Webots, buɗaɗɗen masarrafan buɗe ido don ƙirƙirar mutummutumi na hannu

game da Webots

A cikin labarin na gaba zamu kalli Webots. Wannan mai kyauta da buɗe tushen 3D na'urar kwaikwayo ta mutum-mutumi don Gnu / Linux, MacOS da Windows. Ana amfani da wannan software don simintin mutummutumi ta hannu don dalilai na ilimi. Aikin Webots an fara shi ne a 1996 daga Dr. Oliver Michel a Cibiyar Fasaha ta Tarayya ta Switzerland EPFL a Lausanne. Ofaya daga cikin mahimman fa'idodinta shine yana bawa mai amfani damar hulɗa tare da samfurin yayin kwaikwayon. Shirin ya dogara ne akan injin kimiyyar lissafi na Open Dynamics Engine da injin ma'anar OpenGL. An sake shi a ƙarƙashin lasisin Apache 2.0.

Tare da wannan manhaja, masu amfani za su iya yin samfuri, shiri da yin simintin makaman masana'antu, bipeds, motocin sararin samaniya, mutum-mutumi mai kafafu iri-iri, mutum-mutumin inji, motoci, jirage marasa matuka, motocin karkashin ruwa da kowane irin mutummutumi. Zamu iya samun misalan mutummutumi, na'urori masu auna firikwensin, laburaren kadara na abubuwa da kayan don ƙira mai sauƙi. Shima za mu sami damar shigo da samfuran CAD ɗinmu daga Blender kuma URDF.

Webots yana amfani da ODE (Bude Dynamics Engine) don gano haɗuwa da tsayayyar motsa jiki mai motsa jiki. Laburaren ODE suna baka damar yin kwatancen kimiyyar lissafi na abubuwa. Hakanan wannan shirin yana ba da damar gina mutummutumi ta hanyar sihiri da mahimmancin ma'anar sassan da suka tsara shi. Hakanan yana ba ku damar tantance launuka da laushi don mafi kyawun gani.

misali karo

Wannan software ɗin ya haɗa da wasu na'urori masu auna firikwensin da masu aiki sau da yawa da ake amfani da su a cikin fasahar mutum-mutumi, tare da sabbin dabarun su. Menene ƙari ana iya rubuta ikon robot a cikin C, C ++, Java, Python, Matlab da ROS.

Babban fasali na Webots

Shafukan yanar gizo

  • Shirin shine dandamali. Yana gudana akan Gnu / Linux, Windows, da macOS.
  • Za mu sami damar zaɓar Yaren Mutanen Espanya a cikin shirin kewayawa.
  • Za mu iya ƙirƙirar samfura kyakkyawa da sauri.
  • Shirin zai bamu damar ƙirƙirar fadi da yawa na kwaikwayo.
  • Webots yana adana samfuran zuwa fayil .wbt. Waɗannan fayilolin suna dogara ne akan yaren VRML.
  • Jigon Webots ya dogara ne akan haɗuwa da a GUI na zamani (Qt), Un injin kimiyyar lissafi (ODE reshe) da kuma OpenGL 3.3 injin ma'ana (sun kasance).
  • Yana yiwuwa fitarwa .wbt samfura zuwa VRML ko X3D.
  • Ana iya fitar da simintin yanar gizo kamar fina-finai, abubuwan hulɗa na HTML, rayarwa ko ma gudana zuwa kowane burauzar yanar gizo ta amfani da webgl da websockets.
  • Webots suna ba da yiwuwar ɗaukar 'hotunan allo' a cikin tsarin PNG ko JPEG da rikodin kwaikwayo a cikin tsarin MP4 (macOS / Linux) ko AVI (Windows).
  • Ana iya tsara robot ɗin a cikin C, C ++, Python, Java, MATLAB ko ROS tare da API mai sauƙi rufe duk kayan buƙatun mutum-mutumi.
  • Masu ƙirƙirar wannan software suna samarwa ga masu amfani kayan yau da kullun a cikin darussan da aka bayar a cikin takardun.
  • Podemos zazzage misalai sauki waɗanda ke aiki daga farkon lokacin don amfani da su azaman jagora.
  • Za mu kuma sami Jagorar mai amfani daga Webots da kuma Littafin Magana don cikakkun takardu, gami da ƙirar Webots da APIs don sarrafa su.

Shigar da na'urar Webbot 3D Robot Simulator akan Ubuntu

automaton misali

Requirementsarancin bukatun

Amfani da wannan software yana buƙatar wasu buƙatu, kamar yadda suke:

  • 2 GHz dual-core CPU agogo mai sauri.
  • 2 GB na RAM.
  • NVIDIA ko AMD OpenGL adaftan mai jituwa mai jituwa (mafi ƙarancin sigar 3.3) tare da aƙalla 512MB na RAM.

Ta hanyar kunshin .deb

Za mu iya zazzage Webots a cikin .deb tsarin fayil daga aikin shafin GitHub. Sunan fayil ɗin da aka zazzage don wannan labarin shine 'yanar gizo_2020a-rev1_amd64.deb'. Girman fayil ɗin da aka zazzage yana kusa da 1,4 GB.

Da zarar an sauke fayil ɗin, za mu buɗe tashar (Ctrl + Alt + T) kuma daga babban fayil ɗin da muka adana fayil ɗin, za mu iya rubuta umarnin shigarwa mai zuwa:

Shigar da kunshin gidan yanar gizo .deb

sudo dpkg -i webots_2020a-rev1_amd64.deb

Idan muka samu matsalolin dogara, zamu iya magance su da umarnin:

shigarwa dogara

sudo apt install -f

Amfani da PPA

para girka wannan shirin ta amfani da PPA mai dacewa, kawai zamu buɗe tashar (Ctrl + Alt + T) kuma rubuta kowane ɗayan umarnin masu zuwa:

wget -qO- https://cyberbotics.com/Cyberbotics.asc | sudo apt-key add -

sudo apt-add-repository 'deb https://cyberbotics.com/debian/ binary-amd64/'

Kamar yadda nake yin wannan misalin a cikin Ubuntu 18.04, ba lallai ba ne don sabunta samfuran da ke akwai, kamar yadda aka sabunta ta atomatik. Bayan sabuntawa zamu iya shigar da yanar gizo tare da dacewa bugawa a cikin wannan tashar:

girka tare da APT

sudo apt install webots

Da zarar an gama shigarwa, zamu iya sami shirin ƙaddamarwa a kwamfutarmu.

Ta hanyar Snap

Idan mun fi so shigar Webots ta amfani da snap fakitin Dole ne kawai mu buɗe tashar (Ctrl + Alt + T) kuma a ciki rubuta umarnin:

shigar webots kamar yadda karye

sudo snap install webots

Bayan shigarwa, zamu iya fara shi ta hanyar neman mai ƙaddamarwa akan tsarin ko ta aiwatar da wannan umarnin a cikin tashar:

webots

Ana iya samun sa ƙarin bayani game da wannan shirin, fasalinsa da takaddun sa da ke ba masu amfani, a cikin aikin yanar gizo.


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