Webots User Guide.pdf

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Installing Webots

Webots licenses

Webots PRO

Webots EDU

Webots for NAO

Webots FREE

System requirements

Installation procedure

Linux

Windows 7, Vista, XP

Mac OS X

Webots license system

License agreement

License setup

USB Dongle (optional)

License administration

Verifying your graphics driver installation

Supported graphics cards

Unsupported graphics cards

Upgrading your graphics driver

Hardware acceleration tips

Translating Webots to your own language

Getting Started with Webots

Introduction to Webots

What is Webots?

What can I do with Webots?

What do I need to know to use Webots?

Webots simulation

What is a world?

What is a controller?

What is a Supervisor?

Starting Webots

Linux

Mac OS X

Windows

Command Line Arguments

The User Interface

File Menu

Edit Menu

View Menu

Simulation Menu

Build Menu

Robot Menu

Tools Menu

Wizards Menu

Help menu

Speedometer and Virtual Time

The 3D Window

Selecting an object

Navigation in the scene

Moving a solid object

Applying a force to a solid object with physics

Applying a torque to a solid object with physics

The Scene Tree

Buttons of the Scene Tree Window

Citing Webots

Citing Cyberbotics' web site

Citing a reference journal paper about Webots

Sample Webots Applications

Samples

blimp_lis.wbt

gantry.wbt

hexapod.wbt

humanoid.wbt

moon.wbt

ghostdog.wbt

salamander.wbt

soccer.wbt

sojourner.wbt

yamor.wbt

stewart_platform.wbt

Webots Devices

battery.wbt

bumper.wbt

camera.wbt

connector.wbt

distance_sensor.wbt

emitter_receiver.wbt

encoders.wbt

force_sensor.wbt

gps.wbt

led.wbt

light_sensor.wbt

pen.wbt

range_finder.wbt

How To

binocular.wbt

biped.wbt

force_control.wbt

inverted_pendulum.wbt

physics.wbt

supervisor.wbt

texture_change.wbt

town.wbt

Geometries

Real Robots

aibo_ers210_rough.wbt

aibo_ers7.wbt

alice.wbt

boebot.wbt

e-puck.wbt

e-puck_line.wbt

e-puck_line_demo.wbt

hemisson_cross_compilation.wbt

hoap2_sumo.wbt

hoap2_walk.wbt

ipr_collaboration.wbt

ipr_cube.wbt

ipr_factory.wbt

ipr_models.wbt

khepera.wbt

khepera2.wbt

khepera3.wbt

khepera_fast2d.wbt

khepera_gripper.wbt

khepera_gripper_camera.wbt

khepera_k213.wbt

khepera_pipe.wbt

khepera_tcpip.wbt

koala.wbt

magellan.wbt

pioneer2.wbt

rover.wbt

scout2.wbt

shrimp.wbt

bioloid.wbt

Language Setup

Introduction

Controller Start-up

Using C

Introduction

C/C++ Compiler Installation

Using C++

Introduction

C++ Compiler Installation

Source Code of the C++ API

Using Java

Introduction

Java and Java Compiler Installation

Link with external jar files

Source Code of the Java API

Using Python

Introduction

Python Installation

Source Code of the Python API

Using MATLAB™

Introduction to MATLAB™

How to run the Examples?

MATLAB™Installation

Compatibility Issues

Using ROS

What is ROS?

ROS for Webots

Using ROS with Webots

Interfacing Webots to third party software with TCP/IP

Overview

Main advantages

Limitations

Development Environments

Webots Built-in Editor

Compiling with the Source Code Editor

The standard File Hierarchy of a Project

The Root Directory of a Project

The Project Files

The "controllers" Directory

Compiling Controllers in a Terminal

Mac OS X and Linux

Windows

Using Webots Makefiles

What are Makefiles

Controller with Several Source Files (C/C++)

Using the Compiler and Linker Flags (C/C++)

Debugging C/C++ Controllers

Controller processes

Using the GNU debugger with a controller

Using Visual C++ with Webots

Introduction

Configuration

Starting Webots Remotely (ssh)

Using the ssh command

Terminating the ssh session

Transfer to your own robot

Remote control

Cross-compilation

Interpreted language

Programming Fundamentals

Controller Programming

Hello World Example

Reading Sensors

Using Actuators

How to use wb_robot_step()

Using Sensors and Actuators Together

Using Controller Arguments

Controller Termination

Shared libraries

Supervisor Programming

Introduction

Tracking the Position of Robots

Setting the Position of Robots

Using Numerical Optimization Methods

Choosing the correct Supervisor approach

Resetting the robot

C++/Java/Python

Classes and Methods

Controller Class

C++ Example

Java Example

Python Example

Matlab

Using the MATLAB™desktop

Controller plugin

Fundamentals

Robot window plugin

Qt utility library

Motion editor

Remote-control plugin

Webots Plugins

Physics plugin

Fast2D plugin

Sound plugin

Tutorials

Prerequisites

Install Webots

Create a directory for all your Webots files

Start Webots

Create a new Project

The Webots Graphical User Interface (GUI)

Tutorial 1: Your first Simulation in Webots (20 minutes)

Create a new World

Add an e-puck Robot

Create a new Controller

Conclusion

Tutorial 2: Modification of the Environment (20 minutes)

A new Simulation

The Solid Node

Observation of the Floor

Create a Ball

Geometries

DEF-USE mechanism

Add Walls

Efficiency

Conclusion

Tutorial 3: Appearance (15 minutes)

New simulation

Lights

Modify the Appearance of the Walls

Add a Texture to the Ball

Rendering Options

Conclusion

Tutorial 4: More about Controllers (20 minutes)

New World and new Controller

Understand the e-puck Model

Program a Controller

The Controller Code

Conclusion

Tutorial 5: Compound Solid and Physics Attributes (15 minutes)

New simulation

Compound Solid

Physics Attributes

The Rotation Field

How to choose bounding Objects?

Contacts

basicTimeStep, ERP and CFM

Minor physics Parameters

Conclusion

Tutorial 6: 4-Wheels Robot

New simulation

Separating the Robot in Solid Nodes

HingeJoints

Sensors

Controller

Conclusion

Tutorial 7: Using ROS

Creating a Webots project that contains a ROS package

Conclusion

Going Further

Robots

Using the e-puck robot

Overview of the robot

Simulation model

Control interface

Using the Nao robot

Introduction

Using Webots with Choregraphe

Using motion boxes

Using the cameras

Using Several Nao robots

Getting the right speed for realistic simulation

Known Problems

Source Code

Using the Pioneer 3-AT and Pioneer 3-DX robots

Pioneer 3-AT

Pioneer 3-DX

Webots FAQ

General

What are the differences between Webots FREE, Webots EDU and Webots PRO?

How can I report a bug in Webots?

Is it possible to use Visual C++ to compile my controllers?

Programming

How can I get the 3D position of a robot/object?

How can I get the linear/angular speed/velocity of a robot/object?

How can I reset my robot?

What does this mean: "Could not find controller {...} Loading void controller instead." ?

What does this mean: "Warning: invalid WbDeviceTag in API function call" ?

Is it possible to apply a (user specified) force to a robot?

How can I draw in the 3D window?

What does this mean: "The time step used by controller {...} is not a multiple of WorldInfo.basicTimeStep!"?

How can I detect collisions?

Why does my camera window stay black?

Modeling

My robot/simulation explodes, what should I do?

How to make replicable/deterministic simulations?

How to remove the noise from the simulation?

How can I create a passive joint?

Is it possible fix/immobilize one part of a robot?

Should I specify the "mass" or the "density" in the Physics nodes?

How to get a realisitc and efficient rendering?

Speed/Performance

Why is Webots slow on my computer?

How can I change the speed of the simulation?

Known Bugs

General

Intel GMA graphics cards

Virtualization

Collision detection

Mac OS X

Anti-aliasing

Linux

Window refresh

ssh -x

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 performed on this documenta- tion. 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 and exploitation 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. UbuntuTMis a registered trademark of Canonical Ltd. Visual C++TM, WindowsTM, Windows 98TM, Windows METM, Windows NTTM, Windows 2000TM, Windows XPTMand Windows VistaTMWindows 7TMare registered trademarks of Microsoft Corp. UNIXTMis a registered trademark licensed exclusively by X/Open Company, Ltd.

Foreword Webots is a three-dimensional mobile robot simulator. It was originally developed as a research tool for investigating various control algorithms in mobile robotics. This user guide will get you started using Webots. However, the reader is expected to have a minimal knowledge in mobile robotics, in C, C++, Java, Python or MATLAB programming, and in VRML97 (Virtual Reality Modeling Language). Webots 7 features a new layout of the user interface with many facilities integrated, such as a source code editor, motion editor, etc. We hope that you will enjoy working with Webots 7. 3

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. Moreover, many thanks are 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 guide. 5

Contents 1 . . . . . . Installing Webots 1.1 Webots licenses . 1.2 System requirements 1.3 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 1.1.1 Webots PRO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 1.1.2 Webots EDU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 1.1.3 Webots for NAO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 1.1.4 Webots FREE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Installation procedure . 1.3.1 Linux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 . . 1.3.2 Windows 7, Vista, XP . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 1.3.3 Mac OS X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 1.4 Webots license system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 1.4.1 License agreement 1.4.2 License setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 1.4.3 USB Dongle (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 1.4.4 License administration . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 1.5 Verifying your graphics driver installation . . . . . . . . . . . . . . . . . . . . . 29 Supported graphics cards . . . . . . . . . . . . . . . . . . . . . . . . . . 29 1.5.1 . . . . . . . . . . . . . . . . . . . . . . . . 29 1.5.2 Unsupported graphics cards . . . . . . . . . . . . . . . . . . . . . . 30 1.5.3 Upgrading your graphics driver 1.5.4 Hardware acceleration tips . . . . . . . . . . . . . . . . . . . . . . . . . 31 1.6 Translating Webots to your own language . . . . . . . . . . . . . . . . . . . . . 32 7

8 CONTENTS 2.1 . . . . . . 2.2 Starting Webots . 2 Getting Started with Webots 33 Introduction to Webots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 2.1.1 What is Webots? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 2.1.2 What can I do with Webots? . . . . . . . . . . . . . . . . . . . . . . . . 33 2.1.3 What do I need to know to use Webots? . . . . . . . . . . . . . . . . . . 34 2.1.4 Webots simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 2.1.5 What is a world? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 2.1.6 What is a controller? . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 2.1.7 What is a Supervisor? . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 2.2.1 Linux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 2.2.2 Mac OS X . 2.2.3 Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 . . 2.2.4 Command Line Arguments . . . . . . . . . . . . . . . . . . . . . . . . . 36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 2.3 The User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 2.3.1 File Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 2.3.2 Edit Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 2.3.3 View Menu . . Simulation Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 2.3.4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 . 2.3.5 Build Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 . 2.3.6 Robot Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 2.3.7 Tools Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 2.3.8 Wizards Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 2.3.9 Help menu . . 2.3.10 Speedometer and Virtual Time . . . . . . . . . . . . . . . . . . . . . . . 44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 2.4.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 2.4.2 Navigation in the scene . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 2.4.3 Moving a solid object . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 2.4.4 Applying a force to a solid object with physics . . . . . . . . . . . . . . 46 2.4.5 Applying a torque to a solid object with physics . . . . . . . . . . . . . . 46 Selecting an object 2.4 The 3D Window . . . . . . . .

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