Webots

Webots is a free and open-source 3D robot simulator used in industry, education and research. The Webots project started in 1996, initially developed by Dr. Olivier Michel at the Swiss Federal Institute of Technology (EPFL) in Lausanne, Switzerland and then from 1998 by Cyberbotics Ltd. as a proprietary licensed software. Since December 2018, it is released under the free and open-source Apache 2 license. Webots includes a large collection of freely modifiable models of robots, sensors, actuators and objects. In addition, it is also possible to build new models from scratch or import them from 3D CAD software. When designing a robot model, the user specifies both the graphical and the physical properties of the objects. The graphical properties include the shape, dimensions, position and orientation, colors, and texture of the object. The physical properties include the mass, friction factor, as well as the spring and damping constants. Simple fluid dynamics is present in the software. Webots uses a fork of the ODE (Open Dynamics Engine) for detecting of collisions and simulating rigid body dynamics. The ODE library allows one to accurately simulate physical properties of objects such as velocity, inertia and friction. Webots includes a set of sensors and actuators frequently used in robotic experiments, e.g.…

Webots is a free and open-source 3D robot simulator used in industry, education and research. The Webots project started in 1996, initially developed by Dr. Olivier Michel at the Swiss Federal Institute of Technology (EPFL) in Lausanne, Switzerland and then from 1998 by Cyberbotics Ltd. as a proprietary licensed software. Since December 2018, it is released under the free and open-source Apache 2 license. Webots includes a large collection of freely modifiable models of robots, sensors, actuators and objects. In addition, it is also possible to build new models from scratch or import them from 3D CAD software. When designing a robot model, the user specifies both the graphical and the physical properties of the objects. The graphical properties include the shape, dimensions, position and orientation, colors, and texture of the object. The physical properties include the mass, friction factor, as well as the spring and damping constants. Simple fluid dynamics is present in the software. Webots uses a fork of the ODE (Open Dynamics Engine) for detecting of collisions and simulating rigid body dynamics. The ODE library allows one to accurately simulate physical properties of objects such as velocity, inertia and friction. Webots includes a set of sensors and actuators frequently used in robotic experiments, e.g. lidars, radars, proximity sensors, light sensors, touch sensors, GPS, accelerometers, cameras, emitters and receivers, servo motors (rotational & linear), position and force sensor, LEDs, grippers, gyros, compass, IMU, etc. The robot controller programs can be written outside of Webots in C, C++, Python, ROS, Java and MATLAB using a simple API. Webots offers the possibility to take screenshots and record simulations. Webots worlds are stored in cross-platform *.wbt files whose format is based on the VRML language. One can also import and export Webots worlds and objects in the VRML format. Users can interact with a running simulation by moving robots and other objects with the mouse. Webots can also stream a simulation on web browsers using WebGL. include include include define TIME_STEP 64 int main() { // initialize Webots wb_robot_init(); // get handle and enable distance sensor WbDeviceTag ds = wb_robot_get_device("ds"); wb_distance_sensor_enable(ds, TIME_STEP); // get handle and initialize the motors WbDeviceTag left_motor = wb_robot_get_device("left_motor"); WbDeviceTag right_motor = wb_robot_get_device("right_motor"); wb_motor_set_position(left_motor, INFINITY); wb_motor_set_position(right_motor, INFINITY); wb_motor_set_velocity(left_motor, 0.0); wb_motor_set_velocity(right_motor, 0.0); // control loop while (1) { // read sensors double v = wb_distance_sensor_get_value(ds); // if obstacle detected if (v > 512) { // turn around wb_motor_set_velocity(left_motor, -600); wb_motor_set_velocity(right_motor, 600); } else { // go straight wb_motor_set_velocity(left_motor, 600); wb_motor_set_velocity(right_motor, 600); } // run a simulation step wb_robot_step(TIME_STEP); } wb_robot_cleanup(); return 0; } ==References==

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