Webots Reference Manual release 8.1.0.pdf

发布时间：2022-05-31 发布人：admin 分类：说明书资料大小：3.32M 资料格式：pdf 举报版权申诉

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Introduction

Nodes and Functions

Nodes

Functions

ODE: Open Dynamics Engine

Node Chart

Chart

Nodes and API Functions

Accelerometer

Description

Field Summary

Accelerometer Functions

Appearance

Description

Field Summary

Background

BallJoint

Description

BallJointParameters

Description

Field Summary

Box

Description

Brake

Description

Brake Functions

Camera

Description

Field Summary

Camera Type

Frustum

Noise

Spherical projection

Camera Functions

CameraZoom

Description

Field Summary

Capsule

Description

Charger

Description

Field Summary

Color

Compass

Description

Field Summary

Compass Functions

Cone

Connector

Description

Field Summary

Connector Axis System

Connector Functions

ContactProperties

Description

Field Summary

Coordinate

Cylinder

Description

Damping

Description

Device

Description

Device Functions

DifferentialWheels

Description

Field Summary

Simulation Modes

DifferentialWheels Functions

DirectionalLight

Description

Field Summary

Display

Description

Field Summary

Coordinates system

Command stack

Context

Display Functions

DistanceSensor

Description

Field Summary

DistanceSensor types

Infra-Red Sensors

Sonar Sensors

Line Following Behavior

DistanceSensor Functions

ElevationGrid

Description

Field Summary

Texture Mapping

Emitter

Description

Field Summary

Emitter Functions

Fluid

Description

Fluid Fields

Fog

GPS

Description

Field Summary

GPS Functions

Group

Gyro

Description

Field Summary

Gyro Functions

HingeJoint

Description

Field Summary

HingeJointParameters

Description

Field Summary

Hinge2Joint

Description

Field Summary

ImageTexture

Description

Search rule of the texture path

ImmersionProperties

Description

ImmersionProperties Fields

IndexedFaceSet

Description

Field Summary

Example

IndexedLineSet

InertialUnit

Description

Field Summary

InertialUnit Functions

Joint

Description

Field Summary

Joint's hidden position fields

JointParameters

Description

Field Summary

Units

Initial Transformation and Position

Joint Limits

Springs and Dampers

LED

Description

Field Summary

LED Functions

Light

Description

Field Summary

LightSensor

Description

Field Summary

LightSensor Functions

LinearMotor

Description

Field Summary

Material

Description

Field Summary

Motor

Description

Field Summary

Units

Initial Transformation and Position

Position Control

Velocity Control

Force and Torque Control

Motor Limits

Motor Functions

Pen

Description

Field Summary

Pen Functions

Physics

Description

Field Summary

How to use Physics nodes?

Plane

Description

PointLight

Description

PositionSensor

Description

Field Summary

PositionSensor Functions

Propeller

Description

Field Summary

Receiver

Description

Field Summary

Receiver Functions

Robot

Description

Field Summary

Synchronous versus Asynchronous controllers

Robot Functions

RotationalMotor

Description

Field Summary

Servo

Description

Field Summary

Units

Initial Transformation and Position

Position Control

Velocity Control

Force Control

Servo Limits

Springs and Dampers

Servo Forces

Friction

Serial Servos

Simulating Overlayed Joint Axes

Servo Functions

Shape

SliderJoint

Description

Field Summary

Slot

Description

Field Summary

Example

Solid

Description

Solid Fields

How to use the boundingObject field?

SolidReference

Description

Field Summary

Sphere

SpotLight

Description

Supervisor

Description

Supervisor Functions

TextureCoordinate

TextureTransform

TouchSensor

Description

Field Summary

Description

TouchSensor Functions

Track

Texture Animation

Geometries Animation

Transform

Description

Field Summary

Viewpoint

WorldInfo

Motion Functions

Motion

PROTO

PROTO Definition

Interface

IS Statements

PROTO Instantiation

Example

Procedural PROTO nodes

Scripting language

Template Engine

Programming Facts

Example

Using PROTO nodes with the Scene Tree

PROTO Directories

Add a Node Dialog

Using PROTO Instances

PROTO Scoping Rules

PROTO hidden fields

Physics Plugin

Introduction

Plugin Setup

Callback Functions

void webots_physics_init(dWorldID, dSpaceID, dJointGroupID)

int webots_physics_collide(dGeomID, dGeomID)

void webots_physics_step()

void webots_physics_step_end()

void webots_physics_cleanup()

void webots_physics_draw(int pass, const char *view)

Utility Functions

dWebotsGetBodyFromDEF()

dWebotsGetGeomFromDEF()

dWebotsGetContactJointGroup()

dGeomSetDynamicFlag(dGeomID geom)

dWebotsSend() and dWebotsReceive()

dWebotsGetTime()

dWebotsConsolePrintf()

Structure of ODE objects

Compiling the Physics Plugin

Examples

ODE improvments

Hinge joint

Hinge 2 joint

Troubleshooting

Execution Scheme

Webots World Files

Generalities

Nodes and Keywords

VRML97 nodes

Webots specific nodes

Reserved keywords

DEF and USE

Other APIs

C++ API

Java API

Python API

Matlab API

2 Permission to use, copy and distribute this documentation for any purpose and without fee is hereby granted in perpetuity, provided that no modiﬁcations are made to this documentation. The copyright holder makes no warranty or condition, either expressed or implied, including but not limited to any implied warranties of merchantability and ﬁtness for a particular purpose, regarding this manual and the associated software. This manual is provided on an as-is basis. Neither the copyright holder nor any applicable licensor will be liable for any incidental or con- sequential damages. The Webots software was initially developed at the Laboratoire de Micro-Informatique (LAMI) of the Swiss Federal Institute of Technology, Lausanne, Switzerland (EPFL). The EPFL makes no warranties of any kind on this software. In no event shall the EPFL be liable for incidental or consequential damages of any kind in connection with the use of this software. Trademark information AiboTMis a registered trademark of SONY Corp. RadeonTMis a registered trademark of ATI Technologies Inc. GeForceTMis a registered trademark of nVidia, Corp. JavaTMis a registered trademark of Sun MicroSystems, Inc. KheperaTMand KoalaTMare registered trademarks of K-Team S.A. LinuxTMis a registered trademark of Linus Torvalds. Mac OS XTMis a registered trademark of Apple Inc. MindstormsTMand LEGOTMare registered trademarks of the LEGO group. IPRTMis a registered trademark of Neuronics AG. PentiumTMis a registered trademark of Intel Corp. Red HatTMis a registered trademark of Red Hat Software, Inc. Visual C++TM, WindowsTM, Windows 95TM, Windows 98TM, Windows METM, Windows NTTM, Windows 2000TM, Windows XPTMand Windows VistaTMare registered trademarks of Microsoft Corp. UNIXTMis a registered trademark licensed exclusively by X/Open Company, Ltd.

Thanks Cyberbotics is grateful to all the people who contributed to the development of Webots, Webots sample applications, the Webots User Guide, the Webots Reference Manual, and the Webots web site, including Yvan Bourquin, Fabien Rohrer, Jean-Christophe Fillion-Robin, Jordi Porta, Emanuele Ornella, Yuri Lopez de Meneses, S´ebastien Hugues, Auke-Jan Ispeert, Jonas Buchli, Alessandro Crespi, Ludovic Righetti, Julien Gagnet, Lukas Hohl, Pascal Cominoli, St´ephane Mojon, J´erˆome Braure, Sergei Poskriakov, Anthony Truchet, Alcherio Martinoli, Chris Cianci, Nikolaus Correll, Jim Pugh, Yizhen Zhang, Anne-Elisabeth Tran Qui, Gr´egory Mermoud, Lu- cien Epinet, Jean-Christophe Zufferey, Laurent Lessieux, Aude Billiard, Ricardo Tellez, Gerald Foliot, Allen Johnson, Michael Kertesz, Simon Garnieri, Simon Blanchoud, Manuel Jo˜ao Fer- reira, Rui Picas, Jos´e Afonso Pires, Cristina Santos, Michal Pytasz and many others. Many thanks are also due to Cyberbotics’s Mentors: Prof. Jean-Daniel Nicoud (LAMI-EPFL), Dr. Francesco Mondada (EPFL), Dr. Takashi Gomi (Applied AI, Inc.). Finally, thanks to Skye Legon and Nathan Yawn, who proofread this manual. 3

Contents 1 Introduction 1.1 Nodes and Functions . . . . . 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 1.2 ODE: Open Dynamics Engine . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 1.1.1 Nodes . 1.1.2 . . Functions . 2 Node Chart 2.1 Chart . . . . . . . . . . . 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3 Nodes and API Functions . 3.1 Accelerometer . . . . . Field Summary . . 3.2.1 Description . . 3.2.2 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 3.1.1 Description . . 3.1.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 3.1.3 Accelerometer Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Field Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 . . 3.4.1 Description . . . 3.5.1 Description . . 3.5.2 Field Summary . . . . . . . . . . . . . . . . . . . . 3.5 BallJointParameters . . 3.2 Appearance . . 3.3 Background . 3.4 BallJoint . . . 3.6 Box . 5

6 CONTENTS 3.7 Brake . 3.8 Camera . . 3.9 CameraZoom . . . 3.10 Capsule . . 3.10.1 Description . . . . . . 3.11 Charger . . . . . . . . . . . . . Frustum . 3.6.1 Description . . 3.9.1 Description . 3.9.2 . . . 3.7.1 Description . . 3.7.2 Brake Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.8.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 . 3.8.2 Field Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 3.8.3 Camera Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 . 3.8.4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 3.8.5 Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 3.8.6 Spherical projection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 3.8.7 Camera Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Field Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 3.11.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 . 3.11.2 Field Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 3.13.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 3.13.2 Field Summary . 3.13.3 Compass Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 3.15.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 3.15.2 Field Summary . 3.15.3 Connector Axis System . . . . . . . . . . . . . . . . . . . . . . . . . . 52 3.15.4 Connector Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 . . . . . . . . . . . . . . . . . . . . . . 3.12 Color 3.13 Compass . . . . . . 3.14 Cone . 3.15 Connector . . .

CONTENTS 7 3.17 Coordinate . 3.18 Cylinder . . 3.19 Damping . 3.20 Device . . . 3.21 DifferentialWheels 3.24 DistanceSensor 3.16 ContactProperties . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.21.1 Description . . 3.21.2 Field Summary . 3.21.3 Simulation Modes 3.21.4 DifferentialWheels Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 3.16.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 3.16.2 Field Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 3.18.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 3.19.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 . 3.20.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 3.20.2 Device Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 . . . . . . . . . . . . . . . . . . . . . . . 64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 3.22.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 3.22.2 Field Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 3.23.1 Description . . 3.23.2 Field Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 3.23.3 Coordinates system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 3.23.4 Command stack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 3.23.5 Context . 3.23.6 Display Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 3.24.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 3.24.2 Field Summary . 3.24.3 DistanceSensor types . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 3.24.4 Infra-Red Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 . . . . . . . . . 3.22 DirectionalLight . . . 3.23 Display . . . . .

8 CONTENTS 3.25 ElevationGrid . . 3.26 Emitter 3.27 Fluid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.27.1 Description . 3.27.2 Fluid Fields . 3.24.5 Sonar Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 3.24.6 Line Following Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . 80 . . . . . . . . . . . . . . . . . . . . . . . . . 80 3.24.7 DistanceSensor Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 3.25.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 3.25.2 Field Summary . . 3.25.3 Texture Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 . . 3.26.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 3.26.2 Field Summary . . 3.26.3 Emitter Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 3.29.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 . 3.29.2 Field Summary . 3.29.3 GPS Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 3.31.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 . 3.31.2 Field Summary . 3.31.3 Gyro Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 3.32.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 . 3.32.2 Field Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 3.33.1 Description . . 3.33.2 Field Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.33 HingeJointParameters . . 3.34 Hinge2Joint 3.28 Fog . 3.29 GPS . 3.30 Group . 3.31 Gyro . . 3.32 HingeJoint . . . . .

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