.5778329376504752
hidden linearVelocity_19 -3.296370094640298e-05 -6.013866404709992e-06 2.3254689378826242e-05
hidden angularVelocity_19 3.5035674181506435e-06 -0.0015224097100479518 3.6906699711752535e-08
hidden translation_21 0.037996804954296685 -0.0767340007094659 -0.08675046976432554
hidden rotation_21 -0.008172945418846573 -0.10440007345500298 0.9945017987041403 4.518429671175072e-09
hidden linearVelocity_21 -1.436617844131627e-05 -6.187889711133262e-06 -0.00015977493725907372
hidden angularVelocity_21 3.5016564402182256e-06 -0.0015224099611568173 3.689977957294748e-08
hidden translation_22 0.03799680450369061 0.05484699929030734 -0.08675046941553433
hidden rotation_22 -0.008172332839911905 -0.1050941950090806 0.9944286918383575 4.518761769653792e-09
hidden linearVelocity_22 -1.4370418691974042e-05 -6.187887012914103e-06 -0.00015931329745372247
hidden angularVelocity_22 3.5016565820378705e-06 -0.001522409957440725 3.689977862254727e-08
hidden translation_23 0.03799563338853106 0.054846998016585324 0.1290708073840383
hidden rotation_23 -0.007821788221550191 0.30751493701823923 0.951511105105813 4.710586544802252e-09
hidden linearVelocity_23 -1.1695852399019169e-05 -6.1725360557259765e-06 0.00016902560655390346
hidden angularVelocity_23 3.501667438467108e-06 -0.0015224098882307838 3.6899791084946726e-08
hidden translation_24 0.037995633839137066 -0.07673400198318925 0.12907080703525153
hidden rotation_24 -0.007820164518381793 0.3081240859110933 0.9513140347479159 4.711563473673715e-09
hidden linearVelocity_24 -1.1691612185238943e-05 -6.1725387508337396e-06 0.00016856396674546536
hidden angularVelocity_24 3.5016674744913577e-06 -0.001522409891930503 3.689978902544626e-08
hidden rotation_25 0 0 -1 3.141589926542027
hidden position_25_0 1.1828012323114099e-07
hidden linearVelocity_25 -0.0010754425558742494 -4.049559597451462e-06 4.653880466474621e-05
hidden angularVelocity_25 5.894404045128779e-06 -0.0015228229546807126 7.875375721649961e-07
hidden rotation_26 0.5773496480485992 0.5773495797596117 -0.5773515797584329 2.094398931710746
hidden linearVelocity_26 -0.0011935952461844838 -4.485144497754076e-06 8.876129808006734e-05
hidden angularVelocity_26 5.894408819078579e-06 -0.0015228224560084654 7.875337889924548e-07
hidden rotation_31 0.03467786221992787 0.7066817668254558 0.7066812055717256 3.210926201148701
hidden position_31_0 0.19633549981026094
hidden linearVelocity_31 -0.001050693007957788 -3.6564367526188784e-06 6.0283716019749234e-05
hidden angularVelocity_31 5.767110288689166e-06 0.029865605417706723 -8.035540444151223e-08
hidden rotation_32 0.5356930111855598 -0.6527368683734974 -0.5356935489931787 1.9850047289434856
hidden position_32_0 -0.6871779266313911
hidden linearVelocity_32 -0.002527558691070342 0.00016262178238558113 0.0005796035762794305
hidden angularVelocity_32 0.0035161268456917498 0.02986559453467985 -0.001146059293645725
hidden rotation_33 -0.8311867476925405 0.3931450886946852 0.39314822865624766 1.7546536999225857
hidden linearVelocity_33 -0.006636064856404783 0.0006266398863263667 0.0005939823016249536
hidden angularVelocity_33 0.0027336423065239947 0.01718895728346994 -0.0035427197978510493
hidden rotation_34 0.03467786369140676 0.7066817667893552 0.706681205535619 3.210926204088125
hidden position_34_0 -0.19633549680522377
hidden linearVelocity_34 -0.0010506697037690627 -3.6806179513896694e-06 5.9097559227932286e-05
hidden angularVelocity_34 5.761566417613755e-06 0.02986560530122108 -8.68973922135436e-08
hidden rotation_35 0.6115852282919485 -0.5019239319152107 -0.611584724388911 2.211227571123938
hidden position_35_0 -0.687177926666718
hidden linearVelocity_35 -0.002528484302682997 -0.00016937145651654202 0.0005749122348526016
hidden angularVelocity_35 -0.0035045997729929476 0.02986564197559659 0.0011458924495939447
hidden rotation_36 -0.8311867477042822 0.3931450886822727 0.39314822864383553 1.7546536999086968
hidden linearVelocity_36 -0.006636097986544066 -0.000631580409867384 0.0005921230026857162
hidden angularVelocity_36 -0.002722248854249263 0.017189009352133446 0.0035426207256984265
translation -4.631337371101949 2.4676909573272603 0.4740543962364015
rotation -2.3865957030049758e-05 0.9999999994047339 -2.49188351927922e-05 0.2175937726435894
name "red player 1"
translation -4.6 2.47 0.51 # 0.0 0.0 0.51
rotation 0 0 1 0
controller "optimisation"
controllerArgs [
"10001"
"1",
"1"
"127.0.0.1"
]
supervisor TRUE
}