SUSTAINA-OP™ Webots

Simulation Environment for SUSTAINA-OP™ RoboCup 2023 Edition in Webots

Real Robot	Webots Model

Note

SUSTAINA-OP™ is an open hardware platform and is based on real robots. Therefore, the idea of publishing this content is based on SUSTAINA-OP™. Please confirm https://github.com/SUSTAINA-OP/SUSTAINA-OP before use.

What is SUSTAINA-OP™ Webots?

This is the "webots R2023b" simulator environment of the open-source robot simulator Webots for the robot SUSTAINA-OP™ competed in RoboCup 2023.

SUSTAINA-OP™ walking

A sample program of walking control using preview control. You can send walking commands to move the robot and check the camera images mounted on the robot.

Required emvironment

• webots R2023b
• python3.8 or later

Execute

cd /SUSTAINA-OP-Webots-DEV/webots/world
webots walking.wbt

Sending walking direction

python3 walk_client.py <target x> <target y> <target theta>

Viewing image from camera

python3 view_image.py

For more information

License Information

Hardware

Please confirm the LICENSE-HW for license information.

Hardware includes the following content.

• 3D mesh models
• Files containing robot hardware information (e.g. /SUSTAINA-OP.urdf)

Software

Please confirm the licence notice in each file for licence information.

Software includes the following content.

• Files in /webots directory

Important

When adapting the content developed in this simulation to a real robot, the SUSTAINA-OP™ RoboCup 2023 Edition should be used.