8.2 Nodes and Keywords

8.2.1 VRML97 nodes

Many Webots nodes belong to the VRML97 standard, others are specific to Webots. Regarding the VRML97 nodes, Webots does not implement the complete VRML97 specification.

The following VRML97 nodes are supported in Webots:

Appearance, Background, Box, Color, Cone, Coordinate, Cylinder, DirectionalLight, ElevationGrid, Extrusion, Fog, Group, ImageTexture, IndexedFaceSet, IndexedLineSet, Material, PointLight, Shape, Sphere, TextureCoordinate, TextureTransform, Transform, Viewpoint and WorldInfo.

Please refer to chapter 3 for a detailed description of Webots nodes and fields. It specifies which fields are actually used. For a comprehensive description of the VRML97 nodes, you can also refer to the VRML97 documentation.

The exact features of VRML97 are subject to a standard managed by the International Standards Organization (ISO/IEC 14772-1:1997). You can find the complete specification of VRML97 on the Web3D Web site.

8.2.2 Webots specific nodes

In order to describe more precisely robotic simulations, Webots supports additional nodes that are not specified by the VRML97 standard. These nodes are principally used to model commonly used robot devices. Here are Webots additional nodes:

Accelerometer, Camera, Charger, Connector, CustomRobot, DifferentialWheels, DistanceSensor, Emitter, GPS, Gripper, HyperGate, LED, LightSensor, Pen, Physics, Receiver, Servo, Solid, Supervisor and TouchSensor.

Please refer to chapter 3 for a detailed description of Webots nodes and fields.

8.2.3 Reserved keywords

These reserved keywords cannot be used in DEF or PROTO names:

DEF, USE, PROTO, IS, TRUE, FALSE, NULL, field, vrmlField, SFNode, SFColor, SFFloat, SFInt32, SFString, SFVec2f, SFVec3f, SFRotation, SFBool, MFNode, MFColor, MFFloat, MFInt32, MFString, MFVec2f and MFVec3f.

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