Some rules have to be followed in order to create a project which can be used by Webots. This section describes the file hierarchy of a simple project.

5.2.1 The Root Directory of a Project

The root directory of a project contains at least a directory called worlds containing a single world file. But several other directories are often required:

• controllers: this directory contains the controllers available in each world files of the current project. The link between the world files and this directory is done through the controller field of the Robot node (explained in the reference manual). More information about this directory in the following subsections.

• protos: this directory contains the prototypes available for each world files of the current project.

• plugins: this directory contains the plugins available in the current project. The link between the world files and this directory is done either through the physics field or either through the fast2d field of the WordInfo node (explained in the reference manual).

• worlds: this directory contains the world files, the project files (see below) and the textures (typically in a subdirectory called textures).

Note that the directories can be created by using the wizard New Project Directory described above in this chapter.

5.2.2 The Project Files

The project files contains information about the GUI (such as the perspective). These files are hidden. Each world file can have one project file. If the world file is named myWorldFile.wbt, its project file is named .myWorldFile.wbt.project. This file is written by Webots when a world is correctly closed. Removing them allows you to retrieve the default perspective.

5.2.3 The "controllers" Directory

This directory contains the controllers. Each controller is defined in a directory. A controller is referenced by the name of the directory. Here is an example of the controllers directory having one simple controller written in C which can be edited and executed.

controllers/ controllers/simple_controller/ controllers/simple_controller/Makefile controllers/simple_controller/simple_controller.c controllers/simple_controller/simple_controller[.exe]

Note that the main executable name must be identical to the directory name.

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