1.Competition environment Download
The simulation competition environment is provided by the Organizing Committee of the robot competition. All teams should download the competition environment software on the official website of the robot competition. Download path is“ http://www.running-robot.net/download/ ”; the file name is "simulation standard competition c-p1 competition environment v1.0", see Figure 1 for details.
Figure 1. Download address of simulation standard competition c-p1 competition environment
2. Description of competition environment debugging
1) Run the WBT file. The folder name corresponding to the virtual standard competition C-P1 competition environment v1.0 is running_ robot_ V1.0; file name is runningrobotenv_ v1.0.wbt. Using webots to open runningrobot env_ After the v1.0.wbt file,
The simulation interface will pop up. See Figure 2.
Figure 2. Simulation standard competition simulation interface
2) Example of operation
a) Change the field of view: you can select different viewing angles in the view - > Change View menu bar, or use the mouse to change the viewing angle as follows:
l Zoom in / out field of view: scroll the mouse wheel:
l Rotation angle of view: press and hold the left mouse button to move the mouse to rotate the angle of view of the observation environment;
l Pan view angle: press and hold the right mouse button to move the mouse to pan the view angle.
b) Manual robot walking: the Darwin OP robot in webots software has its own C + + controller routine, and the simulation program uses the "walk" controller to control robot motion by default; the controller call method is shown in Figure 3.
After the controller is set, press the space bar and the robot starts to step in place. Long press the keyboard direction key, the robot can move forward and backward.
Figure 3. Motion controller of virtual robot
c) Record video：
Click the icon in the software interface, select the resolution (as shown in Figure 4), and the simulation software starts to record the moving picture in the current perspective. Click the icon again to stop recording.
Figure 4. Recording video setting screen