webots简介

Webots 概述
Webots includes a set of sensors and actuators frequently used in robotic experiments, e.g. proximity sensors, light sensors, touch sensors, GPS, accelerometers, cameras, emitters and receivers, servo motors (rotational & linear), position and force sensor, LEDs, grippers, gyros and compass.
The robot controller programs can be written in C, C++, Java, Python and MATLAB.
Webots 概述
#include <webots/robot.h> #include <webots/differential_wheels.h> #include <webots/distance_sensor.h> #define TIME_STEP 64 int main() { wb_robot_init(); // initialize Webots WbDeviceTag ds = wb_robot_get_device("ds"); // get handle and enable distance sensor wb_distance_sensor_enable(ds, TIME_STEP); while (1) {// control loop double v = wb_distance_sensor_get_value(ds); // read sensors if (v > 512) {// if obstacle detected wb_differential_wheels_set_speed(-600, 600); // turn around } else { wb_differential_wheels_set_speed(600, 600); } // go straight wb_robot_step(TIME_STEP); // run a simulation step } return 0; }
Worlds are saved in .wbt files
Webots 结构
VRML
Nodes
VRML
VRML (Virtual Reality Modeling Language, pronounced vermal or by its initials, originally—before 1995—known as the Virtual Reality Markup Language) is a standard file format for representing 3-dimensional (3D) interactive vector graphics, designed particularly with the World Wide Web in mind. It has been superseded by X3D.
Webots 结构
1.world
A world, in Webots, is a 3D description of the properties of robots and of their environment.
It contains a description of every object: its position, orientation, geometry, appearance (like color or brightness),physical properties, type of object, etc.
Webots 结构
A Webots simulation is composed of these things:
1. A Webots world file that define one or more 3D robot and their environment.
2. Controller programs for the above robots. 3. An optional Supervisor.
Webots 概述
Webots uses 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
机器人仿真软件介绍
Cyberbotics
报告内容
主流机器人软件开发平台 Webots概述 Webots结构 例子
主流机器人软件开发平台
平台名称 Evolution Robotics ERSP Microsoft Robotics Studio OROCOS Skilligent URBI Webots Player, Stage, Gazebo iRobot AWARE OpenJAUS CLARAty
VRML files are commonly called "worlds" and have the *.wrl extension (for example island.wrl).
#VRML V2.0 utf8
Background {
skyColor 0.3 0.3 0.3
}
Transform {
Webots is a 3D mobile robot simulator that allows to simulate different types of mobile robots .
The Webots project started in 1996, initially developed by Dr. Olivier Michel at the Swiss Federal Institute of Technology (EPFL) in Lausanne, Switzerland.
Webots 概述
Included Robots Models
AIBO ERS7 and ERS210, Sony Corporation BIOLOID (dog), Robotis E-puck HOAP-2, Fujitsu Limited Khepera mobile robot I, II, III, K-Team Corporation Koala, K-Team Corporation Lego Mindstorms (RCX Rover model) Nao V2, V3, Aldebaran Robotics MobileRobots Inc Pioneer 2, Pioneer 3-DX, Pioneer 3-AT Puma 560, Unimate
translation 0.0 -2.0 -3.0
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 0.8 0.8 0.8
}
}
geometry Cylinder {
radius 0.2
height 4.2
}
平台 平台 控件库 机器学习插件 平台 仿真环境 平台 平台
平台
平台
所属类型 商用 非商业用途免费 开源且免费 商用 商用 商用 开源且免费 ebots is a professional robot simulator widely used for educational purposes.
}
]
}
Webots 结构
VRML
Nodes
Group
Direct derived nodes: Transform A Group node contains children nodes without
introducing a new transformation. It is equivalent to a Transform node containing an identity transform. A Group node may not contain subsequent Solid, device or robot nodes.
Solid
A Solid node represents an object with physical properties such as dimensions, a contact material and optionally a mass. The Solid class is the base class for collision-detected objects . Robots and device classes are subclasses of the Solid class. In the 3D window, Solid nodes
Transform
Derived from Group. Direct derived nodes: Solid. The Transform node is a grouping node that defines
a coordinate system for its children that is relative to the coordinate systems of its parent.