Today’s Learning Goals Morning Session: Environment & Fundamentals Understanding Webots scene graph structure WorldInfo Node Explained First impressions: Zoom and navigating in Webots is not very intuitive on Mac. It feels like free software often does, minimally functional UI. Built by developers for developers. The WorldInfo node is the root configuration node for any Webots world. It defines fundamental simulation properties: WorldInfo { basicTimeStep 32 # Simulation step in milliseconds FPS 60 # Frames per second for rendering gravity 0 -9.

Helpful resources: https://github.com/mithi/robotics-coursework ##1.1 World Nodes The WorldInfo node is the root configuration node for any Webots world. It defines fundamental simulation properties: WorldInfo { basicTimeStep 32 # Simulation step in milliseconds FPS 60 # Frames per second for rendering gravity 0 -9.81 0 # Gravity vector (x y z) coordinateSystem "NUE" # North-Up-East coordinate system physics "ODE" # Open Dynamics Engine physics } Key WorldInfo Parameters Physics Parameters basicTimeStep: Controls simulation speed (ms) Lower values (16-32ms) = more accurate but slower Higher values (64ms+) = faster but less accurate gravity: Vector defining gravity direction and magnitude cfm: Constraint Force Mixing (default: 1e-5) Lower = more rigid constraints Higher = softer, more elastic behavior erp: Error Reduction Parameter (default: 0.

ROS2 Node Architecture Overview Brief introduction to ROS2 Node Architecture and its importance in the context of robotic laundry folding. Theory Core concepts and theoretical foundations. Implementation Step-by-step implementation guide with code examples. Exercises Exercise 1 Exercise 2 Exercise 3 Additional Resources Related documentation Research papers External tutorials Reference implementations Project Work Specific project tasks related to ROS2 Node Architecture. Key Takeaways Summary of main points and learning outcomes.

Basic Robot Control Overview Brief introduction to Basic Robot Control and its importance in the context of robotic laundry folding. Theory Core concepts and theoretical foundations. Implementation Step-by-step implementation guide with code examples. Exercises Exercise 1 Exercise 2 Exercise 3 Additional Resources Related documentation Research papers External tutorials Reference implementations Project Work Specific project tasks related to Basic Robot Control. Key Takeaways Summary of main points and learning outcomes.

Simulation Physics Parameters Overview Brief introduction to Simulation Physics Parameters and its importance in the context of robotic laundry folding. Theory Core concepts and theoretical foundations. Implementation Step-by-step implementation guide with code examples. Exercises Exercise 1 Exercise 2 Exercise 3 Additional Resources Related documentation Research papers External tutorials Reference implementations Project Work Specific project tasks related to Simulation Physics Parameters. Key Takeaways Summary of main points and learning outcomes.

python -m urdf2webots.importer –input=someRobot.urdf in Ubuntu Novel (with jazzy ros2 installed) sudo apt install python3.12-venv python3 -m venv ./webotEnv wget (the raw github file for parol6 urdf) source webotEnv/bin/activate wget https://raw.githubusercontent.com/PCrnjak/PAROL6-Desktop-robot-arm/refs/heads/main/PAROL6_URDF/PAROL6/urdf/PAROL6.urdf PAROL6.urdf pip install urdf2webots rosdep install –from-paths src –ignore-src -r -y ERROR!!! not installed … sudo rosdep init rosdep update (shows a list of releases) now I’m getting the PAROL6 upgraded to ros2

sudo apt install ros-jazzy-ros-gz sudo apt-get update sudo apt-get install ros-jazzy-ros-gz-bridge ros-jazzy-ros-gz-sim ros-jazzy-ros-gz-interfaces ros-jazzy-ros2-control ros-jazzy-ros2-controllers