Using the mouse, it is possible to change the robot's position in the 3D view. Please stop and revert the simulation before going on. Now if you run the simulation, the robot moves: that's because the robot uses a default controller with that behavior. In the open dialog box, and choose PROTO (Webots) > robots > e-puck > EPuck (DifferentialWheels). In order to add the EPuck node, click on the Add New button at the top of the scene tree view. Select the last node of the scene tree view (called FLOOR). For now consider the EPuck node as a black box that contains all the necessary nodes to define a e-puck robot. proto, but this will be explained in more details later. A prototype is an abstract assamblage of several nodes. We will just have to import a special EPuck node (in fact: a prototype). Therefore, any modification of the world should be performed in that order: stop, revert, modify and save the simulation. Otherwise at each save, the position of each 3D objects can accumulate errors. the virtual time counter on the 3D view toolbar should show 0:00:00:000. When a Webots world is modified with the intention of being saved, it is fundamental that the simulation is first stopped and reverted to its initial state, i.e. Add an e-puck Robot Make sure that the simulation is stopped and that the virtual time elapsed is 0. Now click on the blue sky to unselect the floor.Ģ. When it is selected the floor is surrounded by white lines and the corresponding node is selected in the scene tree view. In the 3D view, click on the floor to selected it. The scene tree view is where the nodes and the fields can be modified. The scene tree can be viewed in two subwindows of the main window: the 3D view (at the center of the main window) is the 3D representation of the scene tree and the scene tree view (on the left) is the hierarchical representation of the scene tree. Webots nodes stored in world files are organized in a tree structure called the scene tree. You can change the viewpoint of the 3D view by using the mouse buttons (left button, right button and the wheel). Revert the simulation by selecting the File > Revert World menu item. Using the dialog box save the world into the my_webots_projects/tutorials/worlds/my_first_simulation.wbt file location. Save the new world into your project by selecting the File > Save World As. menu item. It contains a checkerboard floor with a point light above it. The simulation is stopped if the virtual time counter on the 3D view toolbar is stable.Ĭreate a new world by selecting the File > New World menu item.Ī new world is now open. Stop the current simulation by clicking on the Stop button of the 3D view. Webots is currently open and runs an arbitrary simulation. The world files must be stored directly in the project subdirectory called worlds. The format of this file is derived from the VRMLlanguage, and is human readable. Each node has some customizable properties called fields. where are the objects, how do they look like, how do they interact with each other, what is the color of the sky, where is the gravity vector, etc.Ī world is defined by a tree of nodes. This world file contains all the information related to your simulation, i.e. The content of a simulation is stored in a world file. In this subsection, we will create a new simulation.
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