page_title: Webots
hierarchical_section_title: Webots
caption_attribution_description: English: PR2 simulation
context_page_description: Webots is a free and open-source 3D robot simulator used in industry, education and research.
  The Webots project started in 1996, initially developed by Dr. Olivier Michel at the Swiss Federal Institute of Technology in Lausanne, Switzerland and then from 1998 by Cyberbotics Ltd. as a proprietary licensed software. Since December 2018, it is released under the free and open-source Apache 2 license.
  Webots includes a large collection of freely modifiable models of robots, sensors, actuators and objects. In addition, it is also possible to build new models from scratch or import them from 3D CAD software. When designing a robot model, the user specifies both the graphical and the physical properties of the objects. The graphical properties include the shape, dimensions, position and orientation, colors, and texture of the object. The physical properties include the mass, friction factor, as well as the spring and damping constants. Simple fluid dynamics is present in the software.
  Webots uses a fork of the ODE for detecting of collisions and simulating rigid body dynamics.
context_section_description: Webots is a free and open-source 3D robot simulator used in industry, education and research.
  The Webots project started in 1996, initially developed by Dr. Olivier Michel at the Swiss Federal Institute of Technology (EPFL) in Lausanne, Switzerland and then from 1998 by Cyberbotics Ltd. as a proprietary licensed software. Since December 2018, it is released under the free and open-source Apache 2 license.
  Webots includes a large collection of freely modifiable models of robots, sensors, actuators and objects. In addition, it is also possible to build new models from scratch or import them from 3D CAD software. When designing a robot model, the user specifies both the graphical and the physical properties of the objects. The graphical properties include the shape, dimensions, position and orientation, colors, and texture of the object. The physical properties include the mass, friction factor, as well as the spring and damping constants. Simple fluid dynamics is present in the software.
  Webots uses a fork of the ODE (Open Dynamics Engine) for detecting of collisions and simulating rigid body dynamics. The ODE library allows one to accurately simulate physical properties of objects such as velocity, inertia and friction.
  Webots includes a set of sensors and actuators frequently used in robotic experiments, e.g. lidars, radars, proximity sensors, light sensors, touch sensors, GPS, accelerometers, cameras, emitters and receivers, servo motors (rotational & linear), position and force sensor, LEDs, grippers, gyros, compass, IMU, etc.
  The robot controller programs can be written outside of Webots in C, C++, Python, ROS, Java and MATLAB using a simple API.
  Webots offers the possibility to take screenshots and record simulations movies. Webots worlds are stored in cross-platform .wbt files which format is based on the VRML language. It is also possible to import and export Webots worlds or objects in the VRML format. Users can interact with a running simulation at any time, i.e., it is possible to move the robots and other object with the mouse while the simulation is running. Webots can stream a simulation on web browsers using WebGL.
caption: A simulation model of the PR2 robot in Webots.
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