Kwinqaku elilandelayo siza kujonga kwiiWebhu. Yi le Umthombo okhululekileyo novulekileyo we-simulator ye-3D ye-Gnu / Linux, MacOS kunye neWindows. Le software yokulinganisa iirobhothi ezihambayo zihlala zisetyenziselwa iinjongo zemfundo. Iprojekthi yeWebots yaqalwa ngo-1996 nguGqirha Oliver Michel kwiSwitzerland Federal Institute of Technology EPFL eLausanne. Enye yeenzuzo zayo eziphambili kukuba ivumela umsebenzisi ukuba asebenzisane nemodeli ngexesha lokulinganisa. Le nkqubo isekwe kwiinjini yefiziksi ye-Injini evulekileyo ye-Injini kunye ne-OpenGL enikezela injini. Ikhutshwa phantsi kwelayisensi ye-Apache 2.0.
Ngale software, abasebenzisi banokwenza imodeli, inkqubo kunye nokulinganisa izixhobo zeshishini, iibipidi, izithuthi ze-aerospace, iirobhothi ezinemilenze emininzi, iirobhothi ezimiselweyo, iimoto, iidrones ezindizayo, iimoto ezizimeleyo eziphantsi kwamanzi kunye nazo zonke iintlobo zeerobhothi. Singafumana imizekelo yeerobhothi, ii-sensors, ilayibrari yee-asethi yezinto kunye nezinto eziyilo ezilula. Njengokuba Siya kuba nethuba lokungenisa iimodeli zethu zeCAD kwiBlender kwaye URDF.
IiWebots zisebenzisa i-ODE (Injini yeDynamics evulekileyoUkubhaqwa kwengozi kunye nokulinganisa komzimba okuqinileyo. Ithala leencwadi le-ODE likuvumela ukuba ulinganise i-physics yezinto. Le nkqubo ikwavumela ukwakha iirobhothi ngenkcazo yejiyometri kunye nokutshintsha kwamalungu ayenzileyo. Ikwavumela ukuba ucacise imibala kunye noburhabaxa bokuboniswa okungcono.
Le software ikwabandakanya inani leenzwa kunye nee-actuator ezisetyenziswa rhoqo kwiirobhothi, kunye neemodeli zazo ezinamandla. Yintoni egqithisile ulawulo lweerobhothi lunokubhalwa ngo-C, C ++, Java, IPython, iMatlab kunye neROS.
Iimpawu ngokubanzi zeWebots
- Inkqubo yile iqonga lokuwela. Ibaleka kwiGnu / Linux, Windows, kunye neMacOS.
- Siya kuba nethuba lokukhetha ifayile Ulwimi lweSpanish kwinkqubo yenkqubo.
- Siza kukwazi yenza iiprototypes ngokukhawuleza okukhulu.
- Inkqubo iya kusinika ithuba lokwenza ifayile ye ezahlukeneyo zokulinganisa.
- IiWebots zigcina iimodeli kwifayile ye .wbt. Ezi fayile zisekwe kulwimi IVRML.
- Isiseko seWebots sisekwe kwindibaniselwano ye I-GUI yanamhlanje (Qt), un Injini yefiziksi (ODE isebe) Kunye a Injini evulekileyo ye-OpenGL 3.3 (babe).
- Kunokwenzeka ukuthumela ngaphandle iimodeli ze-wbt kwiVRML okanye kwiX3D.
- Ukulinganisa kweWebots kunokuthunyelwa kwelinye ilizwe Njengemiboniso bhanyabhanya, izigcawu ze-HTML ezisebenzisanayo, oopopayi okanye zisasazwe nakwisiphi na isikhangeli sewebhu usebenzisa i-webgl kunye neebhloko zewebhu.
- IiWebots zibonelela ukubakho kokuthatha 'iscreen shots' kwifomathi yePNG okanye yeJPEG kunye nokurekhoda ukulingiswa kwifomathi yeMP4 (IMacOS / Linuxokanye i-AVI (Windows).
- Irobhothi inokucwangciswa kwi-C, C ++, Python, Java, MATLAB okanye kwi-ROS nge-API elula egubungela zonke iimfuno ezisisiseko zerobhothi.
- Abenzi bale software benza ukuba kufumaneke kubasebenzisi iziseko ezisisiseko kwizifundo ezifundiswayo kuxwebhu.
- IPodemos khuphela imizekelo elula ezisebenza ukusuka kumzuzu wokuqala ukuzisebenzisa njengesikhokelo.
- Siza kufumana kwakhona Isikhokelo somsebenzisi ukusuka kwiiWebhu kunye neNcwadi yokuKhangela Amaxwebhu abanzi, kubandakanya iiWebots node kunye neeAPIs zokuzilawula.
Faka iiWebots 3D Robot Simulator kwi-Ubuntu
Ubuncinci beemfuno
Sebenzisa le software idinga iimfuno ezithile, njengoko zinjalo:
- 2 GHz isantya seewotshi ezimbini ezingundoqo zewotshi.
- I-2 GB ye-RAM.
- I-NVIDIA okanye i-AMD OpenGL ihambelana neadaptha yemizobo (ubuncinci benguqulelo 3.3) ene-512MB ye-RAM.
Ukuhamba ngephakheji .deb
Siza kukwazi khuphela iiWebhu kwifomathi yefayile ye .deb kwifayile ye- Iprojekthi yeprojekthi yeGitHub. Igama lefayile ekhutshelweyo yeli nqaku 'ii-webots_2020a-rev1_amd64.deb'. Ubungakanani befayile ekhutshelweyo ijikeleze i-1,4 GB.
Nje ukuba ifayile ikhutshelwe, sivula i-terminal (Ctrl + Alt + T) nakwifolda apho siyigcine khona ifayile, bhala lo myalelo ulandelayo wokufaka:
sudo dpkg -i webots_2020a-rev1_amd64.deb
Kwimeko apho sifumana iingxaki zokuxhomekeka, singazisombulula ngomyalelo:
sudo apt install -f
Sebenzisa iPPA
ukuba fakela le nkqubo usebenzisa iPPA yayoKuya kufuneka sivule i-terminal kuphela (Ctrl + Alt + T) kwaye uchwetheze nganye yale miyalelo ilandelayo:
wget -qO- https://cyberbotics.com/Cyberbotics.asc | sudo apt-key add - sudo apt-add-repository 'deb https://cyberbotics.com/debian/ binary-amd64/'
Njengoko ndenza lo mzekelo ku-Ubuntu 18.04, akukho mfuneko yokuhlaziya iipakeji ezikhoyo, njengoko ihlaziywa ngokuzenzekelayo. Emva kohlaziyo sinako faka iiwebhu ngokufanelekileyo Ukuchwetheza kwisiphelo esinye:
sudo apt install webots
Nje ukuba ukufakwa kugqityiwe, sinako fumana isiqalisi senkqubo kwikhompyuter yethu.
NgoSnap
Ukuba sikhetha faka iiWebhu usebenzisa eyakho snap pack Kuya kufuneka sivule kuphela i-terminal (Ctrl + Alt + T) kwaye kuyo bhala lo myalelo:
sudo snap install webots
Emva kofakelo, sinokuyiqala ngokukhangela isiqalisi sayo kwinkqubo okanye ngokwenza lo myalelo kwisiphelo sendlela:
webots
Inokufumaneka Olunye ulwazi ngale nkqubo, amanqaku kunye namaxwebhu enikezela abasebenzisi, kwi iwebhusayithi yeprojekthi.