Webots Actuators Skill

Use this skill to implement and troubleshoot actuator control in Webots controllers, with emphasis on RotationalMotor and LinearMotor behavior, actuator node configuration, and per-step command semantics.

Scope

• Cover only actuator devices and actuator-related node fields.
• Exclude sensor usage patterns (handled by webots-sensors).
• Exclude basic controller bootstrapping and generic simulation setup.

Core Execution Model

• Treat motor and actuator setter calls as buffered commands applied on the next wb_robot_step.
• Issue all actuator commands for a cycle before stepping.
• Read-back methods (for example, target position or velocity) reflect controller-side state and/or the latest simulation update depending on API semantics.

Motor-First Workflow (RotationalMotor + LinearMotor)

Start from motor control mode, because most actuator behaviors in mobile robots, manipulators, and mechanism-driven assets reduce to motor commands.