![]() Webots allows you to define robots in the scene tree. You can delete the UR3 and UR10 robots to speed up the simulation. It is now a good time to save the sample world as your own world. Always use the “revert” button (next to the “save” icon) or the “reverse” button to reset the simulator before changing any parameters. You should therefore never save a world once it has run. This is a side-effect of the ODE numerical solver. Note: Once the world has been simulated, small errors are building up, changing the coordinate axes of all the objects in the world. Think about which time step should be smaller (or at least equal), the world time step or the simulator time step.Can you find the piece of code that advances the simulation by one step? What is the time step the simulator uses? Inspect the controller code in the window to the right. You can also advance the simulation step by step using the button left of the play button.How far can you increase the time-step before things break? Why?. ![]() Increase the time-step in the scene tree, e.g.(You will need to save the world in one of your own directories and restart the simulation after changes made). Note the “speed-up factor” you are getting. Run the simulation in “fast” mode (the “fast forward” button right of the play button).This value is defined in the Scene Tree in the “WorldInfo” node, and in “basicTimeStep” therein. It does this in discrete steps by simulating what happens within the next few milliseconds. Webots simulates full physics using the ODE library. The “Scene tree” to the left, and the controller code to the right. When opening the software, you see the world containing the robots and objects in the center. You should see a factory with a UR3, a UR5 and a UR10 picking up Coca Cola cans. Use “Open Sample World” from the File menu, select “robots” and then “Universal Robots”. We will use an external controller for most of this class. This will allow you to run Python scripts in the built-in IDE. This is important if you have multiple installations of Python on your machine. You can set the Python interpreter that Webots actually uses in “Webots -> Preferences”. Webots is available as binary for Windows, Linux and Mac from You will need to install a python interpreter and setup Webots to use it. search pertinent information in a sensor datasheet.learn how to setup an external controller.You will augment a manipulating arm with a 3D camera and implement a simple state machine in Python to grasp a can using a distance sensor. The goal of this lab is to understand the architecture and key data structures in Webots and how to access them from Python.
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