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Update Discord Docs #1705

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Update discord docs.
May 27, 2020
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Improve regex.
DavidMansolino May 27, 2020
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106 changes: 96 additions & 10 deletions docs/discord/development.md
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Expand Up @@ -4,6 +4,92 @@ This is an archive of the `development` channel of the [Webots Discord server](h

## 2020

##### David Mansolino [cyberbotics] 05/25/2020 06:25:16
You can either convert your car node to base node (right click on the node in the scene-tree) and then you will be able to change the structure, either change directly the `Car.proto` file.

##### hrsh12 05/24/2020 21:21:56
Is there a way of modifying the usual steering system used in car models?

##### Sanket Khadse 05/22/2020 16:03:44
Alright, thank you for your understanding!

##### Olivier Michel [cyberbotics] 05/22/2020 16:02:54
OK, then you should probably run Webots in the cloud and stream your simulation to the web.

##### Sanket Khadse 05/22/2020 16:01:57
I am a competitor, sir.

##### Olivier Michel [cyberbotics] 05/22/2020 16:00:06
Are you a competitor or an organizer/developer of this contest?

##### Sanket Khadse 05/22/2020 15:50:50
`@Olivier Michel` , would you please take a look at this. So it will be easy to help me out.

[http://www.aerialroboticscompetition.org/assets/downloads/simulation\_challenge\_rules\_1.1.pdf](http://www.aerialroboticscompetition.org/assets/downloads/simulation_challenge_rules_1.1.pdf)

Go for " Challenge Rules - 1 ".

##### Olivier Michel [cyberbotics] 05/22/2020 15:46:11
This is not possible.

##### Sanket Khadse 05/22/2020 15:45:40
So could you tell me how can I make this static scene to moving? (by using my controller code of course).

No, as I said, its none of these two cases.

##### Olivier Michel [cyberbotics] 05/22/2020 15:41:18
Exporting a to HTML will simply export a static scene (no motion), so you probably want to either export an animation or stream a live simulation?

##### Sanket Khadse 05/22/2020 15:37:09
Yes, I have already read it. I need to simulate my world on a web browser using HTML file. I mean anyone with the file can open the simulation on the web. Server streaming or already recorded animation isn't the case.

##### Olivier Michel [cyberbotics] 05/22/2020 15:32:27
Please refer to the user guide: [https://cyberbotics.com/doc/guide/web-interface](https://cyberbotics.com/doc/guide/web-interface)


Do you want to export an animation or to stream a live simulation?


That's because you exported to HTML but you are not streaming the simulation.

##### Sanket Khadse 05/22/2020 15:28:54
`@Olivier Michel` you see, no other option or window opens. neither the drone moves. But in webots, it moves. Any suggestions?
%figure
![Screenshot_from_2020-05-22_20-57-46.png](https://cdn.discordapp.com/attachments/565155651395780609/713413087914491904/Screenshot_from_2020-05-22_20-57-46.png)
%end


##### Olivier Michel [cyberbotics] 05/22/2020 14:27:44
If your robots move in Webots, they should also move in the web view. Don't they?

##### Sanket Khadse 05/22/2020 13:18:06
Hey, I was trying to simulate a world on a HTTP web page. But I couldn't link the controller to the world. I can only move the viewpoint. How should I link the controllers to that file? So that the robots in my simulation should work.

##### Olivier Michel [cyberbotics] 05/22/2020 06:48:43
Please open an issue on [https://github.com/cyberbotics/urdf2webots/issues/new](https://github.com/cyberbotics/urdf2webots/issues/new) and upload your URDF file as a ZIP file.

##### ChapoGuzman 05/21/2020 23:44:29
Thanks in advance


I did a good install because I tried the "Human" file and it worked correctly



%figure
![unknown.png](https://cdn.discordapp.com/attachments/565155651395780609/713174651731181749/unknown.png)
%end



But i have this error


Hi guys im using the urdf package to convert my files between solidworks and webots

##### Alfian 05/21/2020 04:09:02
There is no controller for lock position of the DJI Mavic 2 Pro

##### David Mansolino [cyberbotics] 05/15/2020 04:57:11
`@Sanket Khadse` the controller of the drone is very simple, it doesn't do any feedback using the GPS position or any inertial unit, it might therefore easily drift.

Expand Down Expand Up @@ -459,7 +545,7 @@ You're welcome 😉
wow.. Thank you I couldn't find that even after hours of search. You saved a lot of time for me 🙂

##### David Mansolino [cyberbotics] 03/25/2020 12:33:50
In Python I personnally often use the ``transforms3d``module (available on PIP: [https://pypi.org/project/transforms3d)](https://pypi.org/project/transforms3d)) which allows to convert between many 3D representations, you will probably find what you need in the doc: [http://matthew-brett.github.io/transforms3d/](http://matthew-brett.github.io/transforms3d/)
In Python I personnally often use the ``transforms3d``module (available on PIP: [https://pypi.org/project/transforms3d](https://pypi.org/project/transforms3d)) which allows to convert between many 3D representations, you will probably find what you need in the doc: [http://matthew-brett.github.io/transforms3d/](http://matthew-brett.github.io/transforms3d/)

##### mint 03/25/2020 12:32:24
I have been using python 3..
Expand Down Expand Up @@ -909,7 +995,7 @@ Generally all our grippers have physics, collision shapes and joints.
Hi,

##### machinekoder 01/23/2020 10:05:11
I have acquired an EZgripper ([https://sakerobotics.com/)](https://sakerobotics.com/)) for my robot. What's the best way to simulate such an under actuated gripper? I've written a small Python controller, but I can't really make it grasp properly. Any ideas? I don't really need the physics aspect of the grasping itself, just being able to move objects around.
I have acquired an EZgripper ([https://sakerobotics.com/](https://sakerobotics.com/)) for my robot. What's the best way to simulate such an under actuated gripper? I've written a small Python controller, but I can't really make it grasp properly. Any ideas? I don't really need the physics aspect of the grasping itself, just being able to move objects around.

##### David Mansolino [cyberbotics] 01/17/2020 14:29:55
No sorry, Webots doesn't provide such drag and drop interface
Expand Down Expand Up @@ -1055,13 +1141,13 @@ I see, thank you, i will try it later
##### Stefania Pedrazzi [cyberbotics] 12/03/2019 07:28:46
You can find some examples in the Webots samples library:

- samples/devices/motor.wbt ([https://cyberbotics.com/doc/guide/samples-devices#motor-wbt)](https://cyberbotics.com/doc/guide/samples-devices#motor-wbt))
- samples/devices/motor.wbt ([https://cyberbotics.com/doc/guide/samples-devices#motor-wbt](https://cyberbotics.com/doc/guide/samples-devices#motor-wbt))

- samples/devices/motor2.wbt ([https://cyberbotics.com/doc/guide/samples-devices#motor2-wbt)](https://cyberbotics.com/doc/guide/samples-devices#motor2-wbt))
- samples/devices/motor2.wbt ([https://cyberbotics.com/doc/guide/samples-devices#motor2-wbt](https://cyberbotics.com/doc/guide/samples-devices#motor2-wbt))

- samples/devices/motor3.wbt ([https://cyberbotics.com/doc/guide/samples-devices#motor3-wbt)](https://cyberbotics.com/doc/guide/samples-devices#motor3-wbt))
- samples/devices/motor3.wbt ([https://cyberbotics.com/doc/guide/samples-devices#motor3-wbt](https://cyberbotics.com/doc/guide/samples-devices#motor3-wbt))

- samples/devices/linear\_motor.wbt ([https://cyberbotics.com/doc/guide/samples-devices#linear\_motor-wbt)](https://cyberbotics.com/doc/guide/samples-devices#linear_motor-wbt))
- samples/devices/linear\_motor.wbt ([https://cyberbotics.com/doc/guide/samples-devices#linear\_motor-wbt](https://cyberbotics.com/doc/guide/samples-devices#linear_motor-wbt))


`@Musuyaba` the Servo node has been deprecated since many years now (starting from Webots 7.2). Please use the joint and motor nodes instead.
Expand Down Expand Up @@ -1367,9 +1453,9 @@ Hello Sir, i am trying to understand supervisor programming but i found only thi
We also have an example with PyCharm here: [https://www.cyberbotics.com/doc/guide/using-pycharm-with-webots](https://www.cyberbotics.com/doc/guide/using-pycharm-with-webots)

##### Fabien Rohrer [Moderator] 09/30/2019 06:35:35
`@TheDisposableScientist` Hi, I expect you mean to create a webots controller inside an IDE, such as XCode. Could you refer to this draft page of the documentation? [https://cyberbotics.com/doc/guide/using-your-ide?version=enhancement-ide-section](https://cyberbotics.com/doc/guide/using-your-ide?version=enhancement-ide-section)
`@ThePolymath` Hi, I expect you mean to create a webots controller inside an IDE, such as XCode. Could you refer to this draft page of the documentation? [https://cyberbotics.com/doc/guide/using-your-ide?version=enhancement-ide-section](https://cyberbotics.com/doc/guide/using-your-ide?version=enhancement-ide-section)

##### TheDisposableScientist 09/29/2019 10:08:43
##### ThePolymath 09/29/2019 10:08:43
how to integrate webots with an ide in macOS?

##### Stefania Pedrazzi [cyberbotics] 09/26/2019 06:20:06
Expand Down Expand Up @@ -1398,12 +1484,12 @@ Does webots include this marine robots, exact this one? I can find salamander cl


##### Stefania Pedrazzi [cyberbotics] 09/16/2019 06:11:06
You can find another example in samples/howto/omni\_wheels.wbt simulation: [https://www.cyberbotics.com/doc/guide/samples-howto#omni\_wheels-wbt.](https://www.cyberbotics.com/doc/guide/samples-howto#omni_wheels-wbt.) In this case the wheel is simulated using two layers of joints and cylinders.
You can find another example in samples/howto/omni\_wheels.wbt simulation: [https://www.cyberbotics.com/doc/guide/samples-howto#omni\_wheels-wbt](https://www.cyberbotics.com/doc/guide/samples-howto#omni_wheels-wbt). In this case the wheel is simulated using two layers of joints and cylinders.


Hi `@SimonDK`, the youBot robot has mecanum wheels [https://www.cyberbotics.com/doc/guide/youbot](https://www.cyberbotics.com/doc/guide/youbot)

The mecanum wheel is simulated by setting asymmetric friction to the [ContactProperties]([https://www.cyberbotics.com/doc/reference/contactproperties)](https://www.cyberbotics.com/doc/reference/contactproperties)) of the wheel.
The mecanum wheel is simulated by setting asymmetric friction to the [ContactProperties]([https://www.cyberbotics.com/doc/reference/contactproperties](https://www.cyberbotics.com/doc/reference/contactproperties)) of the wheel.

##### SimonDK 09/15/2019 14:31:33
What models for omni-directional mecanum wheel platforms have you seen/are there in Webots? How are the mecanum wheels simulated? I would like to develop my own simulation for a platform so are looking for some examples as a starting point.
Expand Down
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Expand Up @@ -556,7 +556,7 @@ Thank you so much 🙂
##### David Mansolino [cyberbotics] 01/27/2020 07:10:51
Hi `@İchigogo`, Webots provides an example of controller in python using cv2 to process a camera images: [https://github.com/cyberbotics/webots/blob/master/projects/samples/robotbenchmark/visual\_tracking/controllers/visual\_tracking/visual\_tracking.py](https://github.com/cyberbotics/webots/blob/master/projects/samples/robotbenchmark/visual_tracking/controllers/visual_tracking/visual_tracking.py)

You can't simply use 'data' as a cv2 image, you have to convert it somehow (see for example: [https://stackoverflow.com/questions/17170752/python-opencv-load-image-from-byte-string?answertab=oldest#tab-top)](https://stackoverflow.com/questions/17170752/python-opencv-load-image-from-byte-string?answertab=oldest#tab-top))
You can't simply use 'data' as a cv2 image, you have to convert it somehow (see for example: [https://stackoverflow.com/questions/17170752/python-opencv-load-image-from-byte-string?answertab=oldest#tab-top](https://stackoverflow.com/questions/17170752/python-opencv-load-image-from-byte-string?answertab=oldest#tab-top))

##### İchigogo 01/26/2020 20:04:42
I'm trying to make image progressing. I get data with << data = camera. getImage() >> but I can't display it with cv2.imshow( data ) what should I do?
Expand Down Expand Up @@ -618,7 +618,7 @@ I understand. Thank you so much 🙂
##### David Mansolino [cyberbotics] 12/19/2019 06:57:02
Hi `@bsr.nur.bahadir` which voice recognition documentation are you refeerig too? The Webots API provide text to speech but not voice recognition.

About path planninc, you can find some examples here: [https://en.wikibooks.org/wiki/Cyberbotics%27\_Robot\_Curriculum/Advanced\_Programming\_Exercises#Path\_planning\_[Advanced]](https://en.wikibooks.org/wiki/Cyberbotics%27_Robot_Curriculum/Advanced_Programming_Exercises#Path_planning_[Advanced])
About path planninc, you can find some examples here: [https://en.wikibooks.org/wiki/Cyberbotics%27\_Robot\_Curriculum/Advanced\_Programming\_Exercises#Path\_planning\_](https://en.wikibooks.org/wiki/Cyberbotics%27_Robot_Curriculum/Advanced_Programming_Exercises#Path_planning_)[Advanced]

##### bsr.nur.bahadir 12/18/2019 19:40:43
Hello, need voice recognition documentation but I couldn't open it. And is there any example project for path planning? 🥺
Expand Down Expand Up @@ -897,7 +897,7 @@ At the beginning, in the 'Hands on #1' it mentions:
Is this what you were looking for ?


> I just remembered, in Tutorial 4 ([https://cyberbotics.com/doc/guide/tutorial-4-more-about-controllers)](https://cyberbotics.com/doc/guide/tutorial-4-more-about-controllers)) where you make a new controller for simple obstacle avoidance, I believe the tutorial never mentions to actually add the new controller to the robot in the end. It just stops and concludes.
> I just remembered, in Tutorial 4 ([https://cyberbotics.com/doc/guide/tutorial-4-more-about-controllers](https://cyberbotics.com/doc/guide/tutorial-4-more-about-controllers)) where you make a new controller for simple obstacle avoidance, I believe the tutorial never mentions to actually add the new controller to the robot in the end. It just stops and concludes.



Expand All @@ -909,7 +909,7 @@ You're welcome. The links have been updated here: [https://github.com/cyberbotic
They will be updated on the live version on the website in a few minutes.

##### SimonDK 10/01/2019 14:43:20
I just remembered, in Tutorial 4 ([https://cyberbotics.com/doc/guide/tutorial-4-more-about-controllers)](https://cyberbotics.com/doc/guide/tutorial-4-more-about-controllers)) where you make a new controller for simple obstacle avoidance, I believe the tutorial never mentions to actually add the new controller to the robot in the end. It just stops and concludes.
I just remembered, in Tutorial 4 ([https://cyberbotics.com/doc/guide/tutorial-4-more-about-controllers](https://cyberbotics.com/doc/guide/tutorial-4-more-about-controllers)) where you make a new controller for simple obstacle avoidance, I believe the tutorial never mentions to actually add the new controller to the robot in the end. It just stops and concludes.


Great, thank you for the fast reply `@David Mansolino`
Expand All @@ -918,7 +918,7 @@ Great, thank you for the fast reply `@David Mansolino`
You are right, it seems this site is not the official one anymore. Thank you for the notice, we will correct this right now!

##### SimonDK 10/01/2019 14:33:47
In Tutorial 5 ([https://cyberbotics.com/doc/guide/tutorial-5-compound-solid-and-physics-attributes)](https://cyberbotics.com/doc/guide/tutorial-5-compound-solid-and-physics-attributes)) the link to ODE ([http://ode-wiki.org/wiki/index.php?title=Manual),](http://ode-wiki.org/wiki/index.php?title=Manual),) the website is full of advertisement and no documentation. One time I clicked it and it directly downloaded maccleaner which is a POS software. I think the link should be updated or removed.
In Tutorial 5 ([https://cyberbotics.com/doc/guide/tutorial-5-compound-solid-and-physics-attributes](https://cyberbotics.com/doc/guide/tutorial-5-compound-solid-and-physics-attributes)) the link to ODE ([http://ode-wiki.org/wiki/index.php?title=Manual](http://ode-wiki.org/wiki/index.php?title=Manual)), the website is full of advertisement and no documentation. One time I clicked it and it directly downloaded maccleaner which is a POS software. I think the link should be updated or removed.


I use it in macos and it works great
Expand Down Expand Up @@ -974,7 +974,7 @@ Hi is there an example for other Robots so I can make it for nao in java
As far as I know there is no default remote controller plugin in Webots for the NAO robot. But you can write your own: [https://www.cyberbotics.com/doc/guide/controller-plugin?tab=c#remote-control-plugin](https://www.cyberbotics.com/doc/guide/controller-plugin?tab=c#remote-control-plugin)


Hi `@NaoTeam28` , as explained in the documentation ([https://www.cyberbotics.com/doc/reference/robot?version=fix-contact-properties-doc&tab=c#wb\_robot\_set\_mode)](https://www.cyberbotics.com/doc/reference/robot?version=fix-contact-properties-doc&tab=c#wb_robot_set_mode)) `arg` is the argument that will be passed to the remote control `wbr_start` function.
Hi `@NaoTeam28` , as explained in the documentation ([https://www.cyberbotics.com/doc/reference/robot?version=fix-contact-properties-doc&tab=c#wb\_robot\_set\_mode](https://www.cyberbotics.com/doc/reference/robot?version=fix-contact-properties-doc&tab=c#wb_robot_set_mode)) `arg` is the argument that will be passed to the remote control `wbr_start` function.

##### NaoTeam28 09/23/2019 08:36:37
Hello Guys,
Expand Down
49 changes: 49 additions & 0 deletions docs/discord/news.md
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Expand Up @@ -4,6 +4,55 @@ This is an archive of the `news` channel of the [Webots Discord server](https://

## 2020

##### Alfian 05/27/2020 00:21:07
`@AngelAyala` If you want to make the drone move, you can change the target position using keyboard input. The default target position is x=0, y=0

##### AngelAyala 05/27/2020 00:11:30
`@Alfian` thats ok, I used his algorithm as base for controlling the drone with PID, but if is improved, can't take all the credits, its just that. How you control the drone, you pass the X and Y position where must be? I'm trying to controlling manipulating the angles with a keyboard input.

##### Alfian 05/27/2020 00:07:15
`@AngelAyala` When I try the file is not working correctly. So I fix it. Thus, anyone can run the simulation correctly. Okay, I will reference it. Thank you.

##### AngelAyala 05/26/2020 23:47:09
> Here, i make the simulation about lock and move position of DJI Mavic 2 Pro using the PD controller. Thank you.

> [https://youtu.be/vXC9\_T7ekWE](https://youtu.be/vXC9_T7ekWE)

`@Alfian` the code is yours? it looks like was previously implemented here, [https://github.com/PrasadNR/Webots-Quadcopter-Python-SITL](https://github.com/PrasadNR/Webots-Quadcopter-Python-SITL) I think you must at least reference the work

##### David Mansolino [cyberbotics] 05/25/2020 06:10:46
You can create a pull-request directly on the Webots github repository:

[https://github.com/cyberbotics/webots](https://github.com/cyberbotics/webots)

Here is a very short guide:

[https://github.com/cyberbotics/webots/blob/master/CONTRIBUTING.md](https://github.com/cyberbotics/webots/blob/master/CONTRIBUTING.md)

Feel free to open the PR and then we will guide you from the PR directly.

##### Alfian 05/25/2020 06:09:30
> `@Alfian` very nice video! Would you like to share the code and integrate it in Webots?

`@David Mansolino` Of course. Where could I put the code?

##### David Mansolino [cyberbotics] 05/25/2020 05:43:22
`@Alfian` very nice video! Would you like to share the code and integrate it in Webots?

##### Alfian 05/25/2020 04:53:00
Here, I share about stabilizing the position of UAV Quadrotor DJI Mavic 2 Pro Using PID Controller in Python programming.

Also, I share the code in github. Please, give an advice, suggestion or comment for the simulation.



[https://youtu.be/63LNRWnQPoY](https://youtu.be/63LNRWnQPoY)


Here, i make the simulation about lock and move position of DJI Mavic 2 Pro using the PD controller. Thank you.

[https://youtu.be/vXC9\_T7ekWE](https://youtu.be/vXC9_T7ekWE)

##### Olivier Michel [cyberbotics] 05/18/2020 19:19:50
Here is a nice youtube channel with a dozen of recent Webots tutorials: [https://www.youtube.com/watch?v=dt\_iQmPGSrc&list=PLt69C9MnPchlWEV5AEhfT2HajlE2SJ55V](https://www.youtube.com/watch?v=dt_iQmPGSrc&list=PLt69C9MnPchlWEV5AEhfT2HajlE2SJ55V)

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