![webots step webots step](https://4.bp.blogspot.com/-hNhqXaTXwJQ/WMfXr8h8QzI/AAAAAAAAAiI/oQIpAflIR3QqIqXoXe2oYexnwuqiAi8ZwCLcB/s1600/screenshot.png)
It is now the main commercial product available from Cyberbotics Ltd. WebotsTM has been developed in collaboration with the Swiss Federal Institute of Technology in Lausanne, thoroughly tested, well documented and continuously maintained for over 7 years. You can program these robots using your favorite development environment, simulate them and optionally transfer the resulting programs onto your real robots. You can equip each robot with a large number of available sensors and actuators. For each object, you can define a number of properties, such as shape, color, texture, mass, friction, etc. WebotsTM lets you define and modify a complete mobile robotics setup, even several different robots sharing the same environment.
![webots step webots step](http://doc.aldebaran.com/2-1/_images/add_object4.png)
The provided robot libraries enable you to transfer your control programs to several commercially available real mobile robots.
#WEBOTS STEP SOFTWARE#
develops WebotsTM, a mobile robotics simulation software that provides you with a rapid prototyping environment for modelling, programming and simulating mobile robots. If the robot has no device with the specified name, this function returns 0.Cyberbotics Ltd.
![webots step webots step](https://img-blog.csdnimg.cn/20210219191624928.png)
Note that the string passed to this function, “my_distance_sensor” in this example, refers to a device name specified in the robot description (“.wbt” or “.proto” file). The WbDeviceTag is an opaque type that is used to identify a device in the controller code. The value 32 specifies the duration of the control steps, i.e., the wb_robot_step function shall compute 32 milliseconds of simulation and then return. The wb_robot_step function needs to be present in every controller and it must be called at regular intervals, therefore it is usually placed in the main loop as in the above example. When to call WB _ robot _ step in Webots? This function synchronizes the controller’s data with the simulator. Within that loop there is a call to the wb_robot_step function.
#WEBOTS STEP SIMULATOR#
How does the robot simulator work in Webots? Don’t forget to set the controller field of the Robot node to indicate your new controller. To open the robot-window, double-click on the robot body and it will bring up a menu on the left with the DistanceSensor and RotationalMotor graph.
#WEBOTS STEP HOW TO#
How to change the controller field in Webots?
![webots step webots step](https://i.stack.imgur.com/227wR.png)
What does the wbdevicetag do in Webots controller? The wb_robot_get_synchronization function can be used to read the value of this field from a controller program. What is the function for WB robot get synchronization? When the loop exists, no further communication with Webots is possible and the only option is to confirm to Webots to close the communication by calling the wb_robot_cleanup function. Therefore, in this example, the control loop will run as long as the simulation runs.