webots_intro

Setup

Coventry lab machines

Installation

Open AppsAnywhere.
Search for and install Webots (R2020b-rev1).

Additional Python steps

Open AppsAnywhere.
Search for and install Python (Anaconda Python 3.4).
Open Webots.
Edit Tools -> Preferences -> "Python command" option to "C:\Program Files (x86)\Microsoft Visual Studio\Shared\Python37_64\python".

Personal machines

Installation

Download from https://cyberbotics.com/.
Install.

Although these activities should work with the latest version of Webots they were tested against R2020b-rev1. Previous versions of Webots are available at https://github.com/cyberbotics/webots/releases.

Additional Python steps

Install Python 3.7, 3.8 or 3.9.
If Webots is unable to find your Python install you may need to edit the Tools -> Preferences -> "Python command" option within Webots.

Getting started

Open one of the sample environments using the File -> "Open Sample World" -> dji -> mavic -> mavic_2_pro.wbt

Camera controls

Pan/Tilt camera - click and hold left mouse button in simulation window.
Move camera - click and hold right mouse button in simulation window.
Roll camera - click and hold middle mouse button in simulation window.

Control simulation

Play, pause and fast forward options on top menu bar.
Can also step through the simulation one timestep at a time.
Reset simulation to the start (rewind icon).

Move objects

Whilst holding Shift key, left click and drag on object.
Or, left click on object and use movement arrows.

Rotate objects

Whilst holding Shift key, right click and drag on object.
Or, left click on object and use rotation arrows.

Modify objects

Select object in the scene tree (menu on left hand side).
Change attribute values.

Robot window

View the sensor information from the robot in the robot window.

Double left click on the robot.
Or, right click on the robot and select "Show Robot Window".

Write control code

Select robot in the scene tree.
Select controller attribute.
Use "Select..." button to see available controllers.
Use "Edit" button to open the code window.
Controllers are stored in the "controllers" follow in seperate directories.
- The controller program must match the name of the folder to be automatically detected.
- I.e. controllers/myController/myController.py for Python and controllers/myController/myController.cpp for C++.
- You will need to compile your C++ code, there is a compile button in the code window (the cog icon).

Documentation

The Webots documentation is available at https://cyberbotics.com/doc/guide/index.

In particular the programming documentation is availabel here https://cyberbotics.com/doc/reference/index.

Activities

Using a modified version of the GCTronic E-puck.

Line follow

Open Webots.
File -> Open World
Select the worlds/linefollow.wbt file from this repo.
Create your own version of the example_line controller to navigate the course and quickly as possible.

Line follow with avoidance

Open Webots.
File -> Open World
Select the worlds/linefollow.wbt file from this repo.
Move the robot to the second course (features 3 obstacle blocks).
Create your own version of the example_line controller to navigate the course and quickly as possible.

Sumo

Open Webots
File -> Open World
Select the worlds/sumo.wbt file from this repo
This is a two robot environment, the red and blue E-pucks can each run seperate controllers.
Develop and test your controller against each other. The objective is to push the other robot out of the ring.

ae2851/webots_intro

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