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Webots User Guide release 8.3.2 Copyright c ⃝2015 Cyberbotics Ltd. All Rights R

Webots User Guide release 8.3.2 Copyright c ⃝2015 Cyberbotics Ltd. All Rights Reserved www.cyberbotics.com December 16, 2015 2 Permission to use, copy and distribute this documentation for any purpose and without fee is hereby granted in perpetuity, provided that no modiﬁcations are performed on this documenta- tion. The copyright holder makes no warranty or condition, either expressed or implied, including but not limited to any implied warranties of merchantability and ﬁtness for a particular purpose, regarding this manual and the associated software. This manual is provided on an as-is basis. Neither the copyright holder nor any applicable licensor will be liable for any incidental or con- sequential damages. The Webots software was initially developed at the Laboratoire de Micro-Informatique (LAMI) of the Swiss Federal Institute of Technology, Lausanne, Switzerland (EPFL). The EPFL makes no warranties of any kind on this software. In no event shall the EPFL be liable for incidental or consequential damages of any kind in connection with the use and exploitation of this software. Trademark information AiboTMis a registered trademark of SONY Corp. RadeonTMis a registered trademark of ATI Technologies Inc. GeForceTMis a registered trademark of nVidia, Corp. JavaTMis a registered trademark of Sun MicroSystems, Inc. KheperaTMand KoalaTMare registered trademarks of K-Team S.A. LinuxTMis a registered trademark of Linus Torvalds. Mac OS XTMis a registered trademark of Apple Inc. MindstormsTMand LEGOTMare registered trademarks of the LEGO group. IPRTMis a registered trademark of Neuronics AG. UbuntuTMis a registered trademark of Canonical Ltd. Visual C++TM, WindowsTM, Windows NTTM, Windows 2000TM, Windows XPTM, Windows VistaTM, Windows 7TMand Windows 8TMare registered trademarks of Microsoft Corp. UNIXTMis a registered trademark licensed exclusively by X/Open Company, Ltd. Foreword Webots is a three-dimensional mobile robot simulator. It was originally developed as a research tool for investigating various control algorithms in mobile robotics. This user guide will get you started using Webots. However, the reader is expected to have a minimal knowledge in mobile robotics, in C, C++, Java, Python or MATLAB programming, and in VRML97 (Virtual Reality Modeling Language). Webots 8 features a new layout of the user interface with many facilities integrated, such as a source code editor, motion editor, etc. We hope that you will enjoy working with Webots 8. 3 4 Thanks Cyberbotics is grateful to all the people who contributed to the development of Webots, Webots sample applications, the Webots User Guide, the Webots Reference Manual, and the Webots web site, including Stefania Pedrazzi, David Mansolino, Yvan Bourquin, Fabien Rohrer, Jean- Christophe Fillion-Robin, Jordi Porta, Emanuele Ornella, Yuri Lopez de Meneses, S´ ebastien Hugues, Auke-Jan Ispeert, Jonas Buchli, Alessandro Crespi, Ludovic Righetti, Julien Gag- net, Lukas Hohl, Pascal Cominoli, St´ ephane Mojon, J´ erˆ ome Braure, Sergei Poskriakov, An- thony Truchet, Alcherio Martinoli, Chris Cianci, Nikolaus Correll, Jim Pugh, Yizhen Zhang, Anne-Elisabeth Tran Qui, Gr´ egory Mermoud, Lucien Epinet, Jean-Christophe Zufferey, Laurent Lessieux, Aude Billiard, Ricardo Tellez, Gerald Foliot, Allen Johnson, Michael Kertesz, Simon Garnieri, Simon Blanchoud, Manuel Jo˜ ao Ferreira, Rui Picas, Jos´ e Afonso Pires, Cristina Santos, Michal Pytasz and many others. Moreover, many thanks are due to Cyberbotics’s Mentors: Prof. Jean-Daniel Nicoud (LAMI- EPFL), Dr. Francesco Mondada (EPFL), Dr. Takashi Gomi (Applied AI, Inc.). Finally, thanks to Skye Legon and Nathan Yawn, who proofread this guide. 5 6 Contents 1 Installing Webots 19 1.1 Webots licenses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 1.1.1 Webots PRO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 1.1.2 Webots EDU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 1.1.3 Webots MOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 1.1.4 Webots licences overview . . . . . . . . . . . . . . . . . . . . . . . . . 20 1.2 System requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 1.3 Verifying your graphics driver installation . . . . . . . . . . . . . . . . . . . . . 21 1.3.1 Supported graphics cards . . . . . . . . . . . . . . . . . . . . . . . . . . 21 1.3.2 Unsupported graphics cards . . . . . . . . . . . . . . . . . . . . . . . . 21 1.3.3 Upgrading your graphics driver . . . . . . . . . . . . . . . . . . . . . . 22 1.3.4 Hardware acceleration tips . . . . . . . . . . . . . . . . . . . . . . . . . 23 1.4 Installation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 1.4.1 Linux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 1.4.2 Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 1.4.3 Mac OS X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 1.5 Webots license system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 1.5.1 Firewall conﬁguration (optional) . . . . . . . . . . . . . . . . . . . . . . 27 1.5.2 License agreement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 1.5.3 License setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 1.5.4 License administration . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 1.5.5 Module download folder . . . . . . . . . . . . . . . . . . . . . . . . . . 28 1.6 Classroom license setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 7 8 CONTENTS 1.6.1 User account . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 1.6.2 Classrom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 1.6.3 Homework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 1.6.4 Using Webots without Internet connection . . . . . . . . . . . . . . . . . 32 1.7 Translating Webots to your own language . . . . . . . . . . . . . . . . . . . . . 32 2 Getting Started with Webots 33 2.1 Introduction to Webots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 2.1.1 What is Webots? . . . . uploads/Science et Technologie/ guide - 2023-05-29T201807.611.pdf