cyberbotics / webots-cloud-simulation-template

Template repository of a simulation deployed on webots.cloud

Template for webots.cloud simulations

This repository can be used as a template to deploy a simulation on webots.cloud.

Structure

The template contains a generic project featuring the e-puck robot. The world e-puck.wbt is located in the worlds folder. The controller e-puck.py is located in the controllers/e-puck folder. The robot window simple_e-puck is located in the plugins/robot_windows folder.

The defined Dockerfile is placed at the root of the project and implements the four lines of Dockerfile.default, which would have been used by webots.cloud if no Dockerfile was defined.

FROM cyberbotics/webots.cloud:R2022b
ARG PROJECT_PATH
RUN mkdir -p $PROJECT_PATH
COPY . $PROJECT_PATH

The following additional line allows to compile the plugin when webots.cloud creates the Docker image.

RUN cd $PROJECT_PATH/plugins/robot_windows/simple_e-puck && make clean && make

Note: It is also possible to directly provide the built binaries in the corresponding folders and use the default Dockerfile without any "on-the-fly" compilation. However, it is currently not possible to compile C/C++ controllers and robot windows directly from the running simulation on webots.cloud.

webots.yaml defines the type of the simulation as a demo. The publish parameter allows to publish the simulation to webots.cloud and make it visible in the public list of simulations. Finally, dockerCompose:theia sets the workspace for the online IDE. This means that with webots-project/controllers/ every user who logs into the simulation is allowed to modify all controllers located in the controllers folder.

More information is available in the Webots User Guide. For more complex projects and other configurations you can head to the examples repository: webots.cloud Simulation Examples.