Webots controller

This describes the use and setup of a simple script to control the robot in-simulation using the keyboard.

To use the script, make a link to Test/webots_Control.lua in the Player directory. Call this 'player.lua', replacing the old 'player.lua' link.

    rm player.lua
    ln -s Test/webots_Control.lua player.lua

Once you've done this, run Webots as per usual.

Once webots is running and you've opened the nao1.wbt world file, click on the robot so that it is highlighted and get ready to control the robot.

1. Changing the robot's body position (Do this first)
   • Press 7 to make the robot sit.
   • Press 8 to make the robot enter 'stand' position. (This must be done immediately after simulation begins before you can interact with the robot) This will also make the robot stop walking.
   • Press 9 to make the robot begin walking.
2. Making the robot walk
   • Press i to increase forward walk velocity.
   • Press , to decrease forward walk velocity (even into the negatives).
   • Press j to increase counterclockwise spin.
   • Press l to increase clockwise spin.
   • Press h to increase left-sidestep velocity.
   • Press ; to increase right-sidestep velocity.
   • Press k to walk in place.
3. Making the robot kick
   • Press 1 to make the robot kick forward with its left foot.
   • Press 2 to make the robot kick forward with its right foot.
4. Moving the robot's head
   • Press w to tilt the robot's head up.
   • Press x to tilt the robot's head down.
   • Press a to turn the robot's head counterclockwise.
   • Press d to turn the robot's head clockwise.
   • Press s to return the head to zero position.