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Webots 8.2.1 license4/12/2023 ![]() The ODE library allows one to accurately simulate physical properties of objects such as velocity, inertia and friction. Webots uses a fork of the ODE ( Open Dynamics Engine) for detecting of collisions and simulating rigid body dynamics. Simple fluid dynamics is present in the software. The physical properties include the mass, friction factor, as well as the spring and damping constants. The graphical properties include the shape, dimensions, position and orientation, colors, and texture of the object. When designing a robot model, the user specifies both the graphical and the physical properties of the objects. In addition, it is also possible to build new models from scratch or import them from 3D CAD software. Webots includes a large collection of freely modifiable models of robots, sensors, actuators and objects. Since December 2018, it is released under the free and open-source Apache 2 license. Olivier Michel at the Swiss Federal Institute of Technology ( EPFL) in Lausanne, Switzerland and then from 1998 by Cyberbotics Ltd. The Webots project started in 1996, initially developed by Dr. Just double click on (or run) Webots-Quadcopter-Python-SITL/blob/master/worlds/ObjectTracking.Webots is a free and open-source 3D robot simulator used in industry, education and research. Ubuntu and linux users may be able to install OpenCV via system package managers like apt, aptitude etc.This method requires compilation and is not recommended unless performance is needed in simulations and it takes some time to install. Downloading source code from and compiling (or checking if cv2.py or something like python2_cv.py and python3_cv.py files are present after downloading OpenCV exe executables (for Windows users only)).pip install opencv-python (Unofficial community whl).However, this installs opencv-contrib which may contain patented algorithms. pip install opencv-contrib-python (Preferred.Install libraries needed to run this simulation. Note: Any of the versions of Python supported by Webots is needed. It can also be used in hardware (and it is general purpose code, so, it will work with all hardwares that can run Python interpreter). I also wrote pure Python SITL Flight Controller (for waypoint navigation) as I could not find pure general purpose quadcopter controller in Python for SITL. As I could not find anything like this yet for object tracking in Webots, I started out with Mavic 2 Pro Quadcopter and Pioneer 3DX rover. Solutionīuilding a cross-platform compatible (main target OS being Windows, Linux and Mac OS) with pure Python implementation of controllers for multi-type, multi-vehicle SITL simulator. My intention is to advance the standardisation of reinforcement learning, deep learning and the likes and make it simpler to achieve it. However, this simulator is a general purpose object tracking simulator and is not restricted to my research paper. At least, it won't be easy to reproduce my research to say the least). The setup was extensive and worked only with a specific version of Ubuntu (requiring sudo and root access).Īlso, few of the repositories have been archived now and I believe Erle Robotics has shut down completely and their github repositories are archived (which means that my ROS Gazebo SITL simulator may/may not be fully reproducible. However, back then, I ended up building a ROS and Gazebo based multi-type multi-vehicle SITL (Software In The Loop) simulator (as detailed in the paper). (Link: ) I had some difficulties with reproducible results (with physical drone as mentioned in the paper). BackgroundĪ couple of years ago, I had authored a paper on object tracking Quadcopter. So, it should work in any SITL or Python-based hardware. However, the flight controller is built on sound math. Given the problems of camera not working, rover getting stuck and flipped coordinates, I could understand that the controller cannot be made production-ready. Link: cyberbotics/webots#1081 However, in Webots, the coordinates are inherently flipped (y-axis along the floor). Camera flickers and rover gets stuck repeatedly. Note: This repository fundamentally uses Webots to simulate robots. ![]()
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