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Updates for Webots 2022b.
This breaks compability with earlier webots releases, due to incompatible changes in proto & world files (`EXTERNPROTO` statements). The robot controller now uses the new `stepBegin()`/`stepEnd()` Webots API, which should improve performance.
1 parent 8e6125b commit 3fa2fa8

11 files changed

Lines changed: 48 additions & 24 deletions

‎README.md‎

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@@ -11,7 +11,7 @@ By default the controller will (ab)use the battery temperature field (last value
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## Dependencies
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The controller is written in Python3 and has been tested to work with Webots 2022a & 2022b (nightly).
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The controller is written in Python3 and has been tested to work with Webots 2022b.
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It depends on [OpenCV](https://pypi.org/project/opencv-python/) and [NumPy](https://numpy.org/) python modules for converting camera images to YUV422.
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‎controllers/nao_lola_python/nao_lola_python.py‎

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@@ -450,7 +450,10 @@ def run(self):
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conn = None
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imgCounter = self.frametime
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453-
while robot.step(self.timeStep) != -1:
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while True:
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if self.stepBegin(self.timeStep) == -1:
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break
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self.key = self.keyboard.getKey()
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456459
if conn:
@@ -487,8 +490,12 @@ def run(self):
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print(AnsiCodes.GREEN_FOREGROUND + "LoLa client connected." + AnsiCodes.RESET)
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except:
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conn = None
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self.stepEnd()
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continue
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496+
if self.stepEnd() == -1:
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break
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# remove socket on exit
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os.unlink(self.SOCK_PATH)
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‎protos/NaoJersey.proto‎

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@@ -1,13 +1,13 @@
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#VRML_SIM R2022a utf8
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#VRML_SIM R2022b utf8
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# Soccer jersey specifically designed for the Nao robot.
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#
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# The appearance can be modified changing the value of the 'jerseyTexture' field,
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# otherwise if no texture is available the model will use the color specified in 'jerseyColor' field.
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# A default set of red and blue textures with player number from 1 to 5 is provided.
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PROTO NaoJersey [
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field MFString jerseyTexture "textures/nao_jersey_dark_1.png"
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field SFColor jerseyColor 0.5 0 0
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field MFString jerseyTexture "../protos/textures/nao_jersey_dark_1.png"
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field SFColor jerseyColor 0.4 0.05 0.05
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]
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{
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Slot {

‎protos/NaoLeftWristH25Realistic.proto‎

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@@ -1,4 +1,4 @@
1-
#VRML_SIM R2022a utf8
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#VRML_SIM R2022b utf8
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# tags: hidden
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# template language: javascript
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‎protos/NaoRightWristH25Realistic.proto‎

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@@ -1,4 +1,4 @@
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#VRML_SIM R2022a utf8
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#VRML_SIM R2022b utf8
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# tags: hidden
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# template language: javascript
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‎protos/NaoV6.proto‎

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@@ -1,9 +1,12 @@
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#VRML_SIM R2022a utf8
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#VRML_SIM R2022b utf8
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# documentation url: https://www.cyberbotics.com/doc/guide/nao
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# Generic model of Nao robot
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# Model designed by Cyberbotics Ltd. according to the online documentation provided by Aldebaran Robotics.
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# template language: javascript
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7+
EXTERNPROTO "../protos/NaoLeftWristH25Realistic.proto"
8+
EXTERNPROTO "../protos/NaoRightWristH25Realistic.proto"
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PROTO NaoV6 [
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field SFVec3f translation 0 0 0.334 # Is `Transform.translation`.
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field SFRotation rotation 0 0 1 0 # Is `Transform.rotation`.

‎protos/SPL_Ball.proto‎

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@@ -1,4 +1,4 @@
1-
#VRML_SIM R2022a utf8
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#VRML_SIM R2022b utf8
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# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
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# license url: https://cyberbotics.com/webots_assets_license
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# A black and white soccer ball with customizable radius and mass.

‎protos/SPL_Field.proto‎

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@@ -1,10 +1,12 @@
1-
#VRML_SIM R2022a utf8
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#VRML_SIM R2022b utf8
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# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
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# license url: https://cyberbotics.com/webots_assets_license
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# Robot soccer field according to Standard Platform League rules from 2020.
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# The soccer field is built on a total carpet area of length 10.4 m and width 7.4 m.
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# The field dimensions (measured between center of white lines) are 9 x 6 m.
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8+
EXTERNPROTO "../protos/SPL_Goal.proto"
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PROTO SPL_Field [
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field SFVec3f translation 0 0 0
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field SFRotation rotation 0 0 1 0

‎protos/SPL_Goal.proto‎

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@@ -1,4 +1,4 @@
1-
#VRML_SIM R2022a utf8
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#VRML_SIM R2022b utf8
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# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
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# license url: https://cyberbotics.com/webots_assets_license
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# Robot soccer goal inspired from the RoboCup 2013-2014 Standard Platform League.

‎worlds/full_game.wbt‎

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Original file line numberDiff line numberDiff line change
@@ -1,4 +1,10 @@
1-
#VRML_SIM R2022a utf8
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#VRML_SIM R2022b utf8
2+
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackground.proto"
3+
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
4+
EXTERNPROTO "../protos/SPL_Field.proto"
5+
EXTERNPROTO "../protos/SPL_Ball.proto"
6+
EXTERNPROTO "../protos/NaoV6.proto"
7+
EXTERNPROTO "../protos/NaoJersey.proto"
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WorldInfo {
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info [
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"Simulation of the Robocup Standard Platform League"
@@ -48,7 +54,7 @@ DEF Blue1 NaoV6 {
4854
]
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jersey NaoJersey {
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jerseyTexture [
51-
"textures/nao_jersey_dark_1.png"
57+
"../protos/textures/nao_jersey_dark_1.png"
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]
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jerseyColor 0 0.75 1
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}
@@ -63,7 +69,7 @@ DEF Blue2 NaoV6 {
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]
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jersey NaoJersey {
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jerseyTexture [
66-
"textures/nao_jersey_dark_2.png"
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"../protos/textures/nao_jersey_dark_2.png"
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]
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jerseyColor 0 0.75 1
6975
}
@@ -78,7 +84,7 @@ DEF Blue3 NaoV6 {
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]
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jersey NaoJersey {
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jerseyTexture [
81-
"textures/nao_jersey_dark_3.png"
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"../protos/textures/nao_jersey_dark_3.png"
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]
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jerseyColor 0 0.75 1
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}
@@ -93,7 +99,7 @@ DEF Blue4 NaoV6 {
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]
94100
jersey NaoJersey {
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jerseyTexture [
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"textures/nao_jersey_dark_4.png"
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"../protos/textures/nao_jersey_dark_4.png"
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]
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jerseyColor 0 0.75 1
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}
@@ -108,7 +114,7 @@ DEF Blue5 NaoV6 {
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]
109115
jersey NaoJersey {
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jerseyTexture [
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"textures/nao_jersey_dark_5.png"
117+
"../protos/textures/nao_jersey_dark_5.png"
112118
]
113119
jerseyColor 0 0.75 1
114120
}
@@ -123,7 +129,7 @@ DEF Red1 NaoV6 {
123129
]
124130
jersey NaoJersey {
125131
jerseyTexture [
126-
"textures/nao_jersey_dark_1.png"
132+
"../protos/textures/nao_jersey_dark_1.png"
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]
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jerseyColor 0.5 0 0
129135
}
@@ -138,7 +144,7 @@ DEF Red2 NaoV6 {
138144
]
139145
jersey NaoJersey {
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jerseyTexture [
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"textures/nao_jersey_dark_2.png"
147+
"../protos/textures/nao_jersey_dark_2.png"
142148
]
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jerseyColor 0.5 0 0
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}
@@ -153,7 +159,7 @@ DEF Red3 NaoV6 {
153159
]
154160
jersey NaoJersey {
155161
jerseyTexture [
156-
"textures/nao_jersey_dark_3.png"
162+
"../protos/textures/nao_jersey_dark_3.png"
157163
]
158164
jerseyColor 0.5 0 0
159165
}
@@ -168,7 +174,7 @@ DEF Red4 NaoV6 {
168174
]
169175
jersey NaoJersey {
170176
jerseyTexture [
171-
"textures/nao_jersey_dark_4.png"
177+
"../protos/textures/nao_jersey_dark_4.png"
172178
]
173179
jerseyColor 0.5 0 0
174180
}
@@ -183,7 +189,7 @@ DEF Red5 NaoV6 {
183189
]
184190
jersey NaoJersey {
185191
jerseyTexture [
186-
"textures/nao_jersey_dark_5.png"
192+
"../protos/textures/nao_jersey_dark_5.png"
187193
]
188194
jerseyColor 0.5 0 0
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}

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