cyberbotics / webots-projects

Additional Webots projects (PROTO files, controllers, simulation worlds, etc.) officially released by Cyberbotics.

webots-projects

This repo contains some additional Webots projects (PROTO files, controllers, simulation worlds, etc.) officially released by Cyberbotics but not included in the Webots package.

Projects

• Forest firefighters.
• NVIDIA JetBot collision avoidance with neural networks.
• SeRoNet box spawner using a REST API in an industrial environment.

Prerequisites

This repository uses the Git Large File Storage (LSF) extension that needs to be installed in order to clone this repostiory. You can find here the installation instructions.

How to Use it

If not differently stated in the specific project description, you can simply download the project files and open them with Webots. Controllers and plugins written in C, C++ and Java have to be compiled before the first simulation run. Please note that you should download the files from the tag/release matching your Webots major version otherwise the simulation may not work correctly.

webots-projects's Issues

The `spawner_demo.wbt` world displays ODE errors

I am getting the following error when running the world in Webots debug mode:

ODE Message 2: mass must be > 0 in dMassCheck() [ode/src/mass.cpp:48]

This doesn't affect the simulation, but it might be pointing to a Webots bug.

I managed to isolate the bug this far:

#VRML_SIM R2021b utf8
WorldInfo { }
Viewpoint { }
Robot {
  children [
    Solid {
      children [
        DEF FIXINGS_BO Transform {
          children [
            Shape {
              geometry Mesh {
                url "docking_element.obj"
              }
            }
          ]
        }
      ]
      boundingObject USE FIXINGS_BO
      physics Physics {
        density -1
        mass 2
        inertiaMatrix [
          1 1 1
          0 0 0
        ]
        centerOfMass [
          0 0 0
        ]
      }
    }
  ]
  boundingObject Shape {
    geometry Sphere {}
  }
  physics Physics {}
}

(the docking_element.obj needs to be present next to the world file)

Add CI tests

Test source files running ClangFormat, CppCheck, PEP8 etc.

Missing textures in `spawner_demo.wbt`

WARNING: Floor (PROTO) > PBRAppearance > ImageTexture: 'textures/asphalt.jpg' not found.
A resource file can be defined relatively to the worlds directory of the current project, relatively to the worlds directory of the default project, relatively to its protos directory (if defined in a PROTO), or absolutely.