#Webots step update
#Webots step download

A calibrated version, including motor backlash, artificial turf physics and a calibrated ball physics will be released on March 22nd, 2021.

Choose a name for the system respecting the convention. Click on it and the Project explorer on the left will change. On the top right, there is an white rectangle with the letter S inside. In this version the physics of the robots, ball and artificial turf are not yet calibrated. This step is carried out just like any other system. The simulation is running at ~1.5x to ~1.8x real time. Each robot is running a walking algorithm and processing images, searching for a orange ball (which is missing from the environment). We did some preliminary tests on a Ubuntu 20.04 Linux box running a 8-core i7-9700 CPU 3.00GHz together with a GeForce RTX 2060 graphics card. Note: in order to avoid confusion with the camera images processed by robots, we deleted the exiting soccer goals from the stadium background image which is included in Webots R2021a, so, you will really need Webots R2021a-rev1 to test this version unless you don’t care about these extra goals.

However, for the competition we will run the official matches on Linux, so Linux is indeed recommended for your developments and tests to avoid cross-platform issues.

#Webots step download

Wait until tomorrow and download the latest nightly build of Webots R2021a-rev1 that will contain the two worlds in the WEBOTS/projects/samples/contests/robocup/ folder.

Compile Webots from the source and switch to the feature-robocup-field branch, or.

To get it running on your PC, you can either: For example, wb_motor_set_position also cannot send data to webots immediately.(made a second post because new users are not allowed to post more than 3 links in their first post) Each controller procedure calls wb_robot_step() to exchange sensor and actuator data. There are three processes in total: one is webots and the other two are robots. For example, the simulation includes connecting robots. Webots and each robot controller run in an individual process.

#Webots step update

Simulation delay (definition in scene tree: WorldInfo.basicTimeStep)Įach controller needs to call wb_robot_step(), otherwise the sensor and actuator will not update data and get stuck (only in synchronous mode) 3.maxSpeed 6.2 rated maximum speed of Epuc motors get the time step of the. Webots are used in two different times: control delay and analog delay. This rescue scenario based simulation competition will use Webots. If you want to control the rotation angle of multiple motors at the same time, you need to set the expected value for the rotation angle of each motor. Similar to the actual robot, the rotation angle of the motor can not reach the expected value because the torque of the motor is not enough to resist gravity. wb_motor_set_position() only specifies the expected target value.webots/motor.h has the definition of motor speed, acceleration, force and various parameters.WbDeviceTag motor = wb_robot_get_device('my_motor') ĭouble t = 0.0 // elapsed simulation time Wb_motor_set_position() gives the corresponding position request to the motor. For motion control, the action is divided into several steps for control.The actuator is also similar to the sensor, and the label used is Wb_Device_Tag, the calling function is also wb_robot_get_device(), but there is no need to call the open function wb_*_enable().