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. wobbly-exercise.wbt: two ‘wobbly’ robots in a large arena

   • model: protos/wobbly.proto

   • open-loop controller: controllers/wobbly_thd/wobbly_thd.py

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

   • model: protos/wobbly.proto

   • networked controller: controllers/wobbly/wobbly.py

3. boom-monopod.wbt: simplified single-leg hopping robot

   • model: protos/boom-monopod.proto

   • controller: controllers/boom_monopod/boom_monopod.py

4. 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

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

   • model: robot contained in world file

   • controller: dbl_pend/dbl_pend.py

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

   • model: protos/curtain.proto

   • controller: curtain/curtain.py

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

   • model: contained in world file

   • controller: conveyor/conveyor.py

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

   • model: contained in world file

   • controller: impeller/impeller.py

9. 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

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

    • model: protos/two-link.proto

    • controller: two_link_sensor/two_link_sensor.py

11. 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

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

    • model: protos/clock.proto

    • controller: controllers/clock/clock.py

13. 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

14. 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

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

    • model: protos/keyboard.proto

    • controller: keyboard/keyboard.py

16. box-walker.wbt: box-shaped mobile robots with two hinged faces used as feet

    • model: protos/box-walker.proto

    • controller: box_walker/box_walker.py

17. shuffler-demo.wbt: low two-footed ‘walker’ with feet freely pivoting on drive wheels

    • model: protos/shuffler.proto

    • controller: shuffler/shuffler.py

18. legwheel-demo.wbt: multi-spoked rimless wheel with telescoping ‘legs’

    • model: protos/legwheel.proto

    • controller: legwheel/legwheel.py

19. bigpill-demo.wbt: pill-shaped capsule inertially driven by a single sliding mass

    • model: protos/bigpill.proto

    • controller: bigpill/bigpill.py

20. dekaleg-demo.wbt: disc-shaped body with many simple legs and offset-mass rotor

    • model: protos/dekaleg.proto

    • controller: dekaleg/dekaleg.py

21. legbox-demo.wbt: box-shaped body with wide front-and-back legs

    • model: protos/legbox.proto

    • controller: legbox/legbox.py

22. trackbase-demo.wbt: box-shaped body with dual track drive

    • model: protos/trackbase.proto

    • controller: trackbase/trackbase.py

23. mobility.wbt: arena including many simple, idiosyncratic mobility machines

    • model: protos/wobbly.proto

    • model: protos/box-walker.proto

    • model: protos/shuffler.proto

    • model: protos/legwheel.proto

    • model: protos/dekaleg.proto

    • model: protos/bigpill.proto

    • model: protos/legbox.proto