2.2 Launching Webots

2.2.1 On Linux

From an X terminal, type webots to launch the simulator. You should see the world window appear on the screen (see figure 2.1).

SYNOPSIS: webots [OPTIONS] [WORLD_FILE] OPTIONS:   --batch        batch mode (no display)   --mode=MODE    startup mode (overrides application preferences)                  MODE argument must be one of: stop, run or fast   --debug        debug mode (experimental)   --help         display this message and exit   --version      display version information and exit

The --batch option is used to start Webots in batch mode; that is, without displaying any window. This is useful to launch simulations from scripts to perform extensive simulations with different sets of parameters and save results automatically from a supervisor or robot controller process. To launch Webots in batch mode, simply type webots --batch filename.wbt where filename.wbt is the name of the world file you want to use. Webots will then be launched in batch mode: the speed of execution should correspond to "fast mode" (discussed later). Note that some simulations that use the OpenGL driver for special purposes will not work in batch mode. For example, the Pen device and the supervisor_export_image() functions will fail. Furthermore, Camera devices will work only if Webots can succesfully reach an X Server to display the Camera windows.

The --mode=MODE option can be used to start Webots in the specified execution mode. The three possible execution modes are: Stop, Run and Fast ; they correspond to the simulation control buttons of Webots' graphical user interface. This option overides, but does not modify, the startup mode saved in Webots' preferences. For example, type webots --mode=stop filename.wbt to start Webots in Stop mode.

WORLD_FILE optionally specifies the path (absolute or relative) of the .wbt file to open. If WORLD_FILE is not specified, Webots attempts to reopen the most recently opened file.

2.2.2 On Mac OS X

Open the directory in which you installed the Webots package and double-click on the Webots icon. You should see main window appear on the screen (see figure 2.1).

2.2.3 On Windows

From the Start menu, go to the Program Files | Cyberbotics menu and click on the Webots 5.9.2 menu item. You should see the main window appear on the screen (see figure 2.1).

Figure 2.1: Webots main window

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