Getting Started with Webots Webots? • Webots is a professional mobile robot simulation software package. • Offers a rapid prototyping environment, that allows the user to crea te 3D virtual worlds with physics properties such as mass, joints, fricti on coefficients, etc. • User can add simple passive objects or active objects called mobile r obots. They may be equipped with a number of sensor and actuat or devices, such as distance sensors, drive wheels, cameras, servos, touch sensors, emitters, receivers, etc. • Finally, the user can program each robot individually to exhibit th e desired behavior. Webots contains a large number of robot models and controller program examples to help users get started. 1 16 S FT COMPUTING @ YONSEI UNIV . KOREA Features 2 16 S FT COMPUTING @ YONSEI UNIV . KOREA Features 3 16 S FT COMPUTING @ YONSEI UNIV . KOREA Features 4 16 S FT COMPUTING @ YONSEI UNIV . KOREA Features 5 16 S FT COMPUTING @ YONSEI UNIV . KOREA Features 6 16 S FT COMPUTING @ YONSEI UNIV . KOREA Features 7 16 S FT COMPUTING @ YONSEI UNIV . KOREA What can I do with Webots? • Mobile robot prototyping – academic research, the automotive industry, aeronautics, the vacuum cle aner industry, the toy industry, hobbyists, etc. • Robot locomotion research – Legged, humanoids, quadrupeds robots, etc. • Multi-agent research – swarm intelligence, collaborative mobile robots groups, etc. • Adaptive behavior research – genetic algorithm, neural networks, AI, etc. • Teaching robotics – Robotics lectures, C/C++/Java/Python programming lectures, etc. • Robot contests – e.g. www.robotstadium.org1 or www.ratslife.org2 8 16 S FT COMPUTING @ YONSEI UNIV . KOREA What do I need to know to use Webots? • A minimal amount of technical knowledge is Needed • A basic knowledge of the C, C++, Java, Python, Matlab or URBI progr amming language is necessary. (Just Single language) 9 16 S FT COMPUTING @ YONSEI UNIV . KOREA Simulation • A Webots simulation is composed of following items: 1. A Webots world file (.wbt) that defines one or several robots and their en vironment. The .wbt file does sometime depend on external prototypes fi les (.proto) and textures. 2. One or several controller programs for the above robots(in C/C++/Java/ Python/Matlab/URBI). 3. An optional physics plugin that can be used to modify Webots regular ph ysics behavior (in C/C++). 10 16 S FT COMPUTING @ YONSEI UNIV . KOREA What is World? • A 3D description of the properties of robots and of their environment. – Organized as hierarchical structures – Position, orientation, geometry, appearance (like color or brightness), physical properties, type of object, etc • A world file doesn’t contain the con- troller code of the robots; it only sp- ecifies the name of the controller that is required for each robot. • Worlds are saved in .wbt files. The .wbt files are stored in the worlds s ubdirectory of each Webots project. Scene tree 11 16 S FT COMPUTING @ YONSEI UNIV . KOREA What is Controller? • Controls a robot specified in a world file. Controllers can be written in any of the programming languages supported by Webots – C, C++, Java, URBI, Python or MATLABTM • When simulation starts, the specifie d controllers launched, each as a se parate process, it associates the con troller processes with the simulated robots. -Note that several robots can use the same controller code, however a distin ct process will be launched for each robot. Control window 12 16 S FT COMPUTING @ YONSEI UNIV . KOREA What is Supervisor? (Only in Professional ver.) • A privileged type of Robot – can execute operations that can normally only be carried out by a human operator and not by a real robot. • The Supervisor is normally associated with a controller program that c an also be written in any of the above mentioned programming langua ges. • In contrast with a regular Robot controller, the Supervisor controller wi ll have access to privileged operations. The privileged operations incl ude simulation control, for example, moving the robots to a random po sition, making a video capture of the simulation, etc. 13 16 S FT COMPUTING @ YONSEI UNIV . KOREA Webots installation Download the Webots. And Run. http://www.cyberbotics.com/windows 14 16 S FT COMPUTING @ YONSEI UNIV . KOREA How to run the Webots in Matlab? • On Windows, Webots comes only in 32-bit flavour and therefore it can only inter-operate with a 32 bit version of MATLAB. (!!!!!!!) • However, On Mac OS X, there is only one version of Webots but that version is compatible with both 32-bit and 64-bit installations of MATL AB. 윈도우에서 64bit은 안됩니다. 절대! 15 16 S FT COMPUTING @ YONSEI UNIV . KOREA How to run the Webots in Matlab? At first, Run CMD. 16 16 S FT COMPUTING @ YONSEI UNIV . KOREA How to run the Webots in Matlab? Type Path=C:\Program Files (x86)\MATLAB\R2010a\bin 17 16 S FT COMPUTING @ YONSEI UNIV . KOREA How to run the Webots in Matlab? • Open the world file – c:\program files (x64)\webots\projects/languages/matlab/worlds/ e-puck_ matlab.wbt or – the world file c:\program files (x64)\webotsprojects/contests/nao_robocup/ worlds/nao2_matlab.wbt Open this file and wait until webots & matlab opens. 18 16 S FT COMPUTING @ YONSEI UNIV . KOREA How to run the Webots in Matlab? Well done. 19 16 S FT COMPUTING @ YONSEI UNIV . KOREA Webots guided tour – Control Nao 20 16 S FT COMPUTING @ YONSEI UNIV . KOREA Webots guided tour – Control Nao 21 16 S FT COMPUTING @ YONSEI UNIV . KOREA Webots guided tour – Control Nao Click play button. We can see the Nao walks. And you can control it with your keyboard. 22 16 S FT COMPUTING @ YONSEI UNIV . KOREA Webots guided tour – Control Nao Click Nao and, Shift + click ->Move Nao Shift + click ->Lift Ctrl + click ->Rotate In the same way, you can also move all the element in this room. Enjoy it! 23 16 S FT COMPUTING @ YONSEI UNIV . KOREA .