Webots Simulation (Without license)

Webots Simulator

Download and install the Webots Simulator.

For the rest of the instructions $WEBOTS_HOME is the top level directory where webots is installed. If you choose to install Webots from the tar ball then $WEBOTS_HOME should be /usr/local/. If you are using a Mac it is fine to leave it in /Applications/Webots.

Set Nao team to the WebotsController:

cd $WEBOTS_HOME/projects/contests/robotstadium/controllers
sudo mv nao_team_1 nao_team_1.bak
sudo ln -s ~/UPennalizers/WebotsController nao_team_1

Set DARwIn team to the WebotsController

cd $WEBOTS_HOME/projects/contests/robotstadium/controllers
sudo mv darwin-op_team_1 darwin-op_team_1.bak
sudo ln -s ~/UPennalizers/WebotsController darwin-op_team_1

Now When robotstadium is started in Webots, choose either robotstadium_darwin-op_vs_darwin-op.wbt or robostadium_nao_vs_nao.wbt, then it will automatically start our code for Team 1.

You will see two error dialogs from Webots saying that it can not find nao_team_1.c. This is expected, just press OK.

NOTICE If you want to play robostadium_darwin-op_vs_nao.wbt or robostadium_nao_vs_darwin-op.wbt, two different copy of UPennalizers are required with controller path set to each WebotsController.