Run your first simulation

Create a small world near Busan, watch WAM-V and try a short route. Begin with the default settings.

Create and verify your account

1. Open the website and select Create account.
2. Enter your email and password. Open the email sent to you and select Verify email.
3. Return to the website and sign in. If the email is missing, check spam or choose Send another verification email when signing in.

Email verification is required for the website and installed app. Back to main page and Sign out are on the first workspace entry screen.

Start a world near Busan

1. For local simulation, install the app, sign in and select Start simulator. For server simulation, sign in on the website and open your personal workspace.
2. Open Workspace. The installed app opens this window automatically.
3. Keep latitude 35.074899 and longitude 129.084759. These place the centre and initial robot spawn in water near Busan.
4. Generate the map and wait for it to be ready.
5. Choose WAM-V, depth 0 m, and Autopilot. Keep the other settings at their defaults.
6. Select Start world. Wait for the robot and live position data. The initial installed setup window closes only after the world is running.

A world contains the terrain, water and robot. A workspace is your place to create and run worlds. On the website, you may need to wait for an available server slot.

Look around and view sensors

1. Select Vehicle to follow the robot. Drag to rotate the view and scroll to zoom.
2. Select World to look at the surrounding coast. Select Map for a map view.
3. Open Sensors, expand WAM-V and choose a camera, LiDAR or IMU.
4. Wait for the image or numbers to update. A sensor measures what the simulated robot sees or feels.

LiDAR measures distances around the robot. IMU measures motion and orientation. On a phone, open one panel at a time to keep the scene visible.

Try a short route

1. Open Ground-control map. Click two nearby points in open water to add waypoints. A waypoint is a position the robot should visit.
2. Select Check route. Review the path before running it.
3. Select Run route and watch WAM-V travel between the points.
4. Select Stop to hold, Continue to resume, or Abort to cancel the route and disarm.

Keep your first route short and in water. Route checks inspect terrain and hull clearance; moving-vessel avoidance and full COLREG rules are unsupported.

Finish or continue learning

End your personal session when finished. Closing the installed app stops the local simulator and usage accounting. On the website, ending the session releases its server slot.

Next: control the robot with Python, create different terrain, or watch public LIVE.

Advanced: controls, accounts and usage details

Account and usage time

Usage follows elapsed wall time at any simulation rate.

• Daily reset: 00:00 UTC, 09:00 Korea time
• Web: queue, terrain preparation and startup excluded
• Desktop: counted from the world-start request, including local preparation
• Remaining allowance: Session or Account
• Desktop internet: required for login and periodic permission renewal

All features and modes are free. Enter your details in Account → Free Pro mode, then select Switch to free Pro.

• Activation: immediate, with no approval or payment
• Duration: six months of unlimited desktop simulation
• Details: affiliation, status and expected usage, recorded for administration
• Notification: account email, submitted details and dates sent to the administrator on activation
• Re-selection: preserves the active expiry date; renew after expiry
• Web: daily allowance remains separate
• Class coupon: applies its specified period

Creating an account sends a verification email. Open its Verify email button or link, then sign in. Check your inbox and spam folder. If the email is missing or the link has expired, try signing in on the website and select Send another verification email. Email verification is required before opening the workspace or signing in to the installed app.

Use Back to main page or Sign out on the initial workspace entry page. If you forget your password, use Forgot password to receive a reset link.

• New password: at least 12 characters
• Reset link: one use within 30 minutes
• After reset: login sessions end; usage records remain

Start a web workspace

Open Workspace and complete Location → Robot → Review. The default robot is surface WAM-V. Choose a map centre and adjust the spawn coordinates. If a saved region requests regeneration, prepare its terrain before starting.

The installed app opens Workspace automatically. Create terrain, choose your robot and select Start world. The dialog stays open until your generated world is running.

Progress and errors stay at the top of the setup window, or below the main screen when it is closed. Select a classroom task under Competition task · optional.

Server CPUs render web sensor images; your browser renders the interactive 3D view. Use the desktop app for local GPU rendering.

Create a world near Busan

1. Open Workspace → Regional terrain.
2. Enter the centre and spawn coordinates.
3. Prepare terrain and check the source, grid spacing and readiness.
4. Select the robot and control mode.

5. Start the world and check position and sensor data.

6. Example location: 35.074899° N, 129.084759° E

7. Robot: surface or underwater
8. Starting depth: 0 m
9. Control mode: Autopilot

Start with a small extent; choose on-demand terrain to expand while moving. Terrain centre and robot spawn can be set separately. Choose water with available depth data.

Use the interface

On phones, open panels individually to leave room for the scene. Simulation continues while panels are hidden. Heading uses labels such as N, NE, E. Check position sample age.

Inspect sensors

Expand the robot in Sensors, then choose a camera, LiDAR or IMU.

• Camera: playback, reception rate, digital zoom, fullscreen and original-frame saving
• Seabed: choose a downward inspection camera
• Topics: ROS subscriptions, raw values, plots and spatial messages
• RViz and direct control: ROS 2 connection

Digital zoom operates on the received image. Available sensors depend on the model.

Run a short waypoint route

1. Open Ground-control map and click to add waypoints. Right-click to delete; edit coordinates in the list.
2. Select Check route and review waterways and detours.
3. Select Run route to arm and depart.
4. Use Stop to hold, Continue to resume and Abort to cancel and disarm.
5. Return to the start and end the session.

Arm and run mission also uses the map route. With no waypoints, it runs a short demonstration using the forward-distance setting. Map dragging and pinch zoom leave waypoints unchanged.

Route checking evaluates terrain and hull clearance. Moving-vessel avoidance and full COLREG rules are unsupported. Begin underwater testing with a short dive, transit, return and surface mission.

Manual control and environment

Arm in a suitable mode, then enable the robot panel's joystick. Releasing input or losing updates sends neutral commands. Inertia and waves can still move the robot.

• Scene: terrain, water, axes and seabed lines
• Waves: applied to the physical wave solver
• Rate: requested and achieved values; live AIS hidden above 1×
• 3D day/night effects: browser lighting from location and UTC; off by default

Day/night effects apply to the browser scene. See parameters and performance for settings and custom robots for model editing and Format SDF.

Watch LIVE without signing in

The main page shows the shared voyage's Vehicle, World, sensors and maps. Pause preview pauses your display while the voyage continues.

See LIVE world voyage for vehicle selection, maps, sensors, photographs and routes. Select LIVE in the film list to return from a recording. Back to sign in closes the expanded view.

Send feedback

Open Bug report / feedback on the sign-in screen, enter your email and message, then select Send. Signed-in email is filled automatically. Failed delivery retains the message for retry.

Finish

Ending a personal session releases the server slot. Closing the desktop app stops local execution and usage accounting.