#Webots for nao simulator

This means a taller robot that made the environment useless. By timestep 10k, the robot had all of its parts floating separated by 1 to 2 cm. This bug was more evident when the robot had speed or acceleration so we had to wait for 50 timestep to wait for the robot to stop moving and then restart.

Moving the robot caused its parts to separate some tiny distance from its parent-part on every episode restart.

Our workaround was to wait some timesteps after the robot ended the episode, reset the position (with the robot on the floor), move the robot to the initial position and rotation, and then continue to the next episode. This makes it harder to reset the environment. If the robot is deleted, the script ends.

#Webots for nao simulator

The way it works is that the simulator would call your script when the robot is loaded as if it ran inside the robot. The simulator calls the python script and not the other way around (we couldn’t execute Webots and control it from our program).And one of the best features is that many robots are already implemented, this was the case of the Nao which had all the sensors and motors implemented with the right scales.Īnyway, when we started coding the RL scripts we found the following problems:

It can be installed in Windows and Linux by just downloading the installer from its page and its documentation is complete (though a few more python examples would’ve made life easier). It has a complete graphical interface which means that you can comfortably control it with your mouse. It has some features that make it very easy to use. Webots is the physics simulator we used to begin this project. Why Webots didn’t quite suit our RL project