Esihlokweni esilandelayo sizobheka amaWebots. Lokhu umthombo wamahhala futhi ovulekile we-3D robot simulator ye-Gnu / Linux, MacOS ne-Windows. Le software yokwenza amarobhothi eselula ivame ukusetshenziselwa izinjongo zemfundo. Iphrojekthi yeWebots yaqalwa ngo-1996 nguDkt. Oliver Michel eSwitzerland Federal Institute of Technology I-EPFL eLausanne. Enye yezinzuzo zayo eziyinhloko ukuthi ivumela umsebenzisi ukuthi ahlanganyele nemodeli ngesikhathi sokulingisa. Lolu hlelo lususelwa kunjini evulekile ye-Open Dynamics Engine nenjini yokunikeza i-OpenGL. Ikhishwa ngaphansi kwelayisense le-Apache 2.0.
Ngale software, abasebenzisi bangamodela, bahlele futhi balingise izikhali zezimboni, amabhiphu, izimoto zasemkhathini, amarobhothi anemilenze eminingi, amarobhothi we-modular, izimoto, izindiza ezindizayo, izimoto ezizimele zangaphansi kwamanzi nazo zonke izinhlobo zamarobhothi. Singathola izibonelo zamarobhothi, izinzwa, umtapo wezimpahla wezinto nezinto zokwakheka kalula. Kanjalo sizoba nethuba lokungenisa amamodeli wethu we-CAD kusuka ku-Blender futhi I-URDF.
Amawebhusayithi asebenzisa i-ODE (Vula iDynamics Engine) yokuthola ukushayisana nokuqina okuqinile komzimba. Umtapo wezincwadi we-ODE ukuvumela ukuthi ulingise i-physics yezinto. Lolu hlelo futhi luvumela ukwakha amarobhothi ngencazelo yejometri kanye namandla wezingxenye eziyibhalayo. Ibuye ikuvumele ukuthi ucacise imibala nokwakheka kokubona okungcono.
Le software ibuye ifake izinzwa nama-actuator amaningi asetshenziswa kakhulu kuma-robotics, ngamamodeli awo ashukumisayo. Yini enye ukulawulwa kwamarobhothi kungabhalwa ngo-C, C ++, Java, IPython, iMatlab neROS.
Izici ezijwayelekile zamaWebots
- Uhlelo ngu isiteji sesiphambano. Isebenza ku-Gnu / Linux, Windows, naku-MacOS.
- Sizoba nethuba lokukhetha ifayela le- Ulimi lweSpanish kusixhumi esibonakalayo sohlelo.
- Sizokwazi dala ama-prototypes ngokushesha okukhulu.
- Uhlelo luzosinika ithuba lokwenza ifayela le- ukuhlukahluka okuningana.
- Ama-Webots agcina amamodeli kufayela le-.wbt. Lawa mafayela asuselwa olimini I-VRML.
- Ingqikithi yamaWebots isuselwa enhlanganisweni ye- I-GUI yanamuhla (Qt), un injini ye-physics (Igatsha le-ODE) kanye a Injini yokunikezela ye-OpenGL 3.3 (babe).
- Kungenzeka thumela amamodeli we-wbt ku-VRML noma ku-X3D.
- Ukufaniswa kweWebots kungathunyelwa kwamanye amazwe njengama-movie, izigcawu ze-HTML ezisebenzisanayo, ukugqwayiza noma kusakazwe kunoma isiphi isiphequluli sewebhu sisebenzisa i-webgl nama-websockets
- Ama-Webots anikela nge kungenzeka ukuthatha 'ama-screen shots' ngefomethi ye-PNG noma ye-JPEG bese uqopha ukulingiswa ngefomethi ye-MP4 (IMacOS / Linuxnoma i-AVI (Windows).
- Irobhothi lingahlelwa ku-C, C ++, Python, Java, MATLAB noma ku-ROS nge-API elula ehlanganisa zonke izidingo eziyisisekelo zamarobhothi.
- Abadali bale software benza abasebenzisi be- izisekelo eziyisisekelo kwizifundo ezinikezwa kumadokhumenti.
- I-Podemos landa izibonelo elula ezisebenza kusukela kumzuzu wokuqala ukuzisebenzisa njengesiqondisi.
- Sizophinda futhi sithole ifayela le- Isiqondisi somsebenzisi kusuka kumaWebots kanye neReferensi Manual ukuthola imibhalo ephelele, kufaka phakathi ama-Webots node nama-API wokuwalawula.
Faka iWebots 3D Robot Simulator ku-Ubuntu
Izidingo ezincane
Usebenzisa le software idinga izidingo ezithile, njengoba zinjalo:
- 2 GHz isivinini sewashi le-CPU elimbili-core.
- 2 GB RAM.
- I-adaptha yehluzo ehambisanayo ye-NVIDIA noma ye-AMD OpenGL (ubuncane benguqulo 3.3) okungenani ene-512MB ye-RAM.
Ngephakheji .deb
Sizokwazi download Webots in .deb file format from the ikhasi le-GitHub leprojekthi. Igama lefayela elilandiwe kule ndatshana lithi 'webots_2020a-rev1_amd64.deb'. Usayizi wefayela elilandiwe cishe u-1,4 GB.
Lapho ifayili selilandiwe, sivula i-terminal (Ctrl + Alt + T) futhi ukusuka kufolda lapho silondoloze khona ifayela, bhala umyalo wokufaka olandelayo:
sudo dpkg -i webots_2020a-rev1_amd64.deb
Uma kwenzeka sithola Izinkinga zokuncika, singazixazulula ngomyalo:
sudo apt install -f
Kusetshenziswa i-PPA
para faka lolu hlelo usebenzisa i-PPA yayo ehambisanayo, kuzofanele sivule kuphela i-terminal (Ctrl + Alt + T) bese uthayipha umyalo ngamunye olandelayo:
wget -qO- https://cyberbotics.com/Cyberbotics.asc | sudo apt-key add - sudo apt-add-repository 'deb https://cyberbotics.com/debian/ binary-amd64/'
Njengoba ngenza lesi sibonelo ku-Ubuntu 18.04, akudingekile ukuvuselela amaphakheji atholakalayo, njengoba evuselelwa ngokuzenzakalela. Ngemuva kokuvuselelwa singakwazi faka ama-webots nge-apt ukuthayipha esigungwini esifanayo:
sudo apt install webots
Lapho ukufakwa sekuqediwe, singakwazi thola isiqalisi sohlelo kukhompyutha yethu.
NgoSnap
Uma sithanda faka ama-Webots usebenzisa eyakho snap pack Kuzofanele sivule kuphela i-terminal (Ctrl + Alt + T) bese sibhala umyalo kuyo:
sudo snap install webots
Ngemuva kokufakwa, singayiqala ngokusesha isiqalisi sayo kusistimu noma ngokwenza lo myalo ku-terminal:
webots
Ingatholakala imininingwane eminingi ngalolu hlelo, izici zalo nemibhalo enikeza abasebenzisi, kufayela le- iwebhusayithi yephrojekthi.