Webots Reference Manual release 6.2.4

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1.	Introduction
2.	Node Chart
3.	Nodes and API Functions
4.	Motion Functions
5.	Prototypes
6.	Physics Plugin
7.	Fast2D Plugin
8.	MTN Functions
9.	Webots World Files
10.	Other APIs

10.3 Python API

The following tables describes the Python classes and their methods.

from controller import Accelerometer class Accelerometer (Device) :

def enable(self, ms)
def disable(self)
def getValues(self)

from controller import Camera class Camera (Device) :

COLOR, BLACK_AND_WHITE, RANGE_FINDER
def enable(self, ms)
def disable(self)
def getFov(self)
def setFov(self, fov)
def getWidth(self)
def getHeight(self)
def getNear(self)
def getMaxRange(self)
def getType(self)
def getImage(self)
def getImageArray(self)
def imageGetRed(image, width, x, y)
imageGetRed = staticmethod(imageGetRed)
def imageGetGreen(image, width, x, y)
imageGetGreen = staticmethod(imageGetGreen)
def imageGetBlue(image, width, x, y)
imageGetBlue = staticmethod(imageGetBlue)
def imageGetGrey(image, width, x, y)
imageGetGrey = staticmethod(imageGetGrey)
def moveWindow(self, x, y)
def getRangeImage(self)
def getRangeImageArray(self)
def rangeImageGetDepth(image, width, x, y)
rangeImageGetDepth = staticmethod(rangeImageGetDepth)
def saveImage(self, filename, quality)

from controller import Compass class Compass (Device) :

def enable(self, ms)
def disable(self)
def getValues(self)

from controller import Connector class Connector (Device) :

def enablePresence(self, ms)
def disablePresence(self)
def getPresence(self)
def lock(self)
def unlock(self)

from controller import Device class Device :

def getName(self)

from controller import DifferentialWheels class DifferentialWheels (Robot) :

def __init__(self)
def __del__(self)
def setSpeed(self, left, right)
def enableEncoders(self, ms)
def disableEncoders(self)
def getLeftEncoder(self)
def getRightEncoder(self)
def setEncoders(self, left, right)

from controller import Display class Display (Device) :

def getWidth(self)
def getHeight(self)
def setColor(self, color)
def setAlpha(self, alpha)
def setOpacity(self, opacity)
def drawPixel(self, x1, y1)
def drawLine(self, x1, y1, x2, y2)
def drawRectangle(self, x, y, width, height)
def drawOval(self, cx, cy, a, b)
def drawPolygon(self, x, y)
def drawText(self, txt, x, y)
def fillRectangle(self, x, y, width, height)
def fillOval(self, cx, cy, a, b)
def fillPolygon(self, x, y)
def imageCopy(self, x, y, width, height)
def imagePaste(self, ir, x, y)
def imageLoad(self, filename)
def imageNew(self, filename)
def imageSave(self, ir, filename)

from controller import DistanceSensor class DistanceSensor (Device) :

def enable(self, ms)
def disable(self)
def getValue(self)

from controller import Emitter class Emitter (Device) :

CHANNEL_BROADCAST
def send(self, data)
def getChannel(self)
def setChannel(self, channel)
def getRange(self)
def setRange(self, range)
def getBufferSize(self)

from controller import Field class Field :

SF_BOOL, SF_INT32, SF_FLOAT, SF_VEC2F, SF_VEC3F,
SF_ROTATION, SF_COLOR, SF_STRING, SF_NODE, MF,
MF_INT32, MF_FLOAT, MF_VEC2F, MF_VEC3F, MF_COLOR,
MF_STRING, MF_NODE
def getType(self)
def getTypeName(self)
def getCount(self)
def getSFBool(self)
def getSFInt32(self)
def getSFFloat(self)
def getSFVec2f(self)
def getSFVec3f(self)
def getSFRotation(self)
def getSFColor(self)
def getSFString(self)
def getSFNode(self)
def getMFInt32(self, index)
def getMFFloat(self, index)
def getMFVec2f(self, index)
def getMFVec3f(self, index)
def getMFColor(self, index)
def getMFString(self, index)
def getMFNode(self, index)
def setSFBool(self, value)
def setSFInt32(self, value)
def setSFFloat(self, value)
def setSFVec2f(self, values)
def setSFVec3f(self, values)
def setSFRotation(self, values)
def setSFColor(self, values)
def setSFString(self, value)
def setMFInt32(self, index, value)
def setMFFloat(self, index, value)
def setMFVec2f(self, index, values)
def setMFVec3f(self, index, values)
def setMFColor(self, index, values)
def setMFString(self, index, value)
def importMFNode(self, position, filename)

from controller import GPS class GPS (Device) :

def enable(self, ms)
def disable(self)
def getValues(self)

from controller import Gyro class Gyro (Device) :

def enable(self, ms)
def disable(self)
def getValues(self)

from controller import ImageRef class ImageRef :

__del__(self)

from controller import LED class LED (Device) :

def set(self, state)

from controller import LightSensor class LightSensor (Device) :

def enable(self, ms)
def disable(self)
def getValue(self)

from controller import Motion class Motion :

def __init__(self, fileName)
def __del__(self)
def isValid(self)
def play(self)
def stop(self)
def setLoop(self, loop)
def setReverse(self, reverse)
def isOver(self)
def getDuration(self)
def getTime(self)
def setTime(self, time)

from controller import Node class Node :

NO_NODE, APPEARANCE, BACKGROUND, BOX, COLOR, CONE,
COORDINATE, CYLINDER, DIRECTIONAL_LIGHT, ELEVATION_GRID,
EXTRUSION, GROUP, FOG, IMAGE_TEXTURE, INDEXED_FACE_SET,
INDEXED_LINE_SET, MATERIAL, POINT_LIGHT, SHAPE, SPHERE,
SPOT_LIGHT, SWITCH, TEXTURE_COORDINATE, TEXTURE_TRANSFORM,
TRANSFORM, VIEWPOINT, WORLD_INFO, ROBOT, SUPERVISOR,
DIFFERENTIAL_WHEELS, SOLID, PHYSICS, HYPER_GATE,
CHARGER, DISTANCE_SENSOR, CAMERA, EMITTER, RECEIVER,
SERVO, TOUCH_SENSOR, LIGHT_SENSOR, LED, PEN,
GPS, RADIO, CONNECTOR, SPEAKER, MICROPHONE,
ACCELEROMETER, GYRO, COMPASS
def getType(self)
def getName(self)
def getField(self, fieldName)

from controller import Pen class Pen (Device) :

def write(self, write)
def setInkColor(self, color, density)

from controller import Receiver class Receiver (Device) :

CHANNEL_BROADCAST
def enable(self, ms)
def disable(self)
def getQueueLength(self)
def nextPacket(self)
def getData(self)
def getDataSize(self)
def getSignalStrength(self)
def getEmitterDirection(self)
def setChannel(self, channel)
def getChannel(self)

from controller import Robot class Robot :

KEYBOARD_END, KEYBOARD_HOME, KEYBOARD_LEFT, KEYBOARD_UP,
KEYBOARD_RIGHT, KEYBOARD_DOWN, KEYBOARD_PAGEUP,
KEYBOARD_PAGEDOWN, KEYBOARD_NUMPAD_HOME,
KEYBOARD_NUMPAD_LEFT, KEYBOARD_NUMPAD_UP,
KEYBOARD_NUMPAD_RIGHT, KEYBOARD_NUMPAD_DOWN,
KEYBOARD_NUMPAD_END, KEYBOARD_KEY, KEYBOARD_SHIFT,
KEYBOARD_CONTROL, KEYBOARD_ALT
def __init__(self)
def __del__(self)
def step(self, ms)
def getAccelerometer(self, name)
def getCamera(self, name)
def getCompass(self, name)
def getConnector(self, name)
def getDisplay(self, name)
def getDistanceSensor(self, name)
def getEmitter(self, name)
def getGPS(self, name)
def getGyro(self, name)
def getLED(self, name)
def getLightSensor(self, name)
def getPen(self, name)
def getReceiver(self, name)
def getServo(self, name)
def getTouchSensor(self, name)
def batterySensorEnable(self, ms)
def batterySensorDisable(self)
def batterySensorGetValue(self)
def getBasicTimeStep(self)
def getMode(self)
def getName(self)
def getProjectPath(self)
def getSynchronization(self)
def getTime(self)
def keyboardEnable(self, ms)
def keyboardDisable(self)
def keyboardGetKey(self)

from controller import Servo class Servo (Device) :

def setPosition(self, position)
def setVelocity(self, vel)
def setAcceleration(self, force)
def setMotorForce(self, motor_force)
def setControlP(self, p)
def enablePosition(self, ms)
def disablePosition(self)
def getPosition(self)
def enableMotorForceFeedback(self, ms)
def disableMotorForceFeedback(self)
def getMotorForceFeedback(self)
def setForce(self, force)

from controller import Supervisor class Supervisor (Robot) :

def __init__(self)
def __del__(self)
def exportImage(self, file, quality)
def getRoot(self)
def getFromDef(self, name)
def setLabel(self, id, label, xpos, ypos, size, color, transparency)
def simulationQuit(self)
def simulationRevert(self)
def simulationPhysicsReset(self)
def startAnimation(self, file)
def stopAnimation(self)
def startMovie(self, file, width, height, type, quality)
def stopMovie(self)

from controller import TouchSensor class TouchSensor (Device) :

def enable(self, ms)
def disable(self)
def getValue(self)
def getValues(self)

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