The soccer field contains only a dummy texture with the correct lines on a plain green background. This world is provided to demonstrate the usage of controllerArgs and TCP sockets for LoLa packets (do not expect this to run at realtime speeds). Names of joints of robot and possible motions - range in degrees (from the.
#Webots nao joint names full
The nao_robocup.wbt world contains a single Nao on a SPL 2020 field which will listen on UNIX socket /tmp/robocup.įull_game.wbt simulates a full game with two teams of five Naos each. with a group of Nao robots and in simulation using Webots, which is a 3-D. Included in this repo are updated Nao proto files (joint limits updated according to Nao V6 documentation), an updated soccer field according to current SPL Rules and two demo worlds. Magic value to identify start of image data (always wbimage\0)Ĭounter that increases with each LoLa cycle, can be used to correlate images to LoLa packetsĬamera ID (0 for top camera, 1 for bottom camera)īytes per pixel (currently always 2, since webots images are converted to YUV422) If the frame interval is not evenly divisible by 12ms this will cause some jitter, though the set framerate will be maintained on average. Webots images are converted to YUV422 format (compatible with v4l2 image format on real robot) and preceeded by a 16 byte header.Ĭamera images will always be generated during a LoLa cycle, which has a cycle time of 12ms. If camera images are enabled, the webots controller will spawn two TCP servers, one for each camera. (for joints), 2 sensor, 2 sensor (position sensors), etc. Listen address for bottom camera image server ( : or )ĭo not increase the battery temperature with with each simulations step In P-Rob3 PROTO models, the device names are not very self-explanatory but they use names likes 1, 2, etc. Listen address for top camera image server ( : or ) Path for LoLa UNIX socket or address on which TCP server will listen on ( : or ) Listen on TCP instead of UNIX socket for LoLa communication The following settings can be changed by setting the contollerArgs field in webots: Option It depends on OpenCV and NumPy python modules for converting camera images to YUV422. The controller is written in Python3 and has been tested to work with Webots 2022a & 2022b (nightly). The client can use this field to calculate simulation time (multiply by 12ms) and match camera images to corresponding LoLa packets. Camera images will be served on separate TCP ports for bottom & top camera.īy default the controller will (ab)use the battery temperature field (last value in Battery array) as a LoLa cycle counter that is increased with each LoLa packet sent. The webots controller can communicate either through a UNIX socket (default /tmp/robocup, like on real Nao) or TCP socket. For details on LoLa packet structure, please refer to the official LoLa documentation. This webots controller implements the LoLa interface for Nao V6 as used by RoboCup SPL.
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