Webots Demo Worlds

The demo project Webots.zip contains a number of individual demo worlds. The following descriptions may help locating models of interest.

1. arm-theater.wbt: pair of vertical two-link arms and a clock situated in HL A11

   • model: protos/two-link.proto

   • controller: controllers/arm_theater/arm_theater.py

   • model: protos/clock.proto

   • controller: controllers/clock/clock.py

   • model: protos/HL-A11-room.proto

2. pendulum-de-deux.wbt: two double-pendula side by side

   • model: robot contained in world file

   • controller: dbl_pend/dbl_pend.py

3. curtain.wbt: line of actuators driving hanging chains

   • model: protos/curtain.proto

   • controller: curtain/curtain.py

4. conveyor-demo.wbt: three-wheel ‘active conveyor’ with square manipulandum object on top

   • model: contained in world file

   • controller: conveyor/conveyor.py

5. impeller-demo.wbt: single-axis ‘impeller’ with rolling ball in a sloped arena

   • model: contained in world file

   • controller: impeller/impeller.py

6. pendulum-1-2-demo.wbt: underactuated double pendulum with two asymmetric distal links

   • model: contained in world file

   • controller: pendulum_1_2/pendulum_1_2.py

7. sensor-demo.wbt: two-link robot responding to obstacles

   • model: protos/two-link.proto

   • controller: two_link_sensor/two_link_sensor.py

8. controls-demo.wbt: several two-link robots responding to obstacles

   • model: protos/two-link.proto

   • controller: two_link/two_link.py

   • controller: two_link_sensor/two_link_sensor.py

9. clock-demo.wbt: large clock with hands controlled to show the actual time

   • model: protos/clock.proto

   • controller: controllers/clock/clock.py

10. wobbly-demo.wbt: robot party with multiple mobile ‘wobbly’ robots in a large arena

    • model: protos/wobbly.proto

    • controller: controllers/wobbly/wobbly.py

11. network-party.wbt: wobbly robots and remote proxies controlled via MQTT messages over the network

    • model: protos/delegate.proto

    • model: protos/proxy.proto

    • controller: controllers/disembod/disembod.py

12. painting-demo.wbt: two-link arm spray-painting on the floor using inverse kinematic control

    • model: protos/two-link.proto

    • model: protos/painting.proto

    • controller: two_link_sensor/two_link_ik.py

    • controller: painting/painting.py

13. piano-keyboard.wbt: eight-key ‘piano’ keyboard controlled via MIDI

    • model: protos/keyboard.proto

    • controller: keyboard/keyboard.py