3.2 Demos

This section contains demo worlds which illustrate the possibilities that Webots offers when developing robots and controllers. The world files are located in the projects / samples / demos / world directory, and their controllers in the projects / samples / demos / controllers directory. For each demo, the world file and its corresponding controller have the same name.

Keywords: Robot node, flying robot, custom ODE plugin, keyboard, joystick, texture, Emitter, Receiver

Figure 3.1: blimp_lis.wbt

In this example a flying blimp from the LIS laboratory of the EPFL moves around in a room. You may use your keyboard, or a joystick if you have one, to make it explore the whole world. For instructions on which key will make the robot move in a particular direction, please read the information message which appears in the Console window after the reset of the world. This example uses, in addition to the Robot node which models the blimp, various Transform and IndexedFaceSet nodes to model the room using textures and transparency. It uses also a custom physics plugin to allow the robot to fly. The source code for the controller of the blimp is in the projects / samples / demos / controllers / blimp_lis directory, and the plugin is in projects / samples / demos / plugins / physics / blimp_physics.

Keywords: Robot node, Hanoi towers, texture, linear Servo, recursive algorithm

Figure 3.2: gantry.wbt

In this example a gantry plays "Towers of Hanoi" with three textured boxes. The gantry is modeled using a combination of linear and rotational Servo devices, and it uses a recursive algorithm in order to solve this problem. The source code for this controller is in the gantry directory.

Keywords: Robot node, legged robot, tripod gait, linear Servo

Figure 3.3: hexapod.wbt

In this example an insect-shaped robot made of a combination of linear and rotational Servo devices moves on the ground via the alternating tripod gait. The source code for this controller is in the hexapod directory.

Keywords: Robot node, dancing, humanoid, active joint

Figure 3.4: humanoid.wbt

In this example a humanoid robot endlessly performs some gymnastic movements. The source code for this controller is in the humanoid directory.

Keywords: DifferentialWheels, Koala, keyboard, texture

Figure 3.5: moon.wbt

In this example, two Koala robots from K-Team move in circles on a moon-like surface. You can modify their trajectories by using the arrow keys on your keyboard. This example uses IndexedFaceSet nodes in order to build the moon-like scenery. Both robots share the same controller code, which is located in the moon directory.

Keywords: Robot node, legged robot, active joint, passive joint, spring and damper

Figure 3.6: ghostdog.wbt

In this example of a galloping quadruped robot made of active hip joints and passive knee joints (using a spring and damper effect). The source code for this controller is in the ghostdog directory.

Keywords: Robot node, legged robot, custom ODE plugin

Figure 3.7: salamander.wbt

In this example a salamander-shaped robot moves on the ground. As soon as the robot reaches the water, it begins to swim. In order to simulate the behavior of the water, this world uses the custom salamander_physics plugin. The source code for the controller of the salamander is in the salamander directory, and the plugin is in samples / demos / plugins / physics / salamander.

Keywords: DifferentialWheels, Supervisor, soccer game, label

Figure 3.8: soccer.wbt

In this example, two teams of simple DifferentialWheels robots play a soccer game while a Supervisor plays the referee. The points and the remaining time are printed on the image. The source code for the controller of the players is in the soccer_player directory, and the code for the Supervisor is in the soccer_supervisor directory.

Keywords: Robot node, passive joint, keyboard, IndexedFaceSet, Sojourner

Figure 3.9: sojourner.wbt

In this example a realistic model of the Sojourner robot, designed to explore on Mars, waits for a command to move. In the middle of the world there is an obstacle which can be crossed easily. This will allow you to observe how this robot manages to climb obstacles. The source code for this controller is in the sojourner directory.

Keywords: Robot node, Connector, modular robots, Yamor

Figure 3.10: yamor.wbt

In this example, eight Yamor modules attach and detach to and from each other using Connector devices. With different numbers of modules and different configurations, these modules perform a sequence of various different movements for locomotion. The source code for this controller is in the yamor directory.

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