Webots 的安装请参考 Webots 官方文档。为了能够使用 Robodyno 的仿真模型，你需要安装 Webots R2023b 或者更新的版本。
Robodyno 的软件包可以通过 pip 安装，建议使用 1.7.1 或者更新的版本。安装命令如下：
pip install robodyno >= 1.7.1Robodyno 提供了一系列的 Webots PROTO，存放在 protos 目录下，最新版请访问github和gitee.
目录:
robodyno_webots/camera
PROTO RobodynoCamera [
field SFVec3f translation 0 0 0.6
field SFRotation rotation -0.707 0.707 0 -3.14159
field SFString name "robodyno_camera"
field SFString cameraId "camera"
field SFInt32 width 640
field SFInt32 height 480
field SFBool castShadows FALSE
field SFString controller ""
]
- name: 定义相机的名称.
- cameraId: 定义相机的ID.
- width: 定义相机的像素宽度.
- height: 定义相机的像素高度.
- castShadows: 定义相机的阴影.
- controller: 添加相机的控制器程序.
- Robodyno的摄像头支架.
- 源自Solid.
PROTO CameraBracket [
field SFVec3f translation 0 0 0.006
field SFRotation rotation 0 0 1 0
field SFString name "camera_bracket"
]
- name: 定义相机支架的名称.
目录:
robodyno_webots/conveyorBelt
PROTO ConveyorBelt [
field SFVec3f translation 0 0 0.04
field SFRotation rotation 1 0 0 1.57
field SFString name "conveyor_belt"
field SFString motor_id "0x22"
field SFString controller ""
]
- name: 定义传送带的名称.
- motor_id: 定义传送带的ID.默认
0x22. - controller: 添加传送带的控制器程序.
目录:
robodyno_webots/endEffector
- Robodyno的双指夹持器.
- 源自Solid,包含两个LinearMotor.
PROTO RobotHand [
field SFVec3f translation 0 0 0
field SFRotation rotation 1 0 0 1.5708
field SFString name "RobodynoGripper"
field SFString motor_id "0x1A"
field SFFloat maxPosition 0.025
field SFFloat position 0
]
- name: 定义夹持器的名称.
- motor_id: 定义夹持器的ID.默认
0x1A. - maxPosition: 夹持器的最大允许开合位置.
- position: 夹持器的位置.
- Robodyno的气动夹持器.
- 源自Solid,包含一个Vacuum Gripper.
PROTO Vacuum_Gripper [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString name "vacuum_gripper"
field SFString vacuum_id "0x21"
]
- name: 定义气动的名称.
- vacuum_id: 定义气动的ID.默认
0x21.
PROTO HBPencil [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
field SFString name "pencil"
field SFColor inkColor 1 0 0
field SFFloat inkDensity 0.5
field SFFloat leadSize 0.15
field SFFloat maxDistance 0.0
field SFBool write TRUE
field SFBool castShadows FALSE
]
- name: 定义铅笔的名称.
- inkColor: 定义铅笔的绘制颜色.
- inkDensity: 定义油墨颜色的浓度，范围
[0,1]. - leadSize: 定义笔尖的宽度.
- maxDistance: 定义铅笔与可绘画对象之间的最大距离.
- write: 启用铅笔书写功能.
- castShadows: 定义铅笔的阴影.
- Robodyno的坐标系模型.
- 源自Solid.
PROTO CoordinateSystem [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 1.57
field SFString name "coordinate"
field SFBool castShadows FALSE
]
- name: 定义坐标系的名称.
- castShadows: 定义坐标系的阴影.
目录:
robodyno_webots/joints
- ROBODYNO_PRO_01A的关节电机.
- 减速比：12.45
- 最大速度：310 rpm
- 最大力矩：2.7 N⋅m
- 源自Solid,包含一个RotationalMotor.
PROTO Pro_JP12 [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString motor_id "0x10"
field SFString{"motorFlange", "motorHousing"} outputEnd "motorFlange"
field SFFloat position 0
field MFNode children []
]
- motor_id: 定义关节电机的ID.默认
0x10. - outputEnd: 输出端选择(电机法兰,电机外壳).默认
电机法兰. - position: 关节电机位置.
- children: 添加子节点.
- ROBODYNO_PRO_01A的关节电机.
- 减速比：15
- 最大速度：246 rpm
- 最大力矩：3.1 N⋅m
- 源自Solid,包含一个RotationalMotor.
PROTO Pro_JP15 [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString motor_id "0x10"
field SFString{"motorFlange", "motorHousing"} outputEnd "motorFlange"
field SFFloat position 0
field MFNode children []
]
- motor_id: 定义关节电机的ID.默认
0x10. - outputEnd: 输出端选择(电机法兰,电机外壳).默认
电机法兰. - position: 关节电机位置.
- children: 添加子节点.
- ROBODYNO_PRO_01B的关节电机.
- 减速比：44
- 最大速度：85 rpm
- 最大力矩：9 N⋅m
- 源自Solid,包含一个RotationalMotor.
PROTO Pro_JP44 [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString motor_id "0x10"
field SFString{"motorFlange", "motorHousing"} outputEnd "motorFlange"
field SFFloat position 0
field MFNode children []
]
- motor_id: 定义关节电机的ID.默认
0x10. - outputEnd: 输出端选择(电机法兰,电机外壳).默认
电机法兰. - position: 关节电机位置.
- children: 添加子节点.
- ROBODYNO_PRO_01B的关节电机.
- 减速比：66
- 最大速度：57 rpm
- 最大力矩：13.38 N⋅m
- 源自Solid,包含一个RotationalMotor.
PROTO Pro_JP66 [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString motor_id "0x10"
field SFString{"motorFlange", "motorHousing"} outputEnd "motorFlange"
field SFFloat position 0
field MFNode children []
]
- motor_id: 定义关节电机的ID.默认
0x10. - outputEnd: 输出端选择(电机法兰,电机外壳).默认
电机法兰. - position: 关节电机位置.
- children: 添加子节点.
- Robodyno的直线模块.
- 导程：10mm
- 运动范围：0～0.25m
- 源自Solid,包含一个LinearMotor.
PROTO SliderModule [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString motor_id "0x10"
field SFFloat initPose 0.25
field MFNode children []
]
- motor_id: 定义关节电机的ID.默认
0x10. - initPose: 直线模块的初始位置, 设置范围
[0.25,0.045], 单位m. - children: 添加子节点.
目录:
robodyno_webots/objects
目录:
robodyno_webots/robots
- Robodyno的四自由度Scara机器人(构型一).
- 源自Robot.
PROTO FourDofScaraRobot1 [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString name "FourDofScaraRobot"
field SFString firstJointId "0x10"
field SFString secondJointId "0x11"
field SFString thirdJointId "0x12"
field SFString fourthJointId "0x13"
field SFFloat sliderInitPose 0.25
field MFNode baseChildren []
field MFNode endChildren []
field SFString controller ""
]
- name: 定义机械臂的名称.
- firstJointId: 定义关节电机1的ID.默认
0x10. - secondJointId: 定义关节电机2的ID.默认
0x11. - thirdJointId: 定义关节电机3的ID.默认
0x12. - fourthJointId: 定义关节电机4的ID.默认
0x13. - sliderInitPose: 直线模块的初始位置.默认0.25m.
- baseChildren: 添加基坐标子节点.
- endChildren: 添加末端坐标子节点.
- controller: 添加机器人控制器程序.
- Robodyno的四自由度Scara机器人(构型二).
- 源自Robot.
PROTO FourDofScaraRobot2 [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString name "FourDofScaraRobot"
field SFString firstJointId "0x10"
field SFString secondJointId "0x11"
field SFString thirdJointId "0x12"
field SFString fourthJointId "0x13"
field SFFloat sliderInitPose 0.25
field SFFloat upperarmLength 0.085
field SFFloat forearmLength 0.085
field MFNode baseChildren []
field MFNode endChildren []
field SFString controller ""
]
- name: 定义机械臂的名称.
- firstJointId: 定义关节电机1的ID.默认
0x10. - secondJointId: 定义关节电机2的ID.默认
0x11. - thirdJointId: 定义关节电机3的ID.默认
0x12. - fourthJointId: 定义关节电机4的ID.默认
0x13. - sliderInitPose: 直线模块的初始位置.默认0.25m.
- upperarmLength: 大臂长度设置.默认0.085m.
- forearmLength: 小臂长度设置.默认0.085m.
- baseChildren: 添加基坐标子节点.
- endChildren: 添加末端坐标子节点.
- controller: 添加机器人控制器程序.
- Robodyno的四自由度Scara机器人(构型三).
- 源自Robot.
PROTO FourDofScaraRobot3 [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString name "FourDofScaraRobot1"
field SFString firstJointId "0x10"
field SFString secondJointId "0x11"
field SFString thirdJointId "0x12"
field SFString fourthJointId "0x13"
field SFFloat sliderInitPose 0.25
field SFFloat upperarmLength 0.085
field SFFloat forearmLength 0.085
field MFNode baseChildren []
field MFNode endChildren []
field SFString controller ""
]
- name: 定义机械臂的名称.
- firstJointId: 定义关节电机1的ID.默认
0x10. - secondJointId: 定义关节电机2的ID.默认
0x11. - thirdJointId: 定义关节电机3的ID.默认
0x12. - fourthJointId: 定义关节电机4的ID.默认
0x13. - sliderInitPose: 直线模块的初始位置.默认0.25m.
- upperarmLength: 大臂长度设置.默认0.085m.
- forearmLength: 小臂长度设置.默认0.085m.
- baseChildren: 添加基坐标子节点.
- endChildren: 添加末端坐标子节点.
- controller: 添加机器人控制器程序.
- Robodyno的四自由度Scara机器人(构型四).
- 源自Robot.
PROTO FourDofScaraRobot4 [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString name "FourDofScaraRobot2"
field SFString firstJointId "0x10"
field SFString secondJointId "0x11"
field SFString thirdJointId "0x12"
field SFString fourthJointId "0x13"
field SFString{"PipeLink85", "PipeLink125", "PipeLink150"} upperarmType "PipeLink85"
field SFString{"PipeLink85", "PipeLink125", "PipeLink150"} forearmType "PipeLink85"
field MFNode baseChildren []
field MFNode endChildren []
field SFString controller ""
]
- name: 定义机械臂的名称.
- firstJointId: 定义关节电机1的ID.默认
0x10. - secondJointId: 定义关节电机2的ID.默认
0x11. - thirdJointId: 定义关节电机3的ID.默认
0x12. - fourthJointId: 定义关节电机4的ID.默认
0x13. - upperarmType: 大臂长度选择.默认
85mm. - forearmType: 小臂长度选择.默认
85mm. - baseChildren: 添加基坐标子节点.
- endChildren: 添加末端坐标子节点.
- controller: 添加机器人控制器程序.
- Robodyno的六自由度机器人.
- 源自Robot.
PROTO SixDofCollaborationRobot [
field SFVec3f translation 0 0 0
field SFRotation rotation 1 0 0 0
field SFString name "SixDofCollaborationRobot"
field SFString firstJointId "0x10"
field SFString secondJointId "0x11"
field SFString thirdJointId "0x12"
field SFString fourthJointId "0x13"
field SFString fifthJointId "0x14"
field SFString sixthJointId "0x15"
field SFFloat upperarmLength 0.085
field SFFloat forearmLength 0.085
field MFNode baseChildren []
field MFNode endChildren []
field SFString controller ""
]
- name: 定义机械臂的名称.
- firstJointId: 定义关节电机1的ID.默认
0x10. - secondJointId: 定义关节电机2的ID.默认
0x11. - thirdJointId: 定义关节电机3的ID.默认
0x12. - fourthJointId: 定义关节电机4的ID.默认
0x13. - fifthJointId: 定义关节电机5的ID.默认
0x14. - sixthJointId: 定义关节电机6的ID.默认
0x15. - upperarmLength: 大臂长度.默认
0.085m. - forearmLength: 小臂长度.默认
0.085m. - baseChildren: 添加基坐标子节点.
- endChildren: 添加末端坐标子节点.
- controller: 添加机器人控制器程序.
- Robodyno的三自由度笛卡尔机器人.
- 源自Robot.
PROTO ThreeDofCartesianRobot [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString name "ThreeDofCartesianRobot"
field SFString firstJointId "0x10"
field SFString secondJointId "0x11"
field SFString thirdJointId "0x12"
field SFFloat xAxisinitPose 0.18
field SFFloat yAxisinitPose 0.10
field SFFloat zAxisinitPose 0.25
field MFNode baseChildren []
field MFNode xAxisChildren []
field MFNode yAxisChildren []
field SFString controller ""
]
- name: 定义机械臂的名称.
- firstJointId: 定义关节电机1的ID.默认
0x10. - secondJointId: 定义关节电机2的ID.默认
0x11. - thirdJointId: 定义关节电机3的ID.默认
0x12. - xAxisinitPose: x轴初始位置, 设置范围
[0.25,0.045], 单位m. - yAxisinitPose: y轴初始位置, 设置范围
[0.25,0.045], 单位m. - zAxisinitPose: z轴初始位置, 设置范围
[0.25,0.045], 单位m. - baseChildren: 添加基坐标子节点.
- xAxisChildren: 添加X坐标子节点.
- yAxisChildren: 添加Y坐标子节点.
- controller: 添加机器人控制器程序.
- Robodyno的三自由度Delta机器人.
- 源自Robot.
PROTO ThreeDofDeltaRobot [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString name "ThreeDofDeltaRobot"
field SFString firstJointId "0x10"
field SFString secondJointId "0x11"
field SFString thirdJointId "0x12"
field MFNode baseChildren []
field MFNode endChildren []
field SFString controller ""
]
- name: 定义机械臂的名称.
- firstJointId: 定义关节电机1的ID.默认
0x10. - secondJointId: 定义关节电机2的ID.默认
0x11. - thirdJointId: 定义关节电机3的ID.默认
0x12. - baseChildren: 添加基坐标子节点.
- endChildren: 添加末端坐标子节点.
- controller: 添加机器人控制器程序.
目录:
robodyno_webots/others
- Robodyno的一个自定义六面材质的盒子.
- 源自Solid.
PROTO CustomBox [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString name "custom box"
field SFVec3f size 0.05 0.05 0.05
field SFFloat mass 0.25
field SFBool locked FALSE
field SFBool castShadows TRUE
field SFFloat lidAngle 0
field SFNode topAppearance PBRAppearance { baseColor 1 0 0 roughness 1 metalness 0}
field SFNode bottomAppearance PBRAppearance { baseColor 1 0 0 roughness 1 metalness 0}
field SFNode leftAppearance PBRAppearance { baseColor 1 0 0 roughness 1 metalness 0}
field SFNode rightAppearance PBRAppearance { baseColor 1 0 0 roughness 1 metalness 0}
field SFNode frontAppearance PBRAppearance { baseColor 1 0 0 roughness 1 metalness 0}
field SFNode backAppearance PBRAppearance { baseColor 1 0 0 roughness 1 metalness 0}
]
- name: 定义盒子的名称.
- size: 定义盒子的大小.
- mass: 定义盒子的质量.
- locked: 定义盒子的坐标固定.
- castShadows: 定义盒子的阴影.
- lidAngle: 定义盒子的开合角度.
- topAppearance: 定义盒子的上表面材质,默认
红色. - bottomAppearance: 定义盒子的下表面材质,默认
红色. - leftAppearance: 定义盒子的左表面材质,默认
红色. - rightAppearance: 定义盒子的右表面材质,默认
红色. - frontAppearance: 定义盒子的前表面材质,默认
红色. - backAppearance: 定义盒子的后表面材质,默认
红色.
- Robodyno的一个自定义物料盒.
- 源自Solid.
PROTO CustomStorageBox [
field SFVec3f translation 0 0 0
field SFRotation rotation 1 0 0 0
field SFString name "custom storage box"
field SFColor color 0.2 0.2 0.2
field SFString{"1", "2", "4", "6"} box_number "4"
field SFBool castShadows FALSE
field SFNode firstAppearance PBRAppearance { baseColor 0.2 0.2 0.2 roughness 1 metalness 0}
field SFNode secondAppearance PBRAppearance { baseColor 0.2 0.2 0.2 roughness 1 metalness 0}
field SFNode thirdAppearance PBRAppearance { baseColor 0.2 0.2 0.2 roughness 1 metalness 0}
field SFNode fourthAppearance PBRAppearance { baseColor 0.2 0.2 0.2 roughness 1 metalness 0}
field SFNode fifthAppearance PBRAppearance { baseColor 0.2 0.2 0.2 roughness 1 metalness 0}
field SFNode sixthAppearance PBRAppearance { baseColor 0.2 0.2 0.2 roughness 1 metalness 0}
]
- name: 定义物料盒的名称.
- color: 定义物料盒的颜色.
- box_number: 选择物料盒的数量，默认
4. - castShadows: 设置物料盒的阴影.
- firstAppearance: 定义第1个物料盒的底面材质, 默认
黑色. - secondAppearance: 定义第2个物料盒的底面材质, 默认
黑色. - thirdAppearance: 定义第3个物料盒的底面材质, 默认
黑色. - fourthAppearance: 定义第4个物料盒的底面材质, 默认
黑色. - fifthAppearance: 定义第5个物料盒的底面材质, 默认
黑色. - sixthAppearance: 定义第6个物料盒的底面材质, 默认
黑色.
- Robodyno的一个绘图板.
- 源自Solid.
PROTO DrawingBoard [
field SFVec3f translation 0 0 0.012
field SFRotation rotation 0 0 1 0
field SFString name "drawing board"
field SFColor color 0.267 0.8 0.26
field SFBool locked FALSE
field SFBool castShadows FALSE
]
- name: 定义绘图板的名称.
- color: 定义绘图板的颜色, 默认
绿色. - locked: 定义绘图板的锁定.
- castShadows: 定义绘图板的阴影.