----- Project goals -----

• Create a simulation of the DARwIn-OP robot on the Webots simulator as realisitc as possible.
• Allow to run a controller written using exclusively the Webots API (and not the Robotis API) in simulation and in reality

----- Project structure -----

The root of the project should match with the root of Webots. At each new Webots release, this project can be merged in the root directory of Webots.

----- Installation (beta) -----

A. Get the git repository

• 1. Let say its git repository path is called $GIT_REPOSITORY

B. Install Webots

• 1. Follow the instructions of the user manual of Webots to install Webots
• 2. Let say its installation path is called $WEBOTS_HOME

C. Install default software on the DARwIn-OP

• 1. Let say the root path of the DARwIn-OP is called $DARWINOP

D. Run the simulation

• 1. Merge the "resources" directory git repository with the "resources" directory of Webots $ cp -R $GIT_REPOSITORY/resources $WEBOTS_HOME
• 2. Compile the darwin and manager libraries by typing: $ cd $WEBOTS_HOME/resources/projects/robots/darwin-op/libraries/darwin $ make => $WEBOTS_HOME/resources/projects/robots/darwin-op/libraries/darwin/libdarwin is generated $ cd $WEBOTS_HOME/resources/projects/robots/darwin-op/libraries/managers $ make => $WEBOTS_HOME/resources/projects/robots/darwin-op/libraries/managers/libmanagers is generated
• 3. Compile a Soccer controller Open Webots and compile the controller: $ webots $GIT_REPOSITORY/projects/robots/darwin-op/worlds/soccer.wbt From the Webots GUI, open $GIT_REPOSITORY/projects/robots/darwin-op/controllers/soccer/Soccer.cpp and hit the "Build / Build" menu item. Revert and play the simulation.

E. Run the same controller on the DARwIn-OP

• 1. Make sure you have version 1.5.0 of DARwIn-OP's Framework installed on the robot. The version of the Framework can be checked in /darwin/ReleaseNote.txt If version 1.5.0 is not installed you can found it here : http://sourceforge.net/projects/darwinop/files/Software/Main%20Controller/Source%20Code/ You simply have to merge /darwin with the files present in DARwIn-OP_ROBOTIS_v1.5.0.zip

• 2. On the DARwIn-OP, merge $GIT_REPOSITORY/resources/projects/robots/darwin-op/libraries/darwin/darwin/ with existing DARwIn-OP source code in /darwin/ directory

     $ cp -R $GIT_REPOSITORY/resources/projects/robots/darwin-op/libraries/darwin/darwin/* /darwin/

• 3. On the DARwIn-OP, recompile the Framework

     $ cd /darwin/Linux/build $ make clean $ make

     $ cd /darwin/Linux/project/demo $ make distclean $ make

     $ chown darwin.darwin /darwin

• 4. On the DARwIn-OP, create a /darwin/Linux/project/webots directory
• 5. Copy-paste the "libraries/managers/include", "libraries/managers/lib", "transfer", and "libraries/managers/src" directories of the $GIT_REPOSITORY/resources/projects/robots/darwin-op directory directly in the /darwin/Linux/project/webots directory
• 6. Do the same with the $GIT_REPOSITORY/projects/robots/darwin-op/controllers directory. Note: From now, on the real DARwIn-OP, you should have these directories: /darwin/Linux/project/webots/include /darwin/Linux/project/webots/lib /darwin/Linux/project/webots/transfer /darwin/Linux/project/webots/src /darwin/Linux/project/webots/controllers
• 7. Compile the wrapper library $ cd /darwin/Linux/project/webots/transfer/lib $ make
• 8. Compile the managers library $ cd /darwin/Linux/project/webots/lib $ make -f Makefile.darwin-op
• 9. Compile the controller $ cd /darwin/Linux/project/webots/controllers/symmetry $ make -f Makefile.darwin-op

-10. Start the controller $ ./symmetry To stop the controller press Ctrl+c You can now try the other examples presents in the directory "controllers"

F. Run your controller on the robot from Webots (remote-control)

• 1. On the DARwIn-OP, copy paste $GIT_REPOSITORY/resources/projects/robots/darwin-op/remote_control directory in /darwin/Linux/project/webots
• 2. Compile remote control serveur on the DARwIn-OP $ cd /darwin/Linux/project/webots/remote_control $ make -f Makefile.darwin-op
• 3. Start the remote serveur $ /darwin/Linux/project/webots/remote_control/remote_control 1 1 (adjust parameters if camera resolution is not 320x240, example 2 1 for a resolution of 160x240)
• 4. Set the robot in remote-control mode on Webots by adding the following lines in the controller const char arguments[16] = "192.168.123.1"; // adjust IP adress if the robot is connected by wifi setMode(MODE_REMOTE_CONTROL, (void *)arguments);
• 5. Compile controller and revert world

----- Known issues -----

• 1. In simulation, in the DARwInOPGaitManager, the lateral balance do not work as expected. It is recommended to set balance_hip_roll_gain and balance_ankle_roll_gain to 0.0, this must be done in the file 'config.ini' attached to the controller.
• 2. In simulation the P gain of the servo affects the speed but on the real robot it affects the torque. This can cause differences between simulation and reality in some specific cases. Especially when P is small.

----- Contributors -----

Robotis, Cyberbotics, and users ^^