Webots

Webots open-source robot simulator: scene setup, robot modeling, controller programming, and ROS 2 integration.

Learning Objectives

1. Introduction to Webots

1.1 History & Cyberbotics

1.2 Installation

2. World & Scene Setup

2.1 PROTO Files

2.2 Physics Properties

2.3 Importing Models

3. Robot Modeling

3.1 joints & Motors

3.2 Sensors (Camera, LiDAR, IMU)

3.3 Actuators

4. Controller Programming

4.1 Python Controllers

4.2 C/C++ Controllers

4.3 Supervisor API

5. ROS 2 Integration

5.1 webots_ros2 Package

5.2 Custom Driver Nodes

6. Webots vs. Gazebo vs. MuJoCo

Exercises

References